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BulletSim: reverse direction of hover correction. Removes problem with vehicles being orbited.

0.7.5-pf-bulletsim
Robert Adams 2012-11-29 08:03:30 -08:00
parent 2ccd4c1302
commit b8a7cbb9e9
1 changed files with 8 additions and 8 deletions
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16
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -742,22 +742,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
else
{
float verticalError = pos.Z - m_VhoverTargetHeight;
// RA: where does the 50 come from?
float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
// Replace Vertical speed with correction figure if significant
float verticalCorrectionVelocity = pTimestep * (verticalError / m_VhoverTimescale);
// TODO: implement m_VhoverEfficiency
if (verticalError > 0.01f)
{
ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
//KF: m_VhoverEfficiency is not yet implemented
// If error is positive (we're above the target height), push down
ret = new Vector3(0f, 0f, -verticalCorrectionVelocity);
}
else if (verticalError < -0.01)
{
ret = new Vector3(0f, 0f, -verticalCorrectionVelocity);
ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
}
}
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}",
Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight);
VDetailLog("{0},MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
Prim.LocalID, pos, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
}
return ret;