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BulletSim: Implementation of Linear Deflection, it is a partial help for the vehicle tuning diffrence between Opensim and Second life. 

Signed-off-by: Robert Adams <Robert.Adams@intel.com>
cpu-performance
Vegaslon 2013-06-15 17:23:43 -04:00 committed by Robert Adams
parent bbeff4b8ca
commit a5de4f692b
1 changed files with 33 additions and 5 deletions
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38
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -209,7 +209,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_VhoverTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
@ -1029,9 +1029,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
//Compute Linear deflection.
Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep);
linearMotorCorrectionV += linearDeflectionFactorV;
// Friction reduces vehicle motion
Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
linearMotorCorrectionV -= (currentVelV * frictionFactorW);
Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
linearMotorCorrectionV -= (currentVelV * frictionFactorV);
// Motor is vehicle coordinates. Rotate it to world coordinates
Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
@ -1048,9 +1052,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}",
ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
linearMotorVelocityW, VehicleVelocity, frictionFactorW);
linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV);
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@ -1651,6 +1655,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
return frictionFactor;
}
//Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
//Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep)
{
Vector3 LinearDeflection = Vector3.Zero;
LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y);
LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z);
LinearDeflection.X += Math.Abs(LinearDeflection.Y);
LinearDeflection.X += Math.Abs(LinearDeflection.Z);
LinearDeflection *= pTimestep;
return LinearDeflection*=new Vector3(1,-1,-1);
}
private float SortedClampInRange(float clampa, float val, float clampb)
{
if (clampa > clampb)
{
float temp = clampa;
clampa = clampb;
clampb = temp;
}
return ClampInRange(clampa, val, clampb);
}
private float ClampInRange(float low, float val, float high)
{