From 792e8db45695a6151c4e7d039b792bdfeb5c0f87 Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 12 May 2012 13:44:47 +0100 Subject: [PATCH 1/2] ubitODE reduced again a bit the max allowed correction velocity on colisions, to reduce a bit bouncing inerent to colisions. --- OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs index 63462b16a0..7367719679 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs @@ -537,7 +537,7 @@ namespace OpenSim.Region.Physics.OdePlugin // Essentially Steps * m_physicsiterations d.WorldSetQuickStepNumIterations(world, m_physicsiterations); - d.WorldSetContactMaxCorrectingVel(world, 100.0f); + d.WorldSetContactMaxCorrectingVel(world, 60.0f); spacesPerMeter = 1 / metersInSpace; spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); From 4d98a291a2d1440afd8f7375d14842fd91d8083f Mon Sep 17 00:00:00 2001 From: UbitUmarov Date: Sat, 12 May 2012 14:00:08 +0100 Subject: [PATCH 2/2] ubitODE let vehicles responde faster to changes of some parameters like motors decay times --- .../Physics/UbitOdePlugin/ODEDynamics.cs | 25 ++++++++++--------- 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs index e88e559ba4..56d0f1ab95 100644 --- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs @@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin private OdeScene _pParentScene; // Vehicle properties + // WARNING this are working copies for internel use + // their values may not be the corresponding parameter + private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? @@ -244,6 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (pValue < m_timestep) pValue = m_timestep; else if (pValue > 120) pValue = 120; m_angularMotorDecayTimescale = pValue * m_invtimestep; + m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: if (pValue < m_timestep) pValue = m_timestep; @@ -293,6 +297,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (pValue < m_timestep) pValue = m_timestep; else if (pValue > 120) pValue = 120; m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; + m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale); break; case Vehicle.LINEAR_MOTOR_TIMESCALE: if (pValue < m_timestep) pValue = m_timestep; @@ -320,7 +325,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (len > 12.566f) m_angularMotorDirection *= (12.566f / len); - m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on + m_amEfect = 1.0f ; // turn it on m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) @@ -338,7 +343,7 @@ namespace OpenSim.Region.Physics.OdePlugin m_linearMotorDirection *= (100.0f / len); m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on + m_lmEfect = 1.0f; // turn it on m_ffactor = 0.01f; if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) @@ -374,7 +379,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (len > 12.566f) m_angularMotorDirection *= (12.566f / len); - m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on + m_amEfect = 1.0f; // turn it on m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale; if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) @@ -393,11 +398,9 @@ namespace OpenSim.Region.Physics.OdePlugin if (len > 100.0f) m_linearMotorDirection *= (100.0f / len); - m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on + m_lmEfect = 1.0f; // turn it on m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; - - m_ffactor = 0.01f; if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) && !rootPrim.m_isSelected && !rootPrim.m_disabled) @@ -776,10 +779,10 @@ namespace OpenSim.Region.Physics.OdePlugin float ldampZ = 0; // linear motor - if (m_lmEfect > 0.001 && m_linearMotorTimescale < 1000) + if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000) { tmpV = m_linearMotorDirection - curLocalVel; // velocity error - tmpV *= m_lmEfect; // error to correct in this timestep + tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep tmpV *= rotq; // to world if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) @@ -799,9 +802,7 @@ namespace OpenSim.Region.Physics.OdePlugin } m_lmEfect *= m_lmDecay; - - // m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); - m_ffactor = 0; + m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared(); } else { @@ -1007,7 +1008,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) { tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error - tmpV *= m_amEfect; // error to correct in this timestep + tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep torque.X += tmpV.X * m_ampwr; torque.Y += tmpV.Y * m_ampwr; torque.Z += tmpV.Z;