reorder priority of vehicle hover flags
UbitUmarov
parent
ee237fc5df
commit
f5cb403e7e
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@ -121,6 +121,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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private float m_amEfect = 0; // current angular motor eficiency
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private float m_ffactor = 1.0f;
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private float m_timestep = 0.02f;
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private float m_invtimestep = 50;
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public float FrictionFactor
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{
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get
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@ -133,14 +136,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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rootPrim = rootp;
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_pParentScene = rootPrim._parent_scene;
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m_timestep = _pParentScene.ODE_STEPSIZE;
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m_invtimestep = 1.0f / m_timestep;
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}
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public void DoSetVehicle(VehicleData vd)
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{
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float timestep = _pParentScene.ODE_STEPSIZE;
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float invtimestep = 1.0f / timestep;
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m_type = vd.m_type;
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m_flags = vd.m_flags;
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@ -148,61 +149,60 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorDirection = vd.m_linearMotorDirection;
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m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
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if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
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if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
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if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
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if (m_linearFrictionTimescale.X < m_timestep) m_linearFrictionTimescale.X = m_timestep;
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if (m_linearFrictionTimescale.Y < m_timestep) m_linearFrictionTimescale.Y = m_timestep;
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if (m_linearFrictionTimescale.Z < m_timestep) m_linearFrictionTimescale.Z = m_timestep;
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m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
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if (m_linearMotorDecayTimescale < timestep) m_linearMotorDecayTimescale = timestep;
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m_linearMotorDecayTimescale *= invtimestep;
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if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
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m_linearMotorDecayTimescale *= m_invtimestep;
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m_linearMotorTimescale = vd.m_linearMotorTimescale;
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if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
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if (m_linearMotorTimescale < m_timestep) m_linearMotorTimescale = m_timestep;
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m_linearMotorOffset = vd.m_linearMotorOffset;
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//Angular properties
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m_angularMotorDirection = vd.m_angularMotorDirection;
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m_angularMotorTimescale = vd.m_angularMotorTimescale;
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if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
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if (m_angularMotorTimescale < m_timestep) m_angularMotorTimescale = m_timestep;
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m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
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if (m_angularMotorDecayTimescale < timestep) m_angularMotorDecayTimescale = timestep;
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m_angularMotorDecayTimescale *= invtimestep;
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if (m_angularMotorDecayTimescale < m_timestep) m_angularMotorDecayTimescale = m_timestep;
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m_angularMotorDecayTimescale *= m_invtimestep;
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m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
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if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
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if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
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if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
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if (m_angularFrictionTimescale.X < m_timestep) m_angularFrictionTimescale.X = m_timestep;
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if (m_angularFrictionTimescale.Y < m_timestep) m_angularFrictionTimescale.Y = m_timestep;
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if (m_angularFrictionTimescale.Z < m_timestep) m_angularFrictionTimescale.Z = m_timestep;
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//Deflection properties
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m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
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m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
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if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
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if (m_angularDeflectionTimescale < m_timestep) m_angularDeflectionTimescale = m_timestep;
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m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
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m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
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if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
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if (m_linearDeflectionTimescale < m_timestep) m_linearDeflectionTimescale = m_timestep;
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//Banking properties
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m_bankingEfficiency = vd.m_bankingEfficiency;
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m_bankingMix = vd.m_bankingMix;
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m_bankingTimescale = vd.m_bankingTimescale;
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if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
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if (m_bankingTimescale < m_timestep) m_bankingTimescale = m_timestep;
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//Hover and Buoyancy properties
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m_VhoverHeight = vd.m_VhoverHeight;
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m_VhoverEfficiency = vd.m_VhoverEfficiency;
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m_VhoverTimescale = vd.m_VhoverTimescale;
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if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
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if (m_VhoverTimescale < m_timestep) m_VhoverTimescale = m_timestep;
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m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
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//Attractor properties
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m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
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m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
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if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
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if (m_verticalAttractionTimescale < m_timestep) m_verticalAttractionTimescale = m_timestep;
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// Axis
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m_referenceFrame = vd.m_referenceFrame;
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@ -215,8 +215,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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float len;
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float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
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float timestep = _pParentScene.ODE_STEPSIZE;
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switch (pParam)
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{
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@ -226,18 +224,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_angularDeflectionEfficiency = pValue;
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break;
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case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_angularDeflectionTimescale = pValue;
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break;
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case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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// try to make impulses to work a bit better
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// if (pValue < 0.5f) pValue = 0.5f;
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if (pValue < m_timestep) pValue = m_timestep;
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else if (pValue > 120) pValue = 120;
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m_angularMotorDecayTimescale = pValue * invtimestep;
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m_angularMotorDecayTimescale = pValue * m_invtimestep;
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break;
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case Vehicle.ANGULAR_MOTOR_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_angularMotorTimescale = pValue;
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break;
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case Vehicle.BANKING_EFFICIENCY:
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@ -251,7 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_bankingMix = pValue;
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break;
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case Vehicle.BANKING_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_bankingTimescale = pValue;
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break;
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case Vehicle.BUOYANCY:
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@ -268,7 +264,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_VhoverHeight = pValue;
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break;
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case Vehicle.HOVER_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_VhoverTimescale = pValue;
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break;
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case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
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@ -277,18 +273,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearDeflectionEfficiency = pValue;
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break;
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case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_linearDeflectionTimescale = pValue;
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break;
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case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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// try to make impulses to work a bit better
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//if (pValue < 0.5f) pValue = 0.5f;
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if (pValue < m_timestep) pValue = m_timestep;
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else if (pValue > 120) pValue = 120;
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m_linearMotorDecayTimescale = pValue * invtimestep;
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m_linearMotorDecayTimescale = pValue * m_invtimestep;
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break;
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case Vehicle.LINEAR_MOTOR_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_linearMotorTimescale = pValue;
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break;
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case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
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@ -297,14 +291,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_verticalAttractionEfficiency = pValue;
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break;
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case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_verticalAttractionTimescale = pValue;
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break;
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// These are vector properties but the engine lets you use a single float value to
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// set all of the components to the same value
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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@ -318,7 +312,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyEnable(rootPrim.Body);
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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if (pValue < timestep) pValue = timestep;
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if (pValue < m_timestep) pValue = m_timestep;
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m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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@ -344,14 +338,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
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{
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float len;
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float invtimestep = 1.0f / _pParentScene.ODE_STEPSIZE;
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float timestep = _pParentScene.ODE_STEPSIZE;
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switch (pParam)
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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if (pValue.X < timestep) pValue.X = timestep;
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if (pValue.Y < timestep) pValue.Y = timestep;
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if (pValue.Z < timestep) pValue.Z = timestep;
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if (pValue.X < m_timestep) pValue.X = m_timestep;
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if (pValue.Y < m_timestep) pValue.Y = m_timestep;
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if (pValue.Z < m_timestep) pValue.Z = m_timestep;
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m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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@ -367,9 +360,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyEnable(rootPrim.Body);
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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if (pValue.X < timestep) pValue.X = timestep;
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if (pValue.Y < timestep) pValue.Y = timestep;
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if (pValue.Z < timestep) pValue.Z = timestep;
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if (pValue.X < m_timestep) pValue.X = m_timestep;
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if (pValue.Y < m_timestep) pValue.Y = m_timestep;
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if (pValue.Z < m_timestep) pValue.Z = m_timestep;
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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@ -422,7 +415,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal void ProcessTypeChange(Vehicle pType)
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{
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float invtimestep = _pParentScene.ODE_STEPSIZE;
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m_lmEfect = 0;
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m_amEfect = 0;
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m_ffactor = 1f;
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@ -444,9 +436,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_linearMotorTimescale = 1000;
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m_linearMotorDecayTimescale = 120 * invtimestep;
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m_linearMotorDecayTimescale = 120 * m_invtimestep;
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m_angularMotorTimescale = 1000;
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m_angularMotorDecayTimescale = 1000 * invtimestep;
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m_angularMotorDecayTimescale = 1000 * m_invtimestep;
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 1;
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m_VhoverTimescale = 1000;
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@ -468,9 +460,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(30, 1, 1000);
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_linearMotorTimescale = 1000;
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m_linearMotorDecayTimescale = 120 * invtimestep;
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m_linearMotorDecayTimescale = 120 * m_invtimestep;
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m_angularMotorTimescale = 1000;
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m_angularMotorDecayTimescale = 120 * invtimestep;
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m_angularMotorDecayTimescale = 120 * m_invtimestep;
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 1;
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m_VhoverTimescale = 10;
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@ -491,9 +483,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(100, 2, 1000);
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m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
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m_linearMotorTimescale = 1;
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m_linearMotorDecayTimescale = 60 * invtimestep;
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m_linearMotorDecayTimescale = 60 * m_invtimestep;
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m_angularMotorTimescale = 1;
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m_angularMotorDecayTimescale = 0.8f * invtimestep;
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m_angularMotorDecayTimescale = 0.8f * m_invtimestep;
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0;
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m_VhoverTimescale = 1000;
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@ -515,9 +507,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(10, 3, 2);
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m_angularFrictionTimescale = new Vector3(10, 10, 10);
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m_linearMotorTimescale = 5;
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m_linearMotorDecayTimescale = 60 * invtimestep;
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m_linearMotorDecayTimescale = 60 * m_invtimestep;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 4 * invtimestep;
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m_angularMotorDecayTimescale = 4 * m_invtimestep;
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0.5f;
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m_VhoverTimescale = 2;
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@ -543,9 +535,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(200, 10, 5);
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m_angularFrictionTimescale = new Vector3(20, 20, 20);
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m_linearMotorTimescale = 2;
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m_linearMotorDecayTimescale = 60 * invtimestep;
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m_linearMotorDecayTimescale = 60 * m_invtimestep;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 8 * invtimestep;
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m_angularMotorDecayTimescale = 8 * m_invtimestep;
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m_VhoverHeight = 0;
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m_VhoverEfficiency = 0.5f;
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m_VhoverTimescale = 1000;
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@ -571,15 +563,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(5, 5, 5);
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m_angularFrictionTimescale = new Vector3(10, 10, 10);
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m_linearMotorTimescale = 5;
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m_linearMotorDecayTimescale = 60 * invtimestep;
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m_linearMotorDecayTimescale = 60 * m_invtimestep;
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m_angularMotorTimescale = 6;
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m_angularMotorDecayTimescale = 10 * invtimestep;
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m_angularMotorDecayTimescale = 10 * m_invtimestep;
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m_VhoverHeight = 5;
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m_VhoverEfficiency = 0.8f;
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m_VhoverTimescale = 10;
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m_VehicleBuoyancy = 1;
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m_linearDeflectionEfficiency = 0;
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m_linearDeflectionTimescale = 5 * invtimestep;
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m_linearDeflectionTimescale = 5 * m_invtimestep;
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m_angularDeflectionEfficiency = 0;
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m_angularDeflectionTimescale = 5;
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m_verticalAttractionEfficiency = 0f;
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@ -701,7 +693,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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return ;
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}
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internal void Step()//float pTimestep)
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internal void Step()
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{
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IntPtr Body = rootPrim.Body;
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@ -780,38 +772,44 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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d.Vector3 pos = d.BodyGetPosition(Body);
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// default to global
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float perr = m_VhoverHeight - pos.Z;;
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float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
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if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
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if (t < m_VhoverHeight) // don't go underground
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{
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perr += _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
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}
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else if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
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{
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perr += _pParentScene.GetWaterLevel();
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}
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else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
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{
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float t = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
|
||||
float w = _pParentScene.GetWaterLevel();
|
||||
if (t > w)
|
||||
perr += t;
|
||||
else
|
||||
perr += w;
|
||||
}
|
||||
// default to global
|
||||
float perr = m_VhoverHeight - pos.Z; ;
|
||||
|
||||
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 += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
|
||||
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == 0)
|
||||
{
|
||||
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
|
||||
{
|
||||
perr += _pParentScene.GetWaterLevel();
|
||||
}
|
||||
else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
|
||||
{
|
||||
perr += t;
|
||||
}
|
||||
else
|
||||
{
|
||||
float w = _pParentScene.GetWaterLevel();
|
||||
if (t > w)
|
||||
perr += t;
|
||||
else
|
||||
perr += w;
|
||||
}
|
||||
}
|
||||
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == 0 || perr > 0)
|
||||
{
|
||||
force.Z += (perr / m_VhoverTimescale / m_VhoverTimescale - curVel.Z * m_VhoverEfficiency) / m_timestep;
|
||||
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
|
||||
}
|
||||
else // no buoyancy
|
||||
force.Z += _pParentScene.gravityz;
|
||||
}
|
||||
else // no buoyancy
|
||||
force.Z += _pParentScene.gravityz;
|
||||
}
|
||||
else
|
||||
{
|
||||
// default gravity and buoancy
|
||||
// default gravity and Buoyancy
|
||||
force.Z += _pParentScene.gravityz * (1f - m_VehicleBuoyancy);
|
||||
}
|
||||
|
||||
|
|
@ -819,24 +817,31 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (m_linearDeflectionEfficiency > 0)
|
||||
{
|
||||
float len = curVel.Length();
|
||||
Vector3 atAxis;
|
||||
atAxis = Xrot(rotq); // where are we pointing to
|
||||
atAxis *= len; // make it same size as world velocity vector
|
||||
tmpV = -atAxis; // oposite direction
|
||||
atAxis -= curVel; // error to one direction
|
||||
len = atAxis.LengthSquared();
|
||||
tmpV -= curVel; // error to oposite
|
||||
float lens = tmpV.LengthSquared();
|
||||
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
|
||||
if (len > 0.01) // if moving
|
||||
{
|
||||
if (len < lens)
|
||||
tmpV = atAxis;
|
||||
|
||||
tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
|
||||
force.X += tmpV.X;
|
||||
force.Y += tmpV.Y;
|
||||
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
|
||||
force.Z += tmpV.Z;
|
||||
Vector3 atAxis;
|
||||
atAxis = Xrot(rotq); // where are we pointing to
|
||||
atAxis *= len; // make it same size as world velocity vector
|
||||
|
||||
tmpV = -atAxis; // oposite direction
|
||||
atAxis -= curVel; // error to one direction
|
||||
len = atAxis.LengthSquared();
|
||||
|
||||
tmpV -= curVel; // error to oposite
|
||||
float lens = tmpV.LengthSquared();
|
||||
|
||||
if (len > 0.01 || lens > 0.01) // do nothing if close enougth
|
||||
{
|
||||
if (len < lens)
|
||||
tmpV = atAxis;
|
||||
|
||||
tmpV *= (m_linearDeflectionEfficiency / m_linearDeflectionTimescale); // error to correct in this timestep
|
||||
force.X += tmpV.X;
|
||||
force.Y += tmpV.Y;
|
||||
if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) == 0)
|
||||
force.Z += tmpV.Z;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -900,10 +905,10 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
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;
|
||||
if (m_bankingEfficiency == 0)
|
||||
ftmp2 = m_verticalAttractionEfficiency / _pParentScene.ODE_STEPSIZE;
|
||||
ftmp2 = m_verticalAttractionEfficiency * m_invtimestep;
|
||||
else
|
||||
ftmp2 = 0;
|
||||
|
||||
|
|
@ -985,7 +990,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
if (torque.X != 0 || torque.Y != 0 || torque.Z != 0)
|
||||
{
|
||||
torque *= m_referenceFrame; // to object frame
|
||||
dtorque.X = torque.X;
|
||||
dtorque.X = torque.X ;
|
||||
dtorque.Y = torque.Y;
|
||||
dtorque.Z = torque.Z;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue