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Fixed LINEAR_MOTOR Z drive, Mantis #30

avinationmerge
Kitto Flora 2010-04-11 14:12:01 -04:00
parent 7ecd9b3f1a
commit 9b6e89457c
1 changed files with 35 additions and 23 deletions
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58
OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
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@ -2626,15 +2626,15 @@ Console.WriteLine(" JointCreateFixed");
// m_angularDeflectionEfficiency = pValue; // m_angularDeflectionEfficiency = pValue;
break; break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.1f) pValue = 0.1f;
// m_angularDeflectionTimescale = pValue; // m_angularDeflectionTimescale = pValue;
break; break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.3f) pValue = 0.3f;
m_angularMotorDecayTimescale = pValue; m_angularMotorDecayTimescale = pValue;
break; break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE: case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.3f) pValue = 0.3f;
m_angularMotorTimescale = pValue; m_angularMotorTimescale = pValue;
break; break;
case Vehicle.BANKING_EFFICIENCY: case Vehicle.BANKING_EFFICIENCY:
@ -2663,7 +2663,7 @@ Console.WriteLine(" JointCreateFixed");
m_VhoverHeight = pValue; m_VhoverHeight = pValue;
break; break;
case Vehicle.HOVER_TIMESCALE: case Vehicle.HOVER_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.1f) pValue = 0.1f;
m_VhoverTimescale = pValue; m_VhoverTimescale = pValue;
break; break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
@ -2675,11 +2675,11 @@ Console.WriteLine(" JointCreateFixed");
// m_linearDeflectionTimescale = pValue; // m_linearDeflectionTimescale = pValue;
break; break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.3f) pValue = 0.3f;
m_linearMotorDecayTimescale = pValue; m_linearMotorDecayTimescale = pValue;
break; break;
case Vehicle.LINEAR_MOTOR_TIMESCALE: case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.1f) pValue = 0.1f;
m_linearMotorTimescale = pValue; m_linearMotorTimescale = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@ -2688,7 +2688,7 @@ Console.WriteLine(" JointCreateFixed");
m_verticalAttractionEfficiency = pValue; m_verticalAttractionEfficiency = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; if (pValue < 0.1f) pValue = 0.1f;
m_verticalAttractionTimescale = pValue; m_verticalAttractionTimescale = pValue;
break; break;
@ -2704,6 +2704,7 @@ Console.WriteLine(" JointCreateFixed");
UpdateAngDecay(); UpdateAngDecay();
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue < 0.1f) pValue = 0.1f;
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -2743,6 +2744,9 @@ Console.WriteLine(" JointCreateFixed");
UpdateAngDecay(); UpdateAngDecay();
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue.X < 0.1f) pValue.X = 0.1f;
if (pValue.Y < 0.1f) pValue.Y = 0.1f;
if (pValue.Z < 0.1f) pValue.Z = 0.1f;
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -2939,7 +2943,7 @@ Console.WriteLine(" JointCreateFixed");
internal void Halt() internal void Halt()
{ // Kill all motions, when non-physical { // Kill all motions, when non-physical
m_linearMotorDirection = Vector3.Zero; // m_linearMotorDirection = Vector3.Zero;
m_lLinMotorDVel = Vector3.Zero; m_lLinMotorDVel = Vector3.Zero;
m_lLinObjectVel = Vector3.Zero; m_lLinObjectVel = Vector3.Zero;
m_wLinObjectVel = Vector3.Zero; m_wLinObjectVel = Vector3.Zero;
@ -2951,16 +2955,22 @@ Console.WriteLine(" JointCreateFixed");
private void UpdateLinDecay() private void UpdateLinDecay()
{ {
if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X; // if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X;
if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y; // if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z; // if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
m_lLinMotorDVel.X = m_linearMotorDirection.X;
m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
} // else let the motor decay on its own } // else let the motor decay on its own
private void UpdateAngDecay() private void UpdateAngDecay()
{ {
if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X; // if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X;
if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y; // if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y;
if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z; // if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z;
m_angularMotorDVel.X = m_angularMotorDirection.X;
m_angularMotorDVel.Y = m_angularMotorDirection.Y;
m_angularMotorDVel.Z = m_angularMotorDirection.Z;
} // else let the motor decay on its own } // else let the motor decay on its own
public void Move(float timestep) public void Move(float timestep)
@ -2981,7 +2991,7 @@ Console.WriteLine(" JointCreateFixed");
if (fence == 1) border_limit = 0.5f; // bounce point if (fence == 1) border_limit = 0.5f; // bounce point
frcount++; // used to limit debug comment output frcount++; // used to limit debug comment output
if (frcount > 100) if (frcount > 10)
frcount = 0; frcount = 0;
if(revcount > 0) revcount--; if(revcount > 0) revcount--;
@ -3222,12 +3232,13 @@ Console.WriteLine(" JointCreateFixed");
{ {
m_lLinMotorDVel = Vector3.Zero; m_lLinMotorDVel = Vector3.Zero;
} }
else
/* else
{ {
if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X; if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y; if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z; if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
} } */
} // end linear motor decay } // end linear motor decay
if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) ) if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
@ -3255,7 +3266,6 @@ Console.WriteLine(" JointCreateFixed");
if (m_linearFrictionTimescale.Z < 300.0f) if (m_linearFrictionTimescale.Z < 300.0f)
{ {
float fricfactor = m_linearFrictionTimescale.Z / timestep; float fricfactor = m_linearFrictionTimescale.Z / timestep;
//if(frcount == 0) Console.WriteLine("Zfric={0}", fricfactor);
float fricZ = m_lLinObjectVel.Z / fricfactor; float fricZ = m_lLinObjectVel.Z / fricfactor;
m_lLinObjectVel.Z -= fricZ; m_lLinObjectVel.Z -= fricZ;
} }
@ -3316,15 +3326,17 @@ Console.WriteLine(" JointCreateFixed");
} }
} }
else else
{ // not hovering, Gravity rules { // not hovering
m_wLinObjectVel.Z = vel_now.Z; if (m_wLinObjectVel.Z == 0f)
{ // Gravity rules
m_wLinObjectVel.Z = vel_now.Z;
} // else the motor has it
} }
linvel = m_wLinObjectVel; linvel = m_wLinObjectVel;
// Vehicle Linear Motion done ======================================= // Vehicle Linear Motion done =======================================
// Apply velocity // Apply velocity
//if(frcount == 0) Console.WriteLine("LV {0}", linvel); d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
// apply gravity force // apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
//if(frcount == 0) Console.WriteLine("Grav {0}", grav); //if(frcount == 0) Console.WriteLine("Grav {0}", grav);