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author | KittoFlora | 2009-10-26 00:10:23 +0100 |
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committer | KittoFlora | 2009-10-26 00:10:23 +0100 |
commit | 8428b25939d39711e732eeb3928e8a8e64aad8a9 (patch) | |
tree | 4431c6743c579dcaa83a5f979496ccc574ae25e3 /OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |
parent | Commented out instrumentation in ODEPrim.cs (diff) | |
download | opensim-SC-8428b25939d39711e732eeb3928e8a8e64aad8a9.zip opensim-SC-8428b25939d39711e732eeb3928e8a8e64aad8a9.tar.gz opensim-SC-8428b25939d39711e732eeb3928e8a8e64aad8a9.tar.bz2 opensim-SC-8428b25939d39711e732eeb3928e8a8e64aad8a9.tar.xz |
Add llRotLookat pt1.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 83 |
1 files changed, 62 insertions, 21 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index f59f0ae..e1bf996 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -1,15 +1,4 @@ | |||
1 | /* | 1 | /* |
2 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
3 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
4 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
5 | * characteristics and Kinetic motion. | ||
6 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
7 | * (dynamics) and the associated settings. Old Linear and angular | ||
8 | * motors for dynamic motion have been replace with MoveLinear() | ||
9 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
10 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
11 | * switch between 'VEHICLE' parameter use and general dynamics | ||
12 | * settings use. | ||
13 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
14 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
15 | * | 4 | * |
@@ -34,6 +23,18 @@ | |||
34 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | 23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
35 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
36 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | * | ||
27 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
28 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
29 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
30 | * characteristics and Kinetic motion. | ||
31 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
32 | * (dynamics) and the associated settings. Old Linear and angular | ||
33 | * motors for dynamic motion have been replace with MoveLinear() | ||
34 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
35 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
36 | * switch between 'VEHICLE' parameter use and general dynamics | ||
37 | * settings use. | ||
37 | */ | 38 | */ |
38 | using System; | 39 | using System; |
39 | using System.Collections.Generic; | 40 | using System.Collections.Generic; |
@@ -82,6 +83,14 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
82 | private float PID_D = 35f; | 83 | private float PID_D = 35f; |
83 | private float PID_G = 25f; | 84 | private float PID_G = 25f; |
84 | private bool m_usePID = false; | 85 | private bool m_usePID = false; |
86 | |||
87 | private Quaternion m_APIDTarget = new Quaternion(); | ||
88 | private float m_APIDStrength = 0.5f; | ||
89 | private float m_APIDDamping = 0.5f; | ||
90 | |||
91 | private float APID_D = 35f; | ||
92 | private float APID_G = 25f; | ||
93 | private bool m_useAPID = false; | ||
85 | 94 | ||
86 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | 95 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), |
87 | // and are for non-VEHICLES only. | 96 | // and are for non-VEHICLES only. |
@@ -93,7 +102,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
93 | private float m_targetHoverHeight = 0f; | 102 | private float m_targetHoverHeight = 0f; |
94 | private float m_groundHeight = 0f; | 103 | private float m_groundHeight = 0f; |
95 | private float m_waterHeight = 0f; | 104 | private float m_waterHeight = 0f; |
96 | private float m_buoyancy = 0f; //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 105 | private float m_buoyancy = 0f; //Set by llSetBuoyancy(), for non-vehicles. |
97 | 106 | ||
98 | // private float m_tensor = 5f; | 107 | // private float m_tensor = 5f; |
99 | private int body_autodisable_frames = 20; | 108 | private int body_autodisable_frames = 20; |
@@ -1586,21 +1595,18 @@ Console.WriteLine(" JointCreateFixed"); | |||
1586 | //m_log.Info(m_collisionFlags.ToString()); | 1595 | //m_log.Info(m_collisionFlags.ToString()); |
1587 | 1596 | ||
1588 | 1597 | ||
1589 | //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. | 1598 | //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle. |
1590 | // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? | ||
1591 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up | 1599 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up |
1592 | // gravityz multiplier = 1 - m_buoyancy | 1600 | // NB Prims in ODE are no subject to global gravity |
1593 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; | 1601 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass |
1594 | 1602 | ||
1595 | if (m_usePID) | 1603 | if (m_usePID) |
1596 | { | 1604 | { |
1597 | //Console.WriteLine("PID " + m_primName); | 1605 | //Console.WriteLine("PID " + m_primName); |
1598 | // KF - this is for object move? eg. llSetPos() ? | 1606 | // KF - this is for object MoveToTarget. |
1607 | |||
1599 | //if (!d.BodyIsEnabled(Body)) | 1608 | //if (!d.BodyIsEnabled(Body)) |
1600 | //d.BodySetForce(Body, 0f, 0f, 0f); | 1609 | //d.BodySetForce(Body, 0f, 0f, 0f); |
1601 | // If we're using the PID controller, then we have no gravity | ||
1602 | //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply... | ||
1603 | fz = 0f; | ||
1604 | 1610 | ||
1605 | // no lock; for now it's only called from within Simulate() | 1611 | // no lock; for now it's only called from within Simulate() |
1606 | 1612 | ||
@@ -1744,8 +1750,37 @@ Console.WriteLine(" JointCreateFixed"); | |||
1744 | // We're flying and colliding with something | 1750 | // We're flying and colliding with something |
1745 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1751 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
1746 | } | 1752 | } |
1747 | } | 1753 | } // end m_useHoverPID && !m_usePID |
1754 | |||
1755 | if (m_useAPID) | ||
1756 | { | ||
1757 | // RotLookAt, apparently overrides all other rotation sources. Inputs: | ||
1758 | // Quaternion m_APIDTarget | ||
1759 | // float m_APIDStrength // perhaps ratio other forces to lookat force? | ||
1760 | // float m_APIDDamping //'seconds to critically damps in'[sic] | ||
1761 | // Factors: | ||
1762 | // float APID_D | ||
1763 | // float APID_G | ||
1764 | |||
1765 | // get present body rotation | ||
1766 | d.Quaternion rot = d.BodyGetQuaternion(Body); | ||
1767 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); | ||
1768 | Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget; | ||
1769 | float diff_angle; | ||
1770 | Vector3 diff_axis; | ||
1771 | rot_diff.GetAxisAngle(out diff_axis, out diff_angle); | ||
1772 | diff_axis.Normalize(); | ||
1773 | PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z); | ||
1774 | float RLAservo = timestep / m_APIDDamping; | ||
1775 | rotforce = rotforce * RLAservo * m_mass; | ||
1776 | d.BodyAddTorque(Body, rotforce.X, rotforce.Y, rotforce.Z); | ||
1777 | |||
1778 | // d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); | ||
1748 | 1779 | ||
1780 | |||
1781 | |||
1782 | } // end m_useAPID | ||
1783 | |||
1749 | fx *= m_mass; | 1784 | fx *= m_mass; |
1750 | fy *= m_mass; | 1785 | fy *= m_mass; |
1751 | //fz *= m_mass; | 1786 | //fz *= m_mass; |
@@ -2778,6 +2813,12 @@ Console.WriteLine(" JointCreateFixed"); | |||
2778 | } | 2813 | } |
2779 | public override bool PIDActive { set { m_usePID = value; } } | 2814 | public override bool PIDActive { set { m_usePID = value; } } |
2780 | public override float PIDTau { set { m_PIDTau = value; } } | 2815 | public override float PIDTau { set { m_PIDTau = value; } } |
2816 | |||
2817 | // For RotLookAt | ||
2818 | public override Quaternion APIDTarget { set { m_APIDTarget = value; } } | ||
2819 | public override bool APIDActive { set { m_useAPID = value; } } | ||
2820 | public override float APIDStrength { set { m_APIDStrength = value; } } | ||
2821 | public override float APIDDamping { set { m_APIDDamping = value; } } | ||
2781 | 2822 | ||
2782 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } | 2823 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } |
2783 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | 2824 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } |