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BulletSim: small change to add position correction force with AddForce rather than just storing it in the variable

connector_plugin^2
Robert Adams 2012-11-24 20:11:38 -08:00
parent 22d5bf8ff9
commit 9a42405944
2 changed files with 22 additions and 16 deletions
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29
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -518,13 +518,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if (IsActive)
{
VDetailLog("{0},BSDynamics.Refresh", Prim.LocalID);
m_vehicleMass = Prim.Linkset.LinksetMass;
// Friction effects are handled by this vehicle code
BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
// BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f);
BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f);
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f));
VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID);
}
}
@ -560,8 +565,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG:
// END DEBUG
m_vehicleMass = Prim.Linkset.LinksetMass;
MoveLinear(pTimestep);
// Commented out for debug
MoveAngular(pTimestep);
@ -650,6 +653,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// if (rotatedSize.Z < terrainHeight)
if (pos.Z < terrainHeight)
{
// TODO: correct position by applying force rather than forcing position.
pos.Z = terrainHeight + 2;
Prim.ForcePosition = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
@ -810,9 +814,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection // angular velocity requested by LSL motor
// m_angularMotorApply // application frame counter
// m_angularMotorVelocity // current angular motor velocity (ramps up and down)
// m_angularMotorTimescale // motor angular velocity ramp up rate
// m_angularMotorTimescale // motor angular velocity ramp up time
// m_angularMotorDecayTimescale // motor angular velocity decay rate
// m_angularFrictionTimescale // body angular velocity decay rate
// m_lastAngularVelocity // what was last applied to body
@ -847,7 +850,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
if (Prim.IsColliding)
VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale);
VAservo = pTimestep * 0.05f / m_verticalAttractionTimescale;
VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
@ -925,6 +928,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
float mix = Math.Abs(m_bankingMix);
if (m_angularMotorVelocity.X == 0)
{
// The vehicle is stopped
/*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
{
Vector3 axisAngle;
@ -938,9 +942,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}*/
}
else
banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4;
{
banking.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
}
//If they are colliding, we probably shouldn't shove the prim around... probably
if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
//If they are colliding, we probably shouldn't shove the prim around... probably
{
float angVelZ = m_angularMotorVelocity.X*-1;
/*if(angVelZ > mix)
@ -957,8 +964,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
banking += bankingRot;
}
m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}",
Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking);
VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, banking);
}
#endregion

9
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -342,13 +342,12 @@ public sealed class BSPrim : BSPhysObject
// TODO: check for out of bounds
// The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
// TODO: This should be intergrated with a geneal physics action mechanism.
// TODO: This should be moderated with PID'ness.
if (ret)
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate()
{
// Apply upforce and overcome gravity.
ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity;
});
// Apply upforce and overcome gravity.
AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
}
return ret;
}