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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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51
OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
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@@ -44,6 +44,11 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_type; }
}
public IntPtr Body
{
get { return m_body; }
}
private Vehicle m_type = Vehicle.TYPE_NONE;
private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero;
@@ -75,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_linearMotorTimescale = 0;
private float m_verticalAttractionEfficiency = 0;
private float m_verticalAttractionTimescale = 0;
private Vector3 m_lastVector = Vector3.Zero;
private VehicleFlag m_flags = (VehicleFlag) 0;
@@ -222,8 +228,9 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void Enable(IntPtr pBody, OdeScene pParentScene)
{
if (pBody == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
if (m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
m_parentScene = pParentScene;
}
@@ -246,11 +253,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
VerticalAttractor(pTimestep);
LinearMotor(pTimestep);
}
private void SetDefaultsForType(Vehicle pType)
{
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_SLED:
@@ -388,5 +397,43 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void VerticalAttractor(float pTimestep)
{
// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
// change appearance and when you enter the simulator
// After this routine is done, the amotor stabilizes much quicker
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
//d.BodyGetS
d.Vector3 feet;
d.Vector3 head;
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet);
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head);
float posture = head.Z - feet.Z;
// restoring force proportional to lack of posture:
float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass;
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
}
private void LinearMotor(float pTimestep)
{
/*
float decayval = (m_linearMotorDecayTimescale * pTimestep);
m_linearMotorDirection *= decayval;
m_lastVector += m_linearMotorDirection
m_lin
m_lastVector
* */
}
}
}