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BulletSim: Fix hover height (boats float at the correct level). 

Fix problem of vehicles going crazy when backing up.
user_profiles
Robert Adams 2013-01-08 16:09:15 -08:00
parent 3d5e3e35b7
commit df1d7414ad
2 changed files with 12 additions and 8 deletions
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16
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -856,6 +856,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// The movement computed in the linear motor is relative to the vehicle // The movement computed in the linear motor is relative to the vehicle
// coordinates. Rotate the movement to world coordinates. // coordinates. Rotate the movement to world coordinates.
linearMotorContribution *= VehicleOrientation; linearMotorContribution *= VehicleOrientation;
// All the contributions after this are world relative (mostly Z modifications)
// ================================================================== // ==================================================================
// Buoyancy: force to overcome gravity. // Buoyancy: force to overcome gravity.
@ -982,14 +983,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
// TODO: implement m_VhoverEfficiency correctly // TODO: implement m_VhoverEfficiency correctly
if (Math.Abs(verticalError) > m_VhoverEfficiency) ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
{
ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
}
} }
VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},ret={6}",
Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, ret);
} }
return ret; return ret;
@ -1238,6 +1236,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 movingDirection = VehicleVelocity; Vector3 movingDirection = VehicleVelocity;
movingDirection.Normalize(); movingDirection.Normalize();
// If the vehicle is going backward, it is still pointing forward
movingDirection *= Math.Sign(VehicleForwardSpeed);
// The direction the vehicle is pointing // The direction the vehicle is pointing
Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
pointingDirection.Normalize(); pointingDirection.Normalize();
@ -1246,6 +1247,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 deflectionError = movingDirection - pointingDirection; Vector3 deflectionError = movingDirection - pointingDirection;
// Don't try to correct very large errors (not our job) // Don't try to correct very large errors (not our job)
// if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
// if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
// if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;

4
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -1,9 +1,9 @@
CURRENT PRIORITIES CURRENT PRIORITIES
================================================= =================================================
Avatars walking up stairs Avatars walking up stairs (HALF DONE)
Vehicle movement on terrain smoothness Vehicle movement on terrain smoothness
limitMotorUp calibration (more down?) limitMotorUp calibration (more down?)
Preferred orientatino angular correction fix Preferred orientation angular correction fix
Surfboard go wonky when turning Surfboard go wonky when turning
Angular motor direction is global coordinates rather than local coordinates? Angular motor direction is global coordinates rather than local coordinates?
Boats float low in the water Boats float low in the water