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* Commit a few fixes to the Vehicle settings

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* Vertical Attractor servo
This commit is contained in:
Teravus Ovares
2009-04-17 04:34:52 +00:00
parent 235ae95b50
commit 0d00a767bc
2 changed files with 67 additions and 13 deletions
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29
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
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@@ -66,6 +66,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private IntPtr Amotor = IntPtr.Zero;
private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
private float m_PIDTau = 0f;
private float PID_D = 35f;
private float PID_G = 25f;
@@ -908,6 +909,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
changeAngularLock(timestep);
}
else
{
@@ -915,6 +918,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void changeAngularLock(float timestep)
{
// do we have a Physical object?
@@ -1470,6 +1474,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
d.BodyEnable(Body);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
{
m_vehicle.Enable(Body, _parent_scene);
}
}
else
{
@@ -1550,6 +1558,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_usePID)
{
//if (!d.BodyIsEnabled(Body))
//d.BodySetForce(Body, 0f, 0f, 0f);
// If we're using the PID controller, then we have no gravity
@@ -1737,6 +1746,8 @@ namespace OpenSim.Region.Physics.OdePlugin
fy = nmin;
d.BodyAddForce(Body, fx, fy, fz);
}
if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
m_vehicle.Step(timestep);
}
@@ -1747,6 +1758,8 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public void rotate(float timestep)
{
d.Quaternion myrot = new d.Quaternion();
@@ -2701,8 +2714,10 @@ namespace OpenSim.Region.Physics.OdePlugin
set
{
if (PhysicsVector.isFinite(value))
m_PIDTarget = value;
else
{
m_PIDTarget = value;
}
else
m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
}
}
@@ -3062,15 +3077,7 @@ namespace OpenSim.Region.Physics.OdePlugin
return det;
}
private static float Determinant(Matrix4 matrix)
{
float det = 0;
for (int j = 0; j < 4; j++)
det += (matrix[0, j] * Determinant(Minor(matrix, 0, j)) * (int)System.Math.Pow(-1, 0 + j));
return det;
}
private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
{
dst.c.W = src.c.W;