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BulletSim: remove check for small motor movement because, while it

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did the right thing for stopping (speed reducing to zero), it prevented
movement from starting (speed increasing from zero). Will revisit
when the generalize PID motor is debugged.
This commit is contained in:
Robert Adams
2012-12-29 10:19:47 -08:00
parent 0538096fa3
commit 28a8949b9f
2 changed files with 6 additions and 3 deletions
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7
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@@ -217,6 +217,7 @@ public sealed class BSCharacter : BSPhysObject
// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep;
/*
// If moveForce is very small, zero things so we don't keep sending microscopic updates to the user
float moveForceMagnitudeSquared = moveForce.LengthSquared();
if (moveForceMagnitudeSquared < 0.0001)
@@ -227,10 +228,12 @@ public sealed class BSCharacter : BSPhysObject
}
else
{
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
LocalID, stepVelocity, _velocity, Mass, moveForce);
AddForce(moveForce, false, true);
}
*/
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
LocalID, stepVelocity, _velocity, Mass, moveForce);
AddForce(moveForce, false, true);
});
}

2
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@@ -80,7 +80,7 @@ public enum FixedShapeKey : ulong
KEY_SPHERE = 2,
KEY_CONE = 3,
KEY_CYLINDER = 4,
KEY_CAPSULE = 5,
KEY_CAPSULE = 5,
KEY_AVATAR = 6,
}