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reorder priority of vehicle hover flags

avinationmerge
UbitUmarov 2012-04-27 22:59:57 +01:00
parent ee237fc5df
commit f5cb403e7e
1 changed files with 114 additions and 109 deletions
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161
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
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@ -121,6 +121,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_amEfect = 0; // current angular motor eficiency private float m_amEfect = 0; // current angular motor eficiency
private float m_ffactor = 1.0f; private float m_ffactor = 1.0f;
private float m_timestep = 0.02f;
private float m_invtimestep = 50;
public float FrictionFactor public float FrictionFactor
{ {
get get
@ -133,14 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
rootPrim = rootp; rootPrim = rootp;
_pParentScene = rootPrim._parent_scene; _pParentScene = rootPrim._parent_scene;
m_timestep = _pParentScene.ODE_STEPSIZE;
m_invtimestep = 1.0f / m_timestep;
} }
public void DoSetVehicle(VehicleData vd) public void DoSetVehicle(VehicleData vd)
{ {
float timestep = _pParentScene.ODE_STEPSIZE;
float invtimestep = 1.0f / timestep;
m_type = vd.m_type; m_type = vd.m_type;
m_flags = vd.m_flags; m_flags = vd.m_flags;
@ -148,61 +149,60 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDirection = vd.m_linearMotorDirection; m_linearMotorDirection = vd.m_linearMotorDirection;
m_linearFrictionTimescale = vd.m_linearFrictionTimescale; m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep; if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep; if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep; if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale; m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep; if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
m_linearMotorDecayTimescale *= invtimestep; m_linearMotorDecayTimescale *= m_invtimestep;
m_linearMotorTimescale = vd.m_linearMotorTimescale; m_linearMotorTimescale = vd.m_linearMotorTimescale;
if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep; if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
m_linearMotorOffset = vd.m_linearMotorOffset; m_linearMotorOffset = vd.m_linearMotorOffset;
//Angular properties //Angular properties
m_angularMotorDirection = vd.m_angularMotorDirection; m_angularMotorDirection = vd.m_angularMotorDirection;
m_angularMotorTimescale = vd.m_angularMotorTimescale; m_angularMotorTimescale = vd.m_angularMotorTimescale;
if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep; if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale; m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep; if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
m_angularMotorDecayTimescale *= invtimestep; m_angularMotorDecayTimescale *= m_invtimestep;
m_angularFrictionTimescale = vd.m_angularFrictionTimescale; m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep; if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep; if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep; if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
//Deflection properties //Deflection properties
m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency; m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale; m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep; if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency; m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale; m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep; if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
//Banking properties //Banking properties
m_bankingEfficiency = vd.m_bankingEfficiency; m_bankingEfficiency = vd.m_bankingEfficiency;
m_bankingMix = vd.m_bankingMix; m_bankingMix = vd.m_bankingMix;
m_bankingTimescale = vd.m_bankingTimescale; m_bankingTimescale = vd.m_bankingTimescale;
if (m_bankingTimescale < timestep) m_bankingTimescale = timestep; if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
//Hover and Buoyancy properties //Hover and Buoyancy properties
m_VhoverHeight = vd.m_VhoverHeight; m_VhoverHeight = vd.m_VhoverHeight;
m_VhoverEfficiency = vd.m_VhoverEfficiency; m_VhoverEfficiency = vd.m_VhoverEfficiency;
m_VhoverTimescale = vd.m_VhoverTimescale; m_VhoverTimescale = vd.m_VhoverTimescale;
if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep; if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
m_VehicleBuoyancy = vd.m_VehicleBuoyancy; m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
//Attractor properties //Attractor properties
m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency; m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale; m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep; if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
// Axis // Axis
m_referenceFrame = vd.m_referenceFrame; m_referenceFrame = vd.m_referenceFrame;
@ -215,8 +215,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{ {
float len; float len;
float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam) switch (pParam)
{ {
@ -226,18 +224,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_angularDeflectionEfficiency = pValue; m_angularDeflectionEfficiency = pValue;
break; break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_angularDeflectionTimescale = pValue; m_angularDeflectionTimescale = pValue;
break; break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
// try to make impulses to work a bit better
// if (pValue < 0.5f) pValue = 0.5f;
else if (pValue > 120) pValue = 120; else if (pValue > 120) pValue = 120;
m_angularMotorDecayTimescale = pValue * invtimestep; m_angularMotorDecayTimescale = pValue * m_invtimestep;
break; break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE: case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_angularMotorTimescale = pValue; m_angularMotorTimescale = pValue;
break; break;
case Vehicle.BANKING_EFFICIENCY: case Vehicle.BANKING_EFFICIENCY:
@ -251,7 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_bankingMix = pValue; m_bankingMix = pValue;
break; break;
case Vehicle.BANKING_TIMESCALE: case Vehicle.BANKING_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_bankingTimescale = pValue; m_bankingTimescale = pValue;
break; break;
case Vehicle.BUOYANCY: case Vehicle.BUOYANCY:
@ -268,7 +264,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_VhoverHeight = pValue; m_VhoverHeight = pValue;
break; break;
case Vehicle.HOVER_TIMESCALE: case Vehicle.HOVER_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_VhoverTimescale = pValue; m_VhoverTimescale = pValue;
break; break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
@ -277,18 +273,16 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearDeflectionEfficiency = pValue; m_linearDeflectionEfficiency = pValue;
break; break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE: case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_linearDeflectionTimescale = pValue; m_linearDeflectionTimescale = pValue;
break; break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
// try to make impulses to work a bit better
//if (pValue < 0.5f) pValue = 0.5f;
else if (pValue > 120) pValue = 120; else if (pValue > 120) pValue = 120;
m_linearMotorDecayTimescale = pValue * invtimestep; m_linearMotorDecayTimescale = pValue * m_invtimestep;
break; break;
case Vehicle.LINEAR_MOTOR_TIMESCALE: case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_linearMotorTimescale = pValue; m_linearMotorTimescale = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@ -297,14 +291,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_verticalAttractionEfficiency = pValue; m_verticalAttractionEfficiency = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_verticalAttractionTimescale = pValue; m_verticalAttractionTimescale = pValue;
break; break;
// These are vector properties but the engine lets you use a single float value to // These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value // set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break; break;
case Vehicle.ANGULAR_MOTOR_DIRECTION: case Vehicle.ANGULAR_MOTOR_DIRECTION:
@ -318,7 +312,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body); d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep; if (pValue < m_timestep) pValue = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -344,14 +338,13 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{ {
float len; float len;
float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep; if (pValue.X < m_timestep) pValue.X = m_timestep;
if (pValue.Y < timestep) pValue.Y = timestep; if (pValue.Y < m_timestep) pValue.Y = m_timestep;
if (pValue.Z < timestep) pValue.Z = timestep; if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break; break;
@ -367,9 +360,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(rootPrim.Body); d.BodyEnable(rootPrim.Body);
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep; if (pValue.X < m_timestep) pValue.X = m_timestep;
if (pValue.Y < timestep) pValue.Y = timestep; if (pValue.Y < m_timestep) pValue.Y = m_timestep;
if (pValue.Z < timestep) pValue.Z = timestep; if (pValue.Z < m_timestep) pValue.Z = m_timestep;
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
@ -422,7 +415,6 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void ProcessTypeChange(Vehicle pType) internal void ProcessTypeChange(Vehicle pType)
{ {
float invtimestep = _pParentScene.ODE_STEPSIZE;
m_lmEfect = 0; m_lmEfect = 0;
m_amEfect = 0; m_amEfect = 0;
m_ffactor = 1f; m_ffactor = 1f;
@ -444,9 +436,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000; m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120 * invtimestep; m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000; m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 1000 * invtimestep; m_angularMotorDecayTimescale = 1000 * m_invtimestep;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 1; m_VhoverEfficiency = 1;
m_VhoverTimescale = 1000; m_VhoverTimescale = 1000;
@ -468,9 +460,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(30, 1, 1000); m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000; m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120 * invtimestep; m_linearMotorDecayTimescale = 120 * m_invtimestep;
m_angularMotorTimescale = 1000; m_angularMotorTimescale = 1000;
m_angularMotorDecayTimescale = 120 * invtimestep; m_angularMotorDecayTimescale = 120 * m_invtimestep;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 1; m_VhoverEfficiency = 1;
m_VhoverTimescale = 10; m_VhoverTimescale = 10;
@ -491,9 +483,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(100, 2, 1000); m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1; m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60 * invtimestep; m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 1; m_angularMotorTimescale = 1;
m_angularMotorDecayTimescale = 0.8f * invtimestep; m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 0; m_VhoverEfficiency = 0;
m_VhoverTimescale = 1000; m_VhoverTimescale = 1000;
@ -515,9 +507,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(10, 3, 2); m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10, 10, 10); m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5; m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60 * invtimestep; m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4; m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 4 * invtimestep; m_angularMotorDecayTimescale = 4 * m_invtimestep;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f; m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 2; m_VhoverTimescale = 2;
@ -543,9 +535,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(200, 10, 5); m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20); m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorTimescale = 2; m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60 * invtimestep; m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 4; m_angularMotorTimescale = 4;
m_angularMotorDecayTimescale = 8 * invtimestep; m_angularMotorDecayTimescale = 8 * m_invtimestep;
m_VhoverHeight = 0; m_VhoverHeight = 0;
m_VhoverEfficiency = 0.5f; m_VhoverEfficiency = 0.5f;
m_VhoverTimescale = 1000; m_VhoverTimescale = 1000;
@ -571,15 +563,15 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(5, 5, 5); m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10); m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorTimescale = 5; m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60 * invtimestep; m_linearMotorDecayTimescale = 60 * m_invtimestep;
m_angularMotorTimescale = 6; m_angularMotorTimescale = 6;
m_angularMotorDecayTimescale = 10 * invtimestep; m_angularMotorDecayTimescale = 10 * m_invtimestep;
m_VhoverHeight = 5; m_VhoverHeight = 5;
m_VhoverEfficiency = 0.8f; m_VhoverEfficiency = 0.8f;
m_VhoverTimescale = 10; m_VhoverTimescale = 10;
m_VehicleBuoyancy = 1; m_VehicleBuoyancy = 1;
m_linearDeflectionEfficiency = 0; m_linearDeflectionEfficiency = 0;
m_linearDeflectionTimescale = 5 * invtimestep; m_linearDeflectionTimescale = 5 * m_invtimestep;
m_angularDeflectionEfficiency = 0; m_angularDeflectionEfficiency = 0;
m_angularDeflectionTimescale = 5; m_angularDeflectionTimescale = 5;
m_verticalAttractionEfficiency = 0f; m_verticalAttractionEfficiency = 0f;
@ -701,7 +693,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return ; return ;
} }
internal void Step()//float pTimestep) internal void Step()
{ {
IntPtr Body = rootPrim.Body; IntPtr Body = rootPrim.Body;
@ -780,38 +772,44 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
d.Vector3 pos = d.BodyGetPosition(Body); d.Vector3 pos = d.BodyGetPosition(Body);
// default to global float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float perr = m_VhoverHeight - pos.Z;;
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) if (t < m_VhoverHeight) // don't go underground
{ {
perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); // default to global
} float perr = m_VhoverHeight - pos.Z; ;
else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
{
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{ {
perr += _pParentScene.GetWaterLevel(); perr += _pParentScene.GetWaterLevel();
} }
else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0) else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
perr += t;
}
else
{ {
float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
float w = _pParentScene.GetWaterLevel(); float w = _pParentScene.GetWaterLevel();
if (t > w) if (t > w)
perr += t; perr += t;
else else
perr += w; perr += w;
} }
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0) if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
{ {
force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / _pParentScene.ODE_STEPSIZE; force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
} }
else // no buoyancy else // no buoyancy
force.Z += _pParentScene.gravityz; force.Z += _pParentScene.gravityz;
} }
}
else else
{ {
// default gravity and buoancy // default gravity and Buoyancy
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy); force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
} }
@ -819,14 +817,20 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_linearDeflectionEfficiency > 0) if (m_linearDeflectionEfficiency > 0)
{ {
float len = curVel.Length(); float len = curVel.Length();
if (len > 0.01) // if moving
{
Vector3 atAxis; Vector3 atAxis;
atAxis = Xrot(rotq); // where are we pointing to atAxis = Xrot(rotq); // where are we pointing to
atAxis *= len; // make it same size as world velocity vector atAxis *= len; // make it same size as world velocity vector
tmpV = -atAxis; // oposite direction tmpV = -atAxis; // oposite direction
atAxis -= curVel; // error to one direction atAxis -= curVel; // error to one direction
len = atAxis.LengthSquared(); len = atAxis.LengthSquared();
tmpV -= curVel; // error to oposite tmpV -= curVel; // error to oposite
float lens = tmpV.LengthSquared(); float lens = tmpV.LengthSquared();
if (len > 0.01 || lens > 0.01) // do nothing if close enougth if (len > 0.01 || lens > 0.01) // do nothing if close enougth
{ {
if (len < lens) if (len < lens)
@ -839,6 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
force.Z += tmpV.Z; force.Z += tmpV.Z;
} }
} }
}
// angular motor // angular motor
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000) if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
@ -900,10 +905,10 @@ namespace OpenSim.Region.Physics.OdePlugin
GetRollPitch(irotq, out roll, out pitch); GetRollPitch(irotq, out roll, out pitch);
float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale / _pParentScene.ODE_STEPSIZE; float ftmp = 1.0f / m_verticalAttractionTimescale / m_verticalAttractionTimescale * m_invtimestep;
float ftmp2; float ftmp2;
if (m_bankingEfficiency == 0) if (m_bankingEfficiency == 0)
ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE; ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
else else
ftmp2 = 0; ftmp2 = 0;
@ -985,7 +990,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0) if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
{ {
torque *= m_referenceFrame; // to object frame torque *= m_referenceFrame; // to object frame
dtorque.X = torque.X; dtorque.X = torque.X ;
dtorque.Y = torque.Y; dtorque.Y = torque.Y;
dtorque.Z = torque.Z; dtorque.Z = torque.Z;