diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 478aeab799..696c4bde07 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -198,7 +198,8 @@ public sealed class BSCharacter : BSPhysObject // TODO: Decide if the step parameters should be changed depending on the avatar's // state (flying, colliding, ...). There is code in ODE to do this. - OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); + _velocityMotor.Step(timeStep); + OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; // If falling, we keep the world's downward vector no matter what the other axis specify. if (!Flying && !IsColliding) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f2c7cec0b3..7c9b83bc6b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -957,39 +957,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ComputeLinearVelocity(float pTimestep) { - Vector3 linearMotorStep = m_linearMotor.Step(pTimestep); + // Step the motor from the current value. Get the correction needed this step. + Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel); - // The movement computed in the linear motor is relative to the vehicle - // coordinates. Rotate the movement to world coordinates. - Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation; + // Motor is vehicle coordinates. Rotate it to world coordinates + Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation; - // If we're a ground vehicle, don't loose any Z action (like gravity acceleration). - float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z + // If we're a ground vehicle, don't add any upward Z movement if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) { - if (!Prim.IsColliding) - { - // If a ground vehicle and not on the ground, I want gravity effect - mixFactor = 0.2f; - } + if (linearMotorVelocity.Z > 0f) + linearMotorVelocity.Z = 0f; } - else - { - // I'm not a ground vehicle but don't totally loose the effect of the environment - mixFactor = 0.8f; - } - linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z; - // What we want to contribute to the vehicle's existing velocity - Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity; + // Add this correction to the velocity to make it faster/slower. + VehicleVelocity += linearMotorVelocity; - // Act against the inertia of the vehicle - linearMotorForce *= m_vehicleMass; - - VehicleAddForceImpulse(linearMotorForce * pTimestep); - - VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", - Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); + VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}", + Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1204,6 +1190,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The user wants this many radians per second angular change? Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + angularMotorContribution = m_angularMotor.CurrentValue; // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -1234,7 +1221,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin + deflectionContribution + bankingContribution; - // Add of the above computation are made relative to vehicle coordinates. + // All of the above computation are made relative to vehicle coordinates. // Convert to world coordinates. m_lastAngularVelocity *= VehicleOrientation; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 6d0db2e4e4..82fd2d2018 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -138,7 +138,8 @@ public class BSVMotor : BSMotor CurrentValue = TargetValue = Vector3.Zero; } - // Compute the next step and return the new current value + // Compute the next step and return the new current value. + // Returns the correction needed to move 'current' to 'target'. public virtual Vector3 Step(float timeStep) { if (!Enabled) return TargetValue; @@ -150,7 +151,7 @@ public class BSVMotor : BSMotor Vector3 error = TargetValue - CurrentValue; if (!ErrorIsZero(error)) { - correction = Step(timeStep, error); + correction = StepError(timeStep, error); CurrentValue += correction; @@ -187,14 +188,20 @@ public class BSVMotor : BSMotor else { // Difference between what we have and target is small. Motor is done. - CurrentValue = TargetValue; + CurrentValue = TargetValue = Vector3.Zero; MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); } - return CurrentValue; + return correction; } - public virtual Vector3 Step(float timeStep, Vector3 error) + // version of step that sets the current value before doing the step + public virtual Vector3 Step(float timeStep, Vector3 current) + { + CurrentValue = current; + return Step(timeStep); + } + public virtual Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; @@ -304,7 +311,7 @@ public class BSFMotor : BSMotor float error = TargetValue - CurrentValue; if (!ErrorIsZero(error)) { - correction = Step(timeStep, error); + correction = StepError(timeStep, error); CurrentValue += correction; @@ -347,7 +354,7 @@ public class BSFMotor : BSMotor return CurrentValue; } - public virtual float Step(float timeStep, float error) + public virtual float StepError(float timeStep, float error) { if (!Enabled) return 0f; @@ -440,8 +447,8 @@ public class BSPIDVMotor : BSVMotor } } - // Ignore Current and Target Values and just advance the PID computation on this error. - public override Vector3 Step(float timeStep, Vector3 error) + // Advance the PID computation on this error. + public override Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aaa6fe580d..22afdc9613 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1082,7 +1082,7 @@ public sealed class BSPrim : BSPhysObject OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) // 'movePosition' is where we'd like the prim to be at this moment. - OMV.Vector3 movePosition = _targetMotor.Step(timeStep); + OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep); // If we are very close to our target, turn off the movement motor. if (_targetMotor.ErrorIsZero()) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9bfec19e0e..23b7ca85d9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -74,7 +74,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= Implement llSetPhysicalMaterial. + extend it with Center-of-mass, rolling friction, density Implement llSetForceAndTorque. +Change BSPrim.moveToTarget to used forces rather than changing position + Changing position allows one to move through walls Implement an avatar mesh shape. The Bullet capsule is way too limited. Consider just hand creating a vertex/index array in a new BSShapeAvatar. Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.