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BulletSim: parameterize several vehicle debugging values: physical linear and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values

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This commit is contained in:
Robert Adams
2013-01-25 12:00:19 -08:00
parent c44a8e9f92
commit dd08e1fba6
3 changed files with 57 additions and 9 deletions
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12
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
public void Refresh()
{
if (IsActive)
@@ -593,16 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_vehicleMass = Prim.Linkset.LinksetMass;
// Friction affects are handled by this vehicle code
float friction = 0f;
PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
// Moderate angular movement introduced by Bullet.
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
// Maybe compute linear and angular factor and damping from params.
float angularDamping = BSParam.VehicleAngularDamping;
PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG
PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG
PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
// Vehicles report collision events so we know when it's on the ground
PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
@@ -618,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity);
}
else
{