From b8a7cbb9e916f0fe47e56a35a1bf3a6001ed02d0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 29 Nov 2012 08:03:30 -0800 Subject: [PATCH] BulletSim: reverse direction of hover correction. Removes problem with vehicles being orbited. --- .../Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 3a73fba7b8..a398b74477 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -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;