BulletSim: simplify the initialization of some of the parameters.
Disable vertical attraction for vehicles by default (for the moment). Fix bug where vehicle would go crazy when velocity got above a certain speed.user_profiles
Robert Adams
parent
26d4596080
commit
b546af9ac2
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@ -141,7 +141,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// in changes by making enablement of debugging flags from INI file.
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public void SetupVehicleDebugging()
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{
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enableAngularVerticalAttraction = true;
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enableAngularVerticalAttraction = false;
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enableAngularDeflection = false;
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enableAngularBanking = false;
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if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
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@ -803,7 +803,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_knownVelocity = Prim.ForceVelocity;
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m_knownHas |= m_knownChangedVelocity;
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}
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return (Vector3)m_knownVelocity;
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return m_knownVelocity;
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}
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set
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{
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@ -926,6 +926,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Called after the simulation step
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internal void PostStep(float pTimestep)
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{
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if (!IsActive) return;
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if (PhysicsScene.VehiclePhysicalLoggingEnabled)
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PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
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}
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@ -961,10 +963,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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// Clamp high or low velocities
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float newVelocityLengthSq = VehicleVelocity.LengthSquared();
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if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
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if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq)
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{
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Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
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VehicleVelocity /= VehicleVelocity.Length();
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VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
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VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
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Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity);
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}
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else if (newVelocityLengthSq < 0.001f)
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VehicleVelocity = Vector3.Zero;
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@ -1301,6 +1306,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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Vector3 vertContributionV = Vector3.Zero;
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Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
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@ -1328,13 +1334,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
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// Correction happens over a number of seconds.
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Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG
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Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
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vertContributionV /= m_verticalAttractionTimescale;
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VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
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VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
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Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
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VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
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Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
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m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
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}
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}
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@ -84,32 +84,16 @@ public static class BSParam
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// Vehicle parameters
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public static float VehicleMaxLinearVelocity { get; private set; }
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public static float VehicleMaxLinearVelocitySq { get; private set; }
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public static float VehicleMaxAngularVelocity { get; private set; }
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public static float VehicleMaxAngularVelocitySq { get; private set; }
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public static float VehicleAngularDamping { get; private set; }
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public static float VehicleFriction { get; private set; }
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public static float VehicleRestitution { get; private set; }
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public static float VehicleLinearFactor { get; private set; }
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private static Vector3? vehicleLinearFactorV;
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public static Vector3 VehicleLinearFactorV
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{
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get
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{
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if (!vehicleLinearFactorV.HasValue)
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vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor);
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return (Vector3)vehicleLinearFactorV;
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}
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}
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public static Vector3 VehicleLinearFactorV { get; private set; }
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public static float VehicleAngularFactor { get; private set; }
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private static Vector3? vehicleAngularFactorV;
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public static Vector3 VehicleAngularFactorV
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{
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get
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{
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if (!vehicleAngularFactorV.HasValue)
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vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor);
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return (Vector3)vehicleAngularFactorV;
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}
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}
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public static Vector3 VehicleAngularFactorV { get; private set; }
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public static float VehicleGroundGravityFudge { get; private set; }
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public static float VehicleDebuggingEnabled { get; private set; }
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@ -469,12 +453,12 @@ public static class BSParam
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1000.0f,
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(s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
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(s) => { return (float)VehicleMaxLinearVelocity; },
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(s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
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(s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ),
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new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
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12.0f,
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(s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
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(s) => { return (float)VehicleMaxAngularVelocity; },
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(s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
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(s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
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new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
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0.0f,
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(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
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@ -484,24 +468,24 @@ public static class BSParam
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1.0f,
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(s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
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(s) => { return VehicleLinearFactor; },
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(s,p,l,v) => { VehicleLinearFactor = v; } ),
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(s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ),
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new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
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1.0f,
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(s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
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(s) => { return VehicleAngularFactor; },
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(s,p,l,v) => { VehicleAngularFactor = v; } ),
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(s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ),
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new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
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0.0f,
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(s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
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(s) => { return VehicleFriction; },
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(s,p,l,v) => { VehicleFriction = v; } ),
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new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
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0.2f,
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0.0f,
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(s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
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(s) => { return VehicleRestitution; },
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(s,p,l,v) => { VehicleRestitution = v; } ),
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new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
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1.0f,
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0.2f,
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(s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); },
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(s) => { return VehicleGroundGravityFudge; },
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(s,p,l,v) => { VehicleGroundGravityFudge = v; } ),
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