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author | Teravus Ovares | 2008-04-24 22:26:26 +0000 |
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committer | Teravus Ovares | 2008-04-24 22:26:26 +0000 |
commit | d023c331f813598c3cabab93927a7ab105d6e7f1 (patch) | |
tree | ae7907318751d470c6032a97cd72d5dfe24ad306 /OpenSim/Region/Physics/OdePlugin | |
parent | do a max of 3 splits when first processing the nhibernate connect (diff) | |
download | opensim-SC-d023c331f813598c3cabab93927a7ab105d6e7f1.zip opensim-SC-d023c331f813598c3cabab93927a7ab105d6e7f1.tar.gz opensim-SC-d023c331f813598c3cabab93927a7ab105d6e7f1.tar.bz2 opensim-SC-d023c331f813598c3cabab93927a7ab105d6e7f1.tar.xz |
* Tuned the llMove2Target PID controller to be more reasonable and not overshoot the target.
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 32 |
1 files changed, 24 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 947466f..5a5cf59 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -1192,12 +1192,27 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1192 | PID_D = 2200.0f; | 1192 | PID_D = 2200.0f; |
1193 | //PID_P = 900.0f; | 1193 | //PID_P = 900.0f; |
1194 | } | 1194 | } |
1195 | PID_D = 1.0f; | 1195 | PID_D = 35f; |
1196 | //PID_P = 1.0f; | ||
1197 | 1196 | ||
1198 | 1197 | ||
1198 | //PID_P = 1.0f; | ||
1199 | float PID_G = 25; | ||
1200 | |||
1201 | if ((m_PIDTau < 1)) | ||
1202 | { | ||
1203 | PID_G = PID_G / m_PIDTau; | ||
1204 | } | ||
1205 | |||
1206 | |||
1207 | if ((PID_G - m_PIDTau) <= 0) | ||
1208 | { | ||
1209 | PID_G = m_PIDTau + 1; | ||
1210 | } | ||
1199 | //PidStatus = true; | 1211 | //PidStatus = true; |
1200 | 1212 | ||
1213 | |||
1214 | |||
1215 | |||
1201 | PhysicsVector vec = new PhysicsVector(); | 1216 | PhysicsVector vec = new PhysicsVector(); |
1202 | d.Vector3 vel = d.BodyGetLinearVel(Body); | 1217 | d.Vector3 vel = d.BodyGetLinearVel(Body); |
1203 | 1218 | ||
@@ -1205,9 +1220,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1205 | d.Vector3 pos = d.BodyGetPosition(Body); | 1220 | d.Vector3 pos = d.BodyGetPosition(Body); |
1206 | _target_velocity = | 1221 | _target_velocity = |
1207 | new PhysicsVector( | 1222 | new PhysicsVector( |
1208 | (m_PIDTarget.X - pos.X) / m_PIDTau, | 1223 | (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep), |
1209 | (m_PIDTarget.Y - pos.Y) / m_PIDTau, | 1224 | (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep), |
1210 | (m_PIDTarget.Z - pos.Z) / m_PIDTau | 1225 | (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep) |
1211 | ); | 1226 | ); |
1212 | 1227 | ||
1213 | 1228 | ||
@@ -1239,8 +1254,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1239 | _zeroFlag = false; | 1254 | _zeroFlag = false; |
1240 | 1255 | ||
1241 | // We're flying and colliding with something | 1256 | // We're flying and colliding with something |
1242 | fx = ((_target_velocity.X / m_PIDTau) - vel.X) * (PID_D / 6); | 1257 | fx = ((_target_velocity.X) - vel.X) * (PID_D); |
1243 | fy = ((_target_velocity.Y / m_PIDTau) - vel.Y) * (PID_D / 6); | 1258 | fy = ((_target_velocity.Y) - vel.Y) * (PID_D); |
1244 | 1259 | ||
1245 | 1260 | ||
1246 | 1261 | ||
@@ -1262,6 +1277,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1262 | //m_taintdisable = true; | 1277 | //m_taintdisable = true; |
1263 | //base.RaiseOutOfBounds(Position); | 1278 | //base.RaiseOutOfBounds(Position); |
1264 | //d.BodySetLinearVel(Body, fx, fy, 0f); | 1279 | //d.BodySetLinearVel(Body, fx, fy, 0f); |
1280 | enableBodySoft(); | ||
1265 | d.BodyAddForce(Body, fx, fy, fz); | 1281 | d.BodyAddForce(Body, fx, fy, fz); |
1266 | } | 1282 | } |
1267 | } | 1283 | } |
@@ -2146,7 +2162,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
2146 | } | 2162 | } |
2147 | public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } | 2163 | public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } |
2148 | public override bool PIDActive { set { m_usePID = value; } } | 2164 | public override bool PIDActive { set { m_usePID = value; } } |
2149 | public override float PIDTau { set { m_PIDTau = (value * 0.6f); } } | 2165 | public override float PIDTau { set { m_PIDTau = value; } } |
2150 | 2166 | ||
2151 | private void createAMotor(PhysicsVector axis) | 2167 | private void createAMotor(PhysicsVector axis) |
2152 | { | 2168 | { |