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| author | UbitUmarov | 2019-01-31 17:25:18 +0000 |
|---|---|---|
| committer | UbitUmarov | 2019-01-31 17:25:18 +0000 |
| commit | 9046e5cb9d5473fbd702eee5cb1403779c632ff6 (patch) | |
| tree | 335e4b2897d14329cccdd8f1f921be29956de242 | |
| parent | remove MRM module (minimodule). Its outdated and we have no maintainers. Than... (diff) | |
| download | opensim-SC-9046e5cb9d5473fbd702eee5cb1403779c632ff6.zip opensim-SC-9046e5cb9d5473fbd702eee5cb1403779c632ff6.tar.gz opensim-SC-9046e5cb9d5473fbd702eee5cb1403779c632ff6.tar.bz2 opensim-SC-9046e5cb9d5473fbd702eee5cb1403779c632ff6.tar.xz | |
ubode add position to pid control it stopped flying to prevent slow drifts
| -rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | 56 |
1 files changed, 30 insertions, 26 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs index 5320912..7ad5e3d 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | |||
| @@ -1435,37 +1435,41 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
| 1435 | 1435 | ||
| 1436 | if(!m_freemove) | 1436 | if(!m_freemove) |
| 1437 | { | 1437 | { |
| 1438 | |||
| 1439 | // if velocity is zero, use position control; otherwise, velocity control | 1438 | // if velocity is zero, use position control; otherwise, velocity control |
| 1440 | if(tviszero && m_iscolliding && !m_flying) | 1439 | if(tviszero) |
| 1441 | { | 1440 | { |
| 1442 | // keep track of where we stopped. No more slippin' & slidin' | 1441 | if(m_iscolliding || m_flying) |
| 1443 | if(!_zeroFlag) | ||
| 1444 | { | 1442 | { |
| 1445 | _zeroFlag = true; | 1443 | // keep track of where we stopped. No more slippin' & slidin' |
| 1446 | _zeroPosition = localpos; | 1444 | if (!_zeroFlag) |
| 1445 | { | ||
| 1446 | _zeroFlag = true; | ||
| 1447 | _zeroPosition = localpos; | ||
| 1448 | } | ||
| 1449 | if(m_pidControllerActive) | ||
| 1450 | { | ||
| 1451 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
| 1452 | // react to the physics scene by moving it's position. | ||
| 1453 | // Avatar to Avatar collisions | ||
| 1454 | // Prim to avatar collisions | ||
| 1455 | |||
| 1456 | vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5); | ||
| 1457 | vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5); | ||
| 1458 | if(vel.Z > 0) | ||
| 1459 | vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; | ||
| 1460 | else | ||
| 1461 | vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f; | ||
| 1462 | } | ||
| 1447 | } | 1463 | } |
| 1448 | if(m_pidControllerActive) | 1464 | else |
| 1449 | { | 1465 | { |
| 1450 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | 1466 | _zeroFlag = false; |
| 1451 | // react to the physics scene by moving it's position. | 1467 | vec.X += (ctz.X - vel.X) * PID_D * 0.833f; |
| 1452 | // Avatar to Avatar collisions | 1468 | vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f; |
| 1453 | // Prim to avatar collisions | 1469 | // hack for breaking on fall |
| 1454 | 1470 | if (ctz.Z == -9999f) | |
| 1455 | vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5); | 1471 | vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass; |
| 1456 | vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5); | ||
| 1457 | if(vel.Z > 0) | ||
| 1458 | vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; | ||
| 1459 | else | ||
| 1460 | vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f; | ||
| 1461 | /* | ||
| 1462 | if (flying) | ||
| 1463 | { | ||
| 1464 | vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; | ||
| 1465 | } | ||
| 1466 | */ | ||
| 1467 | } | 1472 | } |
| 1468 | //PidStatus = true; | ||
| 1469 | } | 1473 | } |
| 1470 | else | 1474 | else |
| 1471 | { | 1475 | { |
| @@ -1539,7 +1543,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
| 1539 | vec.X += (ctz.X - vel.X) * PID_D * 0.833f; | 1543 | vec.X += (ctz.X - vel.X) * PID_D * 0.833f; |
| 1540 | vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f; | 1544 | vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f; |
| 1541 | // hack for breaking on fall | 1545 | // hack for breaking on fall |
| 1542 | if(ctz.Z == -9999f) | 1546 | if (ctz.Z == -9999f) |
| 1543 | vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass; | 1547 | vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass; |
| 1544 | } | 1548 | } |
| 1545 | } | 1549 | } |