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BulletSim: Different Implementation of Angular Deflection for vehicles, Activates it again and fixes problem with fighting with vertical attractor removing wobble of forward axis. Comments on testing welcome, May require adjustments of this force or other forces after this commit, exact tweaking to come after testing on other hardware. 

Signed-off-by: Robert Adams <Robert.Adams@intel.com>
cpu-performance
Vegaslon 2013-07-06 12:53:20 -04:00 committed by Robert Adams
parent 6026759406
commit bbc40fab62
1 changed files with 16 additions and 15 deletions
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29
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public void SetupVehicleDebugging()
{
enableAngularVerticalAttraction = true;
enableAngularDeflection = false;
enableAngularDeflection = true;
enableAngularBanking = true;
if (BSParam.VehicleDebuggingEnable)
{
@ -173,7 +173,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
@ -1513,10 +1513,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// TODO: implement reference frame.
public void ComputeAngularDeflection()
{
// Since angularMotorUp and angularDeflection are computed independently, they will calculate
// approximately the same X or Y correction. When added together (when contributions are combined)
// this creates an over-correction and then wabbling as the target is overshot.
// TODO: rethink how the different correction computations inter-relate.
if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
{
@ -1531,10 +1527,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// The direction the vehicle is pointing
Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
pointingDirection.Normalize();
//Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
// from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
predictedPointingDirection.Normalize();
// The difference between what is and what should be.
Vector3 deflectionError = movingDirection - pointingDirection;
// Vector3 deflectionError = movingDirection - predictedPointingDirection;
Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
// Don't try to correct very large errors (not our job)
// if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
@ -1547,15 +1547,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
// Scale the correction by recovery timescale and efficiency
deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency;
deflectContributionV /= m_angularDeflectionTimescale;
VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
// Not modeling a spring so clamp the scale to no more then the arc
deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
//deflectContributionV /= m_angularDeflectionTimescale;
// VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
VehicleRotationalVelocity += deflectContributionV;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
}
}