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Merge branch 'avination' into careminster

avinationmerge
Melanie 2012-05-13 01:24:10 +01:00
parent e2dc04586a e618194143
commit e5653ebeb7
3 changed files with 176 additions and 119 deletions
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12
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -734,9 +734,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel2, 0);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Vel3, 0);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e6f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e6f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e6f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, 5e8f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax2, 5e8f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax3, 5e8f);
}
/// <summary>
@ -784,6 +784,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// the Amotor still lets avatar rotation to drift during colisions
// so force it back to identity
d.Quaternion qtmp;
qtmp.W = 1;
qtmp.X = 0;
@ -1004,9 +1006,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
if (velLengthSquared > 2500.0f) // 50m/s apply breaks
if (velLengthSquared > 625.0f) // 25m/s apply breaks
{
breakfactor = 0.16f * m_mass;
breakfactor = 0.31f * m_mass;
vec.X -= breakfactor * vel.X;
vec.Y -= breakfactor * vel.Y;
vec.Z -= breakfactor * vel.Z;

280
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -117,14 +117,23 @@ namespace OpenSim.Region.Physics.OdePlugin
// auxiliar
private float m_lmEfect = 0; // current linear motor eficiency
private float m_lmDecay = 1.0f;
private float m_lmEfect = 0f; // current linear motor eficiency
private float m_lmDecay = 0f; // current linear decay
private float m_amEfect = 0; // current angular motor eficiency
private float m_amDecay = 0f; // current linear decay
private float m_ffactor = 1.0f;
private float m_timestep = 0.02f;
private float m_invtimestep = 50;
float m_ampwr;
float m_amdampX;
float m_amdampY;
float m_amdampZ;
public float FrictionFactor
{
get
@ -146,6 +155,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_type = vd.m_type;
m_flags = vd.m_flags;
// Linear properties
m_linearMotorDirection = vd.m_linearMotorDirection;
@ -309,7 +319,10 @@ namespace OpenSim.Region.Physics.OdePlugin
len = m_angularMotorDirection.Length();
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on
m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
@ -323,8 +336,10 @@ namespace OpenSim.Region.Physics.OdePlugin
len = m_linearMotorDirection.Length();
if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on
m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
@ -358,7 +373,10 @@ namespace OpenSim.Region.Physics.OdePlugin
len = m_angularMotorDirection.Length();
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on
m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
d.BodyEnable(rootPrim.Body);
@ -374,8 +392,12 @@ namespace OpenSim.Region.Physics.OdePlugin
len = m_linearMotorDirection.Length();
if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_lmEfect = 1.0f / m_linearMotorTimescale; // 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)
@ -421,6 +443,7 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessTypeChange(Vehicle pType)
{
m_lmEfect = 0;
m_amEfect = 0;
m_ffactor = 1f;
@ -607,15 +630,20 @@ namespace OpenSim.Region.Physics.OdePlugin
// m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY |
// VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
}//end SetDefaultsForType
internal void Stop()
{
m_lmEfect = 0;
m_lmDecay = 1.0f;
m_lmDecay = 0f;
m_amEfect = 0;
m_amDecay = 0;
m_ffactor = 1f;
}
@ -642,6 +670,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private const float pi = (float)Math.PI;
private const float halfpi = 0.5f * (float)Math.PI;
private const float twopi = 2.0f * pi;
public static Vector3 ubitRot2Euler(Quaternion rot)
{
@ -744,6 +773,8 @@ namespace OpenSim.Region.Physics.OdePlugin
curAngVel.Z = dvtmp.Z;
Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
float ldampZ = 0;
// linear motor
if (m_lmEfect > 0.001 && m_linearMotorTimescale < 1000)
{
@ -766,9 +797,11 @@ namespace OpenSim.Region.Physics.OdePlugin
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
m_lmEfect *= m_lmDecay;
m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
m_ffactor = 0;
}
else
{
@ -776,18 +809,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_ffactor = 1f;
}
// friction
if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
{
tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
tmpV *= rotq; // to world
force.X += tmpV.X;
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
// hover
if (m_VhoverTimescale < 300 && rootPrim.prim_geom != IntPtr.Zero)
{
@ -823,10 +844,16 @@ namespace OpenSim.Region.Physics.OdePlugin
else if (t > m_VhoverHeight)
perr = t - pos.Z; ;
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > -0.1)
{
// force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
force.Z += (perr / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency);// * m_invtimestep);
ldampZ = m_VhoverEfficiency * m_invtimestep;
perr *= (1.0f + ldampZ) / m_VhoverTimescale;
// force.Z += perr - curVel.Z * tmp;
force.Z += perr;
ldampZ *= -curVel.Z;
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
}
else // no buoyancy
@ -844,7 +871,6 @@ namespace OpenSim.Region.Physics.OdePlugin
float len = curVel.Length();
if (len > 0.01) // if moving
{
Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to
atAxis *= len; // make it same size as world velocity vector
@ -870,27 +896,127 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// linear friction/damping
if (curLocalVel.X != 0 || curLocalVel.Y != 0 || curLocalVel.Z != 0)
{
tmpV.X = -curLocalVel.X / m_linearFrictionTimescale.X;
tmpV.Y = -curLocalVel.Y / m_linearFrictionTimescale.Y;
tmpV.Z = -curLocalVel.Z / m_linearFrictionTimescale.Z;
tmpV *= rotq; // to world
if(ldampZ != 0 && Math.Abs(ldampZ) > Math.Abs(tmpV.Z))
tmpV.Z = ldampZ;
force.X += tmpV.X;
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
// vertical atractor
if (m_verticalAttractionTimescale < 300)
{
float roll;
float pitch;
float ftmp = m_invtimestep / m_verticalAttractionTimescale / m_verticalAttractionTimescale;
float ftmp2;
ftmp2 = 0.5f * m_verticalAttractionEfficiency * m_invtimestep;
m_amdampX = ftmp2;
m_ampwr = 1.0f - 0.8f * m_verticalAttractionEfficiency;
GetRollPitch(irotq, out roll, out pitch);
if (roll > halfpi)
roll = pi - roll;
else if (roll < -halfpi)
roll = -pi - roll;
float effroll = pitch / halfpi;
effroll *= effroll;
effroll = 1 - effroll;
effroll *= roll;
torque.X += effroll * ftmp;
if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
{
float effpitch = roll / halfpi;
effpitch *= effpitch;
effpitch = 1 - effpitch;
effpitch *= pitch;
torque.Y += effpitch * ftmp;
}
if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
{
float broll = effroll;
/*
if (broll > halfpi)
broll = pi - broll;
else if (broll < -halfpi)
broll = -pi - broll;
*/
broll *= m_bankingEfficiency;
if (m_bankingMix != 0)
{
float vfact = Math.Abs(curLocalVel.X) / 10.0f;
if (vfact > 1.0f) vfact = 1.0f;
if (curLocalVel.X >= 0)
broll *= (1 + (vfact - 1) * m_bankingMix);
else
broll *= -(1 + (vfact - 1) * m_bankingMix);
}
// make z rot be in world Z not local as seems to be in sl
broll = broll / m_bankingTimescale;
tmpV = Zrot(irotq);
tmpV *= broll;
torque.X += tmpV.X;
torque.Y += tmpV.Y;
torque.Z += tmpV.Z;
m_amdampZ = Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
m_amdampY = m_amdampZ;
}
else
{
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
m_amdampY = m_amdampX;
}
}
else
{
m_ampwr = 1.0f;
m_amdampX = 1 / m_angularFrictionTimescale.X;
m_amdampY = 1 / m_angularFrictionTimescale.Y;
m_amdampZ = 1 / m_angularFrictionTimescale.Z;
}
// angular motor
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
{
tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
torque.X += tmpV.X;
torque.Y += tmpV.Y;
tmpV *= m_amEfect; // error to correct in this timestep
torque.X += tmpV.X * m_ampwr;
torque.Y += tmpV.Y * m_ampwr;
torque.Z += tmpV.Z;
m_amEfect *= (1 - 1.0f / m_angularMotorDecayTimescale);
m_amEfect *= m_amDecay;
}
else
m_amEfect = 0;
// angular friction
if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
{
torque.X -= curLocalAngVel.X / m_angularFrictionTimescale.X;
torque.Y -= curLocalAngVel.Y / m_angularFrictionTimescale.Y;
torque.Z -= curLocalAngVel.Z / m_angularFrictionTimescale.Z;
}
// angular deflection
if (m_angularDeflectionEfficiency > 0)
{
@ -922,86 +1048,14 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// vertical atractor
if (m_verticalAttractionTimescale < 300)
// angular friction
if (curLocalAngVel.X != 0 || curLocalAngVel.Y != 0 || curLocalAngVel.Z != 0)
{
float roll;
float pitch;
GetRollPitch(irotq, out roll, out pitch);
float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale * m_invtimestep;
float ftmp2;
if (m_bankingEfficiency == 0)
ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
else
ftmp2 = 0;
if (roll > halfpi)
roll = pi - roll;
else if (roll < -halfpi)
roll = -pi - roll;
float effroll = pitch / halfpi;
effroll *= effroll;
effroll = 1 - effroll;
effroll *= roll;
if (Math.Abs(effroll) > 0.01) // roll
{
torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
}
if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
{
float effpitch = roll / halfpi;
effpitch *= effpitch;
effpitch = 1 - effpitch;
effpitch *= pitch;
if (Math.Abs(effpitch) > 0.01) // pitch
{
torque.Y -= -effpitch * ftmp + curLocalAngVel.Y * ftmp2;
}
}
if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
{
float broll = effroll;
/*
if (broll > halfpi)
broll = pi - broll;
else if (broll < -halfpi)
broll = -pi - broll;
*/
broll *= m_bankingEfficiency;
if (m_bankingMix != 0)
{
float vfact = Math.Abs(curLocalVel.X) / 10.0f;
if (vfact > 1.0f) vfact = 1.0f;
if (curLocalVel.X >= 0)
broll *= (1 + (vfact - 1) * m_bankingMix);
else
broll *= -(1 + (vfact - 1) * m_bankingMix);
}
// make z rot be in world Z not local as seems to be in sl
broll = broll / m_bankingTimescale;
ftmp = -Math.Abs(m_bankingEfficiency) / m_bankingTimescale;
tmpV.X = ftmp * curAngVel.X;
tmpV.Y = ftmp * curAngVel.Y;
tmpV.Z = broll + ftmp * curAngVel.Z;
tmpV *= irotq;
torque.X += tmpV.X;
torque.Y += tmpV.Y;
torque.Z += tmpV.Z;
}
torque.X -= curLocalAngVel.X * m_amdampX;
torque.Y -= curLocalAngVel.Y * m_amdampY;
torque.Z -= curLocalAngVel.Z * m_amdampZ;
}
d.Mass dmass;
d.BodyGetMass(Body,out dmass);

3
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -536,7 +536,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// This is in addition to the step size.
// Essentially Steps * m_physicsiterations
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
d.WorldSetContactMaxCorrectingVel(world, 100.0f);
d.WorldSetContactMaxCorrectingVel(world, 50.0f);
spacesPerMeter = 1 / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeter);