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Merge branch 'ubitwork' of ssh://3dhosting.de/var/git/careminster into ubitwork

avinationmerge
ubit 2012-05-12 15:02:16 +02:00
parent 67ee100f2f 4d98a291a2
commit d099b4dff9
2 changed files with 14 additions and 13 deletions
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25
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private OdeScene _pParentScene; private OdeScene _pParentScene;
// Vehicle properties // 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_referenceFrame = Quaternion.Identity; // Axis modifier
private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ? 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; if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120; else if (pValue > 120) pValue = 120;
m_angularMotorDecayTimescale = pValue * m_invtimestep; m_angularMotorDecayTimescale = pValue * m_invtimestep;
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
break; break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE: case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep; if (pValue < m_timestep) pValue = m_timestep;
@ -293,6 +297,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (pValue < m_timestep) pValue = m_timestep; if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120; else if (pValue > 120) pValue = 120;
m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep; m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep;
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
break; break;
case Vehicle.LINEAR_MOTOR_TIMESCALE: case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep; if (pValue < m_timestep) pValue = m_timestep;
@ -320,7 +325,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f) if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len); 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; m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -338,7 +343,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDirection *= (100.0f / len); m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale; 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; m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -374,7 +379,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f) if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len); 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; m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -393,11 +398,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 100.0f) if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len); 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_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_ffactor = 0.01f; m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body) if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled) && !rootPrim.m_isSelected && !rootPrim.m_disabled)
@ -776,10 +779,10 @@ namespace OpenSim.Region.Physics.OdePlugin
float ldampZ = 0; float ldampZ = 0;
// linear motor // 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_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 tmpV *= rotq; // to world
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
@ -799,9 +802,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
m_lmEfect *= m_lmDecay; m_lmEfect *= m_lmDecay;
m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
m_ffactor = 0;
} }
else else
{ {
@ -1007,7 +1008,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
{ {
tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error 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.X += tmpV.X * m_ampwr;
torque.Y += tmpV.Y * m_ampwr; torque.Y += tmpV.Y * m_ampwr;
torque.Z += tmpV.Z; torque.Z += tmpV.Z;

2
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -537,7 +537,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Essentially Steps * m_physicsiterations // Essentially Steps * m_physicsiterations
d.WorldSetQuickStepNumIterations(world, m_physicsiterations); d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
d.WorldSetContactMaxCorrectingVel(world, 100.0f); d.WorldSetContactMaxCorrectingVel(world, 60.0f);
spacesPerMeter = 1 / metersInSpace; spacesPerMeter = 1 / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter); spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);