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BulletSim: parameterize the value for gravity reduction for ground vehicles on the ground. Set defaults for vehicle factors to one. Debug logging changes.

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This commit is contained in:
Robert Adams
2013-01-25 16:52:16 -08:00
parent ddef8f16e5
commit 36f401d850
3 changed files with 18 additions and 11 deletions
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15
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@@ -976,8 +976,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public void ComputeLinearVelocity(float pTimestep)
{
// Step the motor from the current value. Get the correction needed this step.
Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel);
Vector3 origVelW = VehicleVelocity; // DEBUG
Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
// Motor is vehicle coordinates. Rotate it to world coordinates
Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
@@ -992,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Add this correction to the velocity to make it faster/slower.
VehicleVelocity += linearMotorVelocityW;
VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}",
Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW);
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1193,12 +1194,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Hack to reduce downward force if the vehicle is probably sitting on the ground
if (Prim.IsColliding && IsGroundVehicle)
appliedGravity *= 0.2f;
appliedGravity *= BSParam.VehicleGroundGravityFudge;
VehicleAddForce(appliedGravity);
VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}",
Prim.LocalID, m_VehicleGravity, appliedGravity);
VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}",
Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity);
}
// =======================================================================