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BulletSim: make all the different angularVerticalAttraction algorithms
selectable from configuration paramters. Changed default algorithm to "1" from previous default as it seems to handle Y axis correction a little better. Add config file independent enablement of vehicle angular forces to make debugging easier (independent testing of forces).
This commit is contained in:
Robert Adams
@@ -125,33 +125,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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static readonly float PIOverFour = ((float)Math.PI) / 4f;
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static readonly float PIOverTwo = ((float)Math.PI) / 2f;
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// For debugging, flags to turn on and off individual corrections.
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public bool enableAngularVerticalAttraction;
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public bool enableAngularDeflection;
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public bool enableAngularBanking;
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public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
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: base(myScene, myPrim, actorName)
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{
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ControllingPrim = myPrim;
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Type = Vehicle.TYPE_NONE;
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m_haveRegisteredForSceneEvents = false;
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SetupVehicleDebugging();
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}
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// Stopgap debugging enablement. Allows source level debugging but still checking
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// in changes by making enablement of debugging flags from INI file.
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public void SetupVehicleDebugging()
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{
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enableAngularVerticalAttraction = true;
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enableAngularDeflection = true;
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enableAngularBanking = true;
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if (BSParam.VehicleDebuggingEnable)
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{
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enableAngularVerticalAttraction = true;
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enableAngularDeflection = false;
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enableAngularBanking = false;
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}
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}
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// Return 'true' if this vehicle is doing vehicle things
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@@ -556,10 +535,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
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m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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// m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
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m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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// m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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/* Not implemented
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m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
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@@ -1393,116 +1372,134 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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// If vertical attaction timescale is reasonable
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if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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//Another formula to try got from :
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//http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
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Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
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// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
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// since only computing half the distance between the angles.
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float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
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// Make a prediction of where the up axis will be when this is applied rather then where it is now as
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// this makes for a smoother adjustment and less fighting between the various forces.
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Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
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// This is only half the distance to the target so it will take 2 seconds to complete the turn.
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Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
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// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
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Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
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VehicleRotationalVelocity += vertContributionV;
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VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
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ControllingPrim.LocalID,
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VehicleUpAxis,
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predictedUp,
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torqueVector,
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vertContributionV);
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//=====================================================================
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/*
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// Possible solution derived from a discussion at:
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// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
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// Create a rotation that is only the vehicle's rotation around Z
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Vector3 currentEuler = Vector3.Zero;
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VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
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Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
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// Create the axis that is perpendicular to the up vector and the rotated up vector.
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Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
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// Compute the angle between those to vectors.
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double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
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// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
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// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
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// TODO: add 'efficiency'.
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differenceAngle /= m_verticalAttractionTimescale;
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// Create the quaterian representing the correction angle
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Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
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// Turn that quaternion into Euler values to make it into velocities to apply.
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Vector3 vertContributionV = Vector3.Zero;
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correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
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vertContributionV *= -1f;
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VehicleRotationalVelocity += vertContributionV;
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VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}",
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ControllingPrim.LocalID,
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differenceAxis,
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differenceAngle,
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correctionRotation,
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vertContributionV);
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*/
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// ===================================================================
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/*
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Vector3 vertContributionV = Vector3.Zero;
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Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now:
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// leaning to one side: rotated around the X axis with the Y value going
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// from zero (nearly straight up) to one (completely to the side)) or
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// leaning front-to-back: rotated around the Y axis with the value of X being between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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// Y error means needed rotation around X axis and visa versa.
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// Since the error goes from zero to one, the asin is the corresponding angle.
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vertContributionV.X = (float)Math.Asin(verticalError.Y);
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// (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
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vertContributionV.Y = -(float)Math.Asin(verticalError.X);
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// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
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if (verticalError.Z < 0f)
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Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
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switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
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{
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vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
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// vertContribution.Y -= PIOverFour;
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case 0:
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{
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//Another formula to try got from :
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//http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
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// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
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// since only computing half the distance between the angles.
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float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
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// Make a prediction of where the up axis will be when this is applied rather then where it is now as
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// this makes for a smoother adjustment and less fighting between the various forces.
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Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
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// This is only half the distance to the target so it will take 2 seconds to complete the turn.
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Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
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// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
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Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
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VehicleRotationalVelocity += vertContributionV;
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VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
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ControllingPrim.LocalID,
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vehicleUpAxis,
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predictedUp,
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torqueVector,
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vertContributionV);
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break;
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}
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case 1:
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{
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// Possible solution derived from a discussion at:
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// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
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// Create a rotation that is only the vehicle's rotation around Z
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Vector3 currentEuler = Vector3.Zero;
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VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
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Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
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// Create the axis that is perpendicular to the up vector and the rotated up vector.
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Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
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// Compute the angle between those to vectors.
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double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
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// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
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// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
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// TODO: add 'efficiency'.
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differenceAngle /= m_verticalAttractionTimescale;
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// Create the quaterian representing the correction angle
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Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
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// Turn that quaternion into Euler values to make it into velocities to apply.
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Vector3 vertContributionV = Vector3.Zero;
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correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
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vertContributionV *= -1f;
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VehicleRotationalVelocity += vertContributionV;
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VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
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ControllingPrim.LocalID,
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vehicleUpAxis,
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differenceAxis,
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differenceAngle,
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correctionRotation,
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vertContributionV);
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break;
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}
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case 2:
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{
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Vector3 vertContributionV = Vector3.Zero;
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Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now:
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// leaning to one side: rotated around the X axis with the Y value going
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// from zero (nearly straight up) to one (completely to the side)) or
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// leaning front-to-back: rotated around the Y axis with the value of X being between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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// Y error means needed rotation around X axis and visa versa.
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// Since the error goes from zero to one, the asin is the corresponding angle.
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vertContributionV.X = (float)Math.Asin(verticalError.Y);
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// (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
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vertContributionV.Y = -(float)Math.Asin(verticalError.X);
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// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
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if (verticalError.Z < 0f)
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{
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vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
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// vertContribution.Y -= PIOverFour;
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}
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// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
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// Correction happens over a number of seconds.
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Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
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// The correction happens over the user's time period
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vertContributionV /= m_verticalAttractionTimescale;
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// Rotate the vehicle rotation to the world coordinates.
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VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
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VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
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ControllingPrim.LocalID,
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vehicleUpAxis,
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origRotVelW,
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verticalError,
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unscaledContribVerticalErrorV,
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m_verticalAttractionEfficiency,
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m_verticalAttractionTimescale,
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vertContributionV);
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break;
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}
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default:
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{
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break;
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}
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}
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// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
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// Correction happens over a number of seconds.
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Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
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// The correction happens over the user's time period
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vertContributionV /= m_verticalAttractionTimescale;
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// Rotate the vehicle rotation to the world coordinates.
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VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
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VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
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Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
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m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
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*/
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}
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}
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@@ -1514,7 +1511,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public void ComputeAngularDeflection()
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{
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if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
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if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
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{
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Vector3 deflectContributionV = Vector3.Zero;
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@@ -1593,7 +1590,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// make a sluggish vehicle by giving it a timescale of several seconds.
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public void ComputeAngularBanking()
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{
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if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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Vector3 bankingContributionV = Vector3.Zero;
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