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BulletSim: Working Implementation of Angular Banking for Vehicles (Not SL Grade, Other features when implemented should slow it down for now be Strong with Vertical Angular attraction setting and conservative with Angular Velocity on X axis) 

Signed-off-by: Robert Adams <Robert.Adams@intel.com>
user_profiles
Vegaslon 2013-03-16 17:16:01 -04:00 committed by Robert Adams
parent 6e1b3f9951
commit fc84ebb819
1 changed files with 17 additions and 16 deletions
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33
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -143,7 +143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
enableAngularVerticalAttraction = true;
enableAngularDeflection = false;
enableAngularBanking = false;
enableAngularBanking = true;
if (BSParam.VehicleDebuggingEnabled)
{
enableAngularVerticalAttraction = true;
@ -1280,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
// TODO: This is here because this is where ODE put it but documentation says it
// is a linear effect. Where should this check go?
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
angularMotorContributionV.X = 0f;
angularMotorContributionV.Y = 0f;
}
//if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
// {
// angularMotorContributionV.X = 0f;
// angularMotorContributionV.Y = 0f;
// }
VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
@ -1437,24 +1437,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// As the vehicle rolls to the right or left, the Y value will increase from
// zero (straight up) to 1 or -1 (full tilt right or left)
Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
// Figure out the yaw value for this much roll.
// Squared because that seems to give a good value
float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency;
// float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency;
float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
// actual error = static turn error + dynamic turn error
float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed;
// TODO: the banking effect should not go to infinity but what to limit it to?
mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
// TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is
// being added to a user defined yaw that is already PI*4?
mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12);
// Build the force vector to change rotation from what it is to what it should be
bankingContributionV.Z = -mixedYawAngle;
// Don't do it all at once.
bankingContributionV /= m_bankingTimescale;
// Don't do it all at once. 60 becouse 1 second is too fast with most user defined roll as PI*4
bankingContributionV /= m_bankingTimescale*60;
//VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
VehicleRotationalVelocity += bankingContributionV;
VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);