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Vehicle Linear parameter adjustments

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This commit is contained in:
Kitto Flora
2009-12-31 16:07:36 -05:00
parent 67cfe34e67
commit 3f901d313b
3 changed files with 75 additions and 38 deletions
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40
OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
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@@ -83,6 +83,12 @@ namespace OpenSim.Region.Physics.OdePlugin
// private IntPtr m_jointGroup = IntPtr.Zero;
// private IntPtr m_aMotor = IntPtr.Zero;
// Correction factors, to match Sl
private static float m_linearVelocityFactor = 0.9f;
private static float m_linearAttackFactor = 0.4f;
private static float m_linearDecayFactor = 0.5f;
private static float m_linearFrictionFactor = 1.2f;
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
@@ -98,7 +104,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL, for max limiting
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
@@ -267,8 +273,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
pValue *= m_linearVelocityFactor;
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, decayed by time
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -453,6 +460,17 @@ namespace OpenSim.Region.Physics.OdePlugin
MoveAngular(pTimestep);
}// end Step
internal void Halt()
{ // Kill all motions, when non-physical
m_linearMotorDirection = Vector3.Zero;
m_linearMotorDirectionLASTSET = Vector3.Zero;
m_dir = Vector3.Zero;
m_lastLinearVelocityVector = Vector3.Zero;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorVelocity = Vector3.Zero;
m_lastAngularVelocity = Vector3.Zero;
}
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
@@ -460,9 +478,15 @@ namespace OpenSim.Region.Physics.OdePlugin
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
// add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
float linfactor = m_linearMotorTimescale/pTimestep;
// Linear accel
Vector3 addAmount1 = (m_linearMotorDirection/linfactor) * 0.8f;
// Differential accel
Vector3 addAmount2 = ((m_linearMotorDirection - m_lastLinearVelocityVector)/linfactor) * 1.6f;
// SL correction
Vector3 addAmount = (addAmount1 + addAmount2) * m_linearAttackFactor;
m_lastLinearVelocityVector += addAmount; // lastLinearVelocityVector is the current body velocity vector
//if(frcount == 0) Console.WriteLine("AL {0} + AD {1} AS{2} V {3}", addAmount1, addAmount2, addAmount, m_lastLinearVelocityVector);
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
@@ -475,7 +499,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * m_linearDecayFactor;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
@@ -560,7 +584,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount * m_linearFrictionFactor;
} // end MoveLinear()
private void MoveAngular(float pTimestep)