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

update ubitODE

avinationmerge
UbitUmarov 2012-03-02 15:05:30 +00:00
parent ee4d3bfad2
commit f42fd7fb77
1 changed files with 47 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
View File

@ -38,7 +38,7 @@
* settings use.
*/
// Ubit 2012
// Extensive change Ubit 2012
using System;
using System.Collections.Generic;
@ -614,6 +614,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return vec;
}
private const float pi = (float)Math.PI;
private const float halfpi = 0.5f * (float)Math.PI;
public static Vector3 ubitRot2Euler(Quaternion rot)
@ -884,35 +885,64 @@ namespace OpenSim.Region.Physics.OdePlugin
float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE;
float ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
if (Math.Abs(roll) > 0.01) // roll
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 -= -roll * ftmp + curLocalAngVel.X * ftmp2;
torque.X -= -effroll * ftmp + curLocalAngVel.X * ftmp2;
}
if (Math.Abs(pitch) > 0.01 && ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)) // pitch
if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) == 0)
{
torque.Y -= -pitch * ftmp + curLocalAngVel.Y * ftmp2;
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(roll) > 0.01)
if (m_bankingEfficiency != 0 && Math.Abs(effroll) > 0.01)
{
float broll = roll * m_bankingEfficiency; ;
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 - m_bankingMix) + vfact);
else
broll *= -((1 - m_bankingMix) + vfact);
}
broll = (broll - curLocalAngVel.Z) / m_bankingTimescale;
// torque.Z += broll;
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
tmpV.X = 0;
tmpV.Y = 0;
tmpV.Z = broll;
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;