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BulletSim: revert angular vertical attraction from motor to code. The motor code did not return the restoring difference but the current value. Remove unused commented out code.

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This commit is contained in:
Robert Adams
2012-12-02 20:07:05 -08:00
parent f9fed421fe
commit 10fcc70b36
1 changed files with 19 additions and 47 deletions
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66
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
//Attractor properties
private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor.
public BSDynamics(BSScene myScene, BSPrim myPrim)
{
@@ -573,6 +573,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Vector3 localInertia = new Vector3(1f, 1f, 1f);
Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
Prim.LocalID, friction, localInertia, angularDamping);
@@ -958,34 +959,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Apply the effect of the angular motor.
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection // angular velocity requested by LSL motor
// m_angularMotorVelocity // current angular motor velocity (ramps up and down)
// m_angularMotorTimescale // motor angular velocity ramp up time
// m_angularMotorDecayTimescale // motor angular velocity decay rate
// m_angularFrictionTimescale // body angular velocity decay rate
// m_lastAngularVelocity // what was last applied to body
/*
if (m_angularMotorDirection.LengthSquared() > 0.0001)
{
Vector3 origVel = m_angularMotorVelocity;
Vector3 origDir = m_angularMotorDirection;
// new velocity += error / ( time to get there / step interval)
// requested direction - current vehicle direction
m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
// decay requested direction
m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
}
else
{
m_angularMotorVelocity = Vector3.Zero;
}
*/
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
// ==================================================================
@@ -1050,9 +1023,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ==================================================================
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
// TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle.
VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
VehicleRotationalVelocity = Vector3.Zero;
Prim.ZeroAngularMotion(true);
}
@@ -1063,15 +1035,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Since we are stuffing the angular velocity directly into the object, the computed
// velocity needs to be scaled by the timestep.
// Also remove any motion that is on the object so added motion is only from vehicle.
Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity);
// Unscale the force by the angular factor so it overwhelmes the Bullet additions.
VehicleRotationalVelocity = applyAngularForce;
Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity);
VehicleRotationalVelocity = setAngularVelocity;
VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}",
Prim.LocalID,
angularMotorContribution, verticalAttractionContribution,
bankingContribution, deflectionContribution,
applyAngularForce, m_lastAngularVelocity
m_lastAngularVelocity, setAngularVelocity
);
}
}
@@ -1083,12 +1054,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// If vertical attaction timescale is reasonable and we applied an angular force last time...
if (m_verticalAttractionTimescale < 500)
{
/*
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
verticalError.Normalize();
m_verticalAttractionMotor.SetCurrent(verticalError);
m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
ret = m_verticalAttractionMotor.Step(pTimestep);
/*
*/
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
verticalError.Normalize();
@@ -1108,25 +1080,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
// Y error means needed rotation around X axis and visa versa.
verticalAttractionContribution.X = verticalError.Y;
verticalAttractionContribution.Y = - verticalError.X;
verticalAttractionContribution.Z = 0f;
ret.X = verticalError.Y;
ret.Y = - verticalError.X;
ret.Z = 0f;
// scale by the time scale and timestep
Vector3 unscaledContrib = verticalAttractionContribution;
verticalAttractionContribution /= m_verticalAttractionTimescale;
verticalAttractionContribution *= pTimestep;
Vector3 unscaledContrib = ret;
ret /= m_verticalAttractionTimescale;
ret *= pTimestep;
// apply efficiency
Vector3 preEfficiencyContrib = verticalAttractionContribution;
Vector3 preEfficiencyContrib = ret;
// Effenciency squared seems to give a more realistic effect
float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
ret *= efficencySquared;
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
m_verticalAttractionEfficiency, efficencySquared,
verticalAttractionContribution);
*/
ret);
}
return ret;