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BulletSim: add 'infinite' timescale that does not reduce motor target or friction.

integration
Robert Adams 2012-11-27 05:23:50 -08:00
parent 16e4019eca
commit 9e0db36c82
1 changed files with 27 additions and 10 deletions
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37
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
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@ -7,6 +7,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public abstract class BSMotor
{
// Timescales and other things can be turned off by setting them to 'infinite'.
public const float Infinite = 10000f;
public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
public BSMotor(string useName)
{
UseName = useName;
@ -46,8 +50,9 @@ public class BSVMotor : BSMotor
public BSVMotor(string useName)
: base(useName)
{
TimeScale = TargetValueDecayTimeScale = Efficiency = 1f;
FrictionTimescale = Vector3.Zero;
TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
Efficiency = 1f;
FrictionTimescale = BSMotor.InfiniteVector;
CurrentValue = TargetValue = Vector3.Zero;
}
public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
@ -78,23 +83,35 @@ public class BSVMotor : BSMotor
// Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete
Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
CurrentValue += addAmount;
returnCurrent = CurrentValue;
// The desired value reduces to zero when also reduces the difference with current.
float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
TargetValue *= (1f - decayFactor);
// The desired value reduces to zero which also reduces the difference with current.
// If the decay time is infinite, don't decay at all.
float decayFactor = 0f;
if (TargetValueDecayTimeScale != BSMotor.Infinite)
{
decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
TargetValue *= (1f - decayFactor);
}
Vector3 frictionFactor = Vector3.Zero;
frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
CurrentValue *= (Vector3.One - frictionFactor);
if (FrictionTimescale != BSMotor.InfiniteVector)
{
// frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep;
frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep;
frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep;
CurrentValue *= (Vector3.One - frictionFactor);
}
MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
BSScene.DetailLogZero, UseName, origTarget, origCurrVal,
MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
timeStep, TimeScale, addAmount,
TargetValueDecayTimeScale, decayFactor,
FrictionTimescale, frictionFactor);
MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
BSScene.DetailLogZero, UseName, TargetValue, CurrentValue,
BSScene.DetailLogZero, UseName, CurrentValue, TargetValue,
addAmount, decayFactor, frictionFactor, returnCurrent);
}
else