OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

* It turns out vehicle Angular Motor direction is always in global space.

0.6.5-rc1
Teravus Ovares 2009-04-20 17:46:37 +00:00
parent dd0fa5745e
commit c5a3ff231f
1 changed files with 24 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
View File

@ -49,6 +49,9 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_body; } get { return m_body; }
} }
private int frcount = 0;
private float frmod = 3.0f;
private Vehicle m_type = Vehicle.TYPE_NONE; private Vehicle m_type = Vehicle.TYPE_NONE;
private OdeScene m_parentScene = null; private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero; private IntPtr m_body = IntPtr.Zero;
@ -312,9 +315,16 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return; return;
frcount++;
if (frcount > 100)
frcount = 0;
VerticalAttractor(pTimestep); VerticalAttractor(pTimestep);
LinearMotor(pTimestep); LinearMotor(pTimestep);
AngularMotor(pTimestep); AngularMotor(pTimestep);
} }
private void SetDefaultsForType(Vehicle pType) private void SetDefaultsForType(Vehicle pType)
@ -473,11 +483,16 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet); d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet);
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head); d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head);
float posture = head.Z - feet.Z; float posture = head.Z - feet.Z;
//Console.WriteLine(String.Format("head: <{0},{1},{2}>, feet:<{3},{4},{5}> diff:<{6},{7},{8}>", head.X, head.Y, head.Z, feet.X,
// feet.Y, feet.Z, head.X - feet.X, head.Y - feet.Y, head.Z - feet.Z));
//Console.WriteLine(String.Format("diff:<{0},{1},{2}>",head.X - feet.X, head.Y - feet.Y, head.Z - feet.Z));
// restoring force proportional to lack of posture: // restoring force proportional to lack of posture:
float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass; float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass;
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f); d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f); d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
//d.BodyAddTorque(m_body, (head.X - feet.X) * servo, (head.Y - feet.Y) * servo, (head.Z - feet.Z) * servo);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body); //d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22); //m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
} }
@ -575,20 +590,21 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
private void SetAngularMotorProperties() private void SetAngularMotorProperties()
{ {
d.Mass objMass; d.Mass objMass;
d.BodyGetMass(Body, out objMass); d.BodyGetMass(Body, out objMass);
d.Quaternion rot = d.BodyGetQuaternion(Body); //d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); //Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
Vector3 axis0 = Vector3.UnitX; Vector3 axis0 = Vector3.UnitX;
Vector3 axis1 = Vector3.UnitY; Vector3 axis1 = Vector3.UnitY;
Vector3 axis2 = Vector3.UnitZ; Vector3 axis2 = Vector3.UnitZ;
axis0 *= rotq; //axis0 *= rotq;
axis1 *= rotq; //axis1 *= rotq;
axis2 *= rotq; //axis2 *= rotq;
if (m_aMotor != IntPtr.Zero) if (m_aMotor != IntPtr.Zero)
{ {
@ -604,5 +620,6 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
} }
} }