diff options
author | Kitto Flora | 2009-12-22 00:20:04 -0500 |
---|---|---|
committer | Kitto Flora | 2009-12-22 00:20:04 -0500 |
commit | 0a29842caf5dbe711490b9b323ae922c418c6c30 (patch) | |
tree | 17f1403561f8bf1238dae53ff29f126b645b6793 /OpenSim/Region/Physics/OdePlugin | |
parent | Merge branch 'master' into careminster (diff) | |
download | opensim-SC-0a29842caf5dbe711490b9b323ae922c418c6c30.zip opensim-SC-0a29842caf5dbe711490b9b323ae922c418c6c30.tar.gz opensim-SC-0a29842caf5dbe711490b9b323ae922c418c6c30.tar.bz2 opensim-SC-0a29842caf5dbe711490b9b323ae922c418c6c30.tar.xz |
Include ChOdePlugin
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 21 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | 20 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 108 |
3 files changed, 31 insertions, 118 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index b99baa2..06ed8fb 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -1197,26 +1197,13 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
1197 | public override PIDHoverType PIDHoverType { set { return; } } | 1197 | public override PIDHoverType PIDHoverType { set { return; } } |
1198 | public override float PIDHoverTau { set { return; } } | 1198 | public override float PIDHoverTau { set { return; } } |
1199 | 1199 | ||
1200 | public override Quaternion APIDTarget | 1200 | public override Quaternion APIDTarget{ set { return; } } |
1201 | { | ||
1202 | set { return; } | ||
1203 | } | ||
1204 | 1201 | ||
1205 | public override bool APIDActive | 1202 | public override bool APIDActive{ set { return; } } |
1206 | { | ||
1207 | set { return; } | ||
1208 | } | ||
1209 | 1203 | ||
1210 | public override float APIDStrength | 1204 | public override float APIDStrength{ set { return; } } |
1211 | { | ||
1212 | set { return; } | ||
1213 | } | ||
1214 | |||
1215 | public override float APIDDamping | ||
1216 | { | ||
1217 | set { return; } | ||
1218 | } | ||
1219 | 1205 | ||
1206 | public override float APIDDamping{ set { return; } } | ||
1220 | 1207 | ||
1221 | 1208 | ||
1222 | public override void SubscribeEvents(int ms) | 1209 | public override void SubscribeEvents(int ms) |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs index 78b15be..39cdc0f 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs | |||
@@ -23,19 +23,6 @@ | |||
23 | * 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 |
24 | * (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 |
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | * | ||
27 | * Revised Aug, Sept 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. | ||
38 | * | ||
39 | */ | 26 | */ |
40 | 27 | ||
41 | /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces | 28 | /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces |
@@ -133,7 +120,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
133 | // private float m_VhoverEfficiency = 0f; | 120 | // private float m_VhoverEfficiency = 0f; |
134 | private float m_VhoverTimescale = 0f; | 121 | private float m_VhoverTimescale = 0f; |
135 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height | 122 | private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height |
136 | private float m_VehicleBuoyancy = 0f; // Set by VEHICLE_BUOYANCY, for a vehicle. | 123 | private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. |
137 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) | 124 | // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) |
138 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. | 125 | // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. |
139 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. | 126 | // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. |
@@ -492,7 +479,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
492 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object | 479 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object |
493 | m_dir *= rotq; // apply obj rotation to velocity vector | 480 | m_dir *= rotq; // apply obj rotation to velocity vector |
494 | 481 | ||
495 | // add Gravity and Buoyancy | 482 | // add Gravity andBuoyancy |
496 | // KF: So far I have found no good method to combine a script-requested | 483 | // KF: So far I have found no good method to combine a script-requested |
497 | // .Z velocity and gravity. Therefore only 0g will used script-requested | 484 | // .Z velocity and gravity. Therefore only 0g will used script-requested |
498 | // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. | 485 | // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. |
@@ -574,7 +561,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
574 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate | 561 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate |
575 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body | 562 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body |
576 | */ | 563 | */ |
577 | //if(frcount == 0) Console.WriteLine("MoveAngular "); | ||
578 | 564 | ||
579 | // Get what the body is doing, this includes 'external' influences | 565 | // Get what the body is doing, this includes 'external' influences |
580 | d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); | 566 | d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); |
@@ -650,7 +636,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
650 | // Deflection section tba | 636 | // Deflection section tba |
651 | 637 | ||
652 | // Sum velocities | 638 | // Sum velocities |
653 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection | 639 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection |
654 | 640 | ||
655 | if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 641 | if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
656 | { | 642 | { |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 688be83..3eb3b28 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | |||
@@ -21,18 +21,6 @@ | |||
21 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | 21 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
22 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 22 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
23 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | 23 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
24 | * | ||
25 | * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces | ||
26 | * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: | ||
27 | * ODEPrim.cs contains methods dealing with Prim editing, Prim | ||
28 | * characteristics and Kinetic motion. | ||
29 | * ODEDynamics.cs contains methods dealing with Prim Physical motion | ||
30 | * (dynamics) and the associated settings. Old Linear and angular | ||
31 | * motors for dynamic motion have been replace with MoveLinear() | ||
32 | * and MoveAngular(); 'Physical' is used only to switch ODE dynamic | ||
33 | * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to | ||
34 | * switch between 'VEHICLE' parameter use and general dynamics | ||
35 | * settings use. | ||
36 | */ | 24 | */ |
37 | 25 | ||
38 | /* | 26 | /* |
@@ -93,12 +81,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
93 | private float m_PIDTau; | 81 | private float m_PIDTau; |
94 | private float PID_D = 35f; | 82 | private float PID_D = 35f; |
95 | private float PID_G = 25f; | 83 | private float PID_G = 25f; |
96 | private bool m_usePID = false; | 84 | private bool m_usePID; |
97 | |||
98 | private Quaternion m_APIDTarget = new Quaternion(); | ||
99 | private float m_APIDStrength = 0.5f; | ||
100 | private float m_APIDDamping = 0.5f; | ||
101 | private bool m_useAPID = false; | ||
102 | 85 | ||
103 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), | 86 | // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), |
104 | // and are for non-VEHICLES only. | 87 | // and are for non-VEHICLES only. |
@@ -199,9 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
199 | private ODEDynamics m_vehicle; | 182 | private ODEDynamics m_vehicle; |
200 | 183 | ||
201 | internal int m_material = (int)Material.Wood; | 184 | internal int m_material = (int)Material.Wood; |
202 | |||
203 | private int frcount = 0; // Used to limit dynamics debug output to | ||
204 | |||
205 | 185 | ||
206 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, | 186 | public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size, |
207 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) | 187 | Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) |
@@ -1581,14 +1561,9 @@ Console.WriteLine(" JointCreateFixed"); | |||
1581 | float fy = 0; | 1561 | float fy = 0; |
1582 | float fz = 0; | 1562 | float fz = 0; |
1583 | 1563 | ||
1584 | frcount++; // used to limit debug comment output | ||
1585 | if (frcount > 100) | ||
1586 | frcount = 0; | ||
1587 | 1564 | ||
1588 | if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. | 1565 | if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. |
1589 | { | 1566 | { |
1590 | //if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle.Type + | ||
1591 | // " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID); | ||
1592 | if (m_vehicle.Type != Vehicle.TYPE_NONE) | 1567 | if (m_vehicle.Type != Vehicle.TYPE_NONE) |
1593 | { | 1568 | { |
1594 | // 'VEHICLES' are dealt with in ODEDynamics.cs | 1569 | // 'VEHICLES' are dealt with in ODEDynamics.cs |
@@ -1596,6 +1571,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1596 | } | 1571 | } |
1597 | else | 1572 | else |
1598 | { | 1573 | { |
1574 | //Console.WriteLine("Move " + m_primName); | ||
1599 | if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 | 1575 | if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 |
1600 | // NON-'VEHICLES' are dealt with here | 1576 | // NON-'VEHICLES' are dealt with here |
1601 | if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) | 1577 | if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) |
@@ -1617,18 +1593,21 @@ Console.WriteLine(" JointCreateFixed"); | |||
1617 | //m_log.Info(m_collisionFlags.ToString()); | 1593 | //m_log.Info(m_collisionFlags.ToString()); |
1618 | 1594 | ||
1619 | 1595 | ||
1620 | //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle. | 1596 | //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. |
1597 | // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ?? | ||
1621 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up | 1598 | // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up |
1622 | // NB Prims in ODE are no subject to global gravity | 1599 | // gravityz multiplier = 1 - m_buoyancy |
1623 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass | 1600 | fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; |
1624 | 1601 | ||
1625 | if (m_usePID) | 1602 | if (m_usePID) |
1626 | { | 1603 | { |
1627 | //if(frcount == 0) Console.WriteLine("PID " + m_primName); | 1604 | //Console.WriteLine("PID " + m_primName); |
1628 | // KF - this is for object MoveToTarget. | 1605 | // KF - this is for object move? eg. llSetPos() ? |
1629 | |||
1630 | //if (!d.BodyIsEnabled(Body)) | 1606 | //if (!d.BodyIsEnabled(Body)) |
1631 | //d.BodySetForce(Body, 0f, 0f, 0f); | 1607 | //d.BodySetForce(Body, 0f, 0f, 0f); |
1608 | // If we're using the PID controller, then we have no gravity | ||
1609 | //fz = (-1 * _parent_scene.gravityz) * m_mass; //KF: ?? Prims have no global gravity,so simply... | ||
1610 | fz = 0f; | ||
1632 | 1611 | ||
1633 | // no lock; for now it's only called from within Simulate() | 1612 | // no lock; for now it's only called from within Simulate() |
1634 | 1613 | ||
@@ -1763,7 +1742,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
1763 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); | 1742 | d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); |
1764 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); | 1743 | d.BodySetLinearVel(Body, vel.X, vel.Y, 0); |
1765 | d.BodyAddForce(Body, 0, 0, fz); | 1744 | d.BodyAddForce(Body, 0, 0, fz); |
1766 | //KF this prevents furthur motions return; | 1745 | return; |
1767 | } | 1746 | } |
1768 | else | 1747 | else |
1769 | { | 1748 | { |
@@ -1772,46 +1751,8 @@ Console.WriteLine(" JointCreateFixed"); | |||
1772 | // We're flying and colliding with something | 1751 | // We're flying and colliding with something |
1773 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); | 1752 | fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass); |
1774 | } | 1753 | } |
1775 | } // end m_useHoverPID && !m_usePID | 1754 | } |
1776 | 1755 | ||
1777 | if (m_useAPID) | ||
1778 | { | ||
1779 | // RotLookAt, apparently overrides all other rotation sources. Inputs: | ||
1780 | // Quaternion m_APIDTarget | ||
1781 | // float m_APIDStrength // From SL experiments, this is the time to get there | ||
1782 | // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly | ||
1783 | // Also in SL the mass of the object has no effect on time to get there. | ||
1784 | // Factors: | ||
1785 | //if(frcount == 0) Console.WriteLine("APID "); | ||
1786 | // get present body rotation | ||
1787 | float limit = 1.0f; | ||
1788 | float scaler = 50f; // adjusts damping time | ||
1789 | float RLAservo = 0f; | ||
1790 | |||
1791 | d.Quaternion rot = d.BodyGetQuaternion(Body); | ||
1792 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); | ||
1793 | Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget; | ||
1794 | float diff_angle; | ||
1795 | Vector3 diff_axis; | ||
1796 | rot_diff.GetAxisAngle(out diff_axis, out diff_angle); | ||
1797 | diff_axis.Normalize(); | ||
1798 | if(diff_angle > 0.01f) // diff_angle is always +ve | ||
1799 | { | ||
1800 | // PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z); | ||
1801 | Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z); | ||
1802 | rotforce = rotforce * rotq; | ||
1803 | if(diff_angle > limit) diff_angle = limit; // cap the rotate rate | ||
1804 | // RLAservo = timestep / m_APIDStrength * m_mass * scaler; | ||
1805 | // rotforce = rotforce * RLAservo * diff_angle ; | ||
1806 | // d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z); | ||
1807 | RLAservo = timestep / m_APIDStrength * scaler; | ||
1808 | rotforce = rotforce * RLAservo * diff_angle ; | ||
1809 | d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z); | ||
1810 | //Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo); | ||
1811 | } | ||
1812 | //if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle); | ||
1813 | } // end m_useAPID | ||
1814 | |||
1815 | fx *= m_mass; | 1756 | fx *= m_mass; |
1816 | fy *= m_mass; | 1757 | fy *= m_mass; |
1817 | //fz *= m_mass; | 1758 | //fz *= m_mass; |
@@ -2673,7 +2614,7 @@ Console.WriteLine(" JointCreateFixed"); | |||
2673 | 2614 | ||
2674 | m_lastposition = _position; | 2615 | m_lastposition = _position; |
2675 | m_lastorientation = _orientation; | 2616 | m_lastorientation = _orientation; |
2676 | 2617 | ||
2677 | l_position.X = vec.X; | 2618 | l_position.X = vec.X; |
2678 | l_position.Y = vec.Y; | 2619 | l_position.Y = vec.Y; |
2679 | l_position.Z = vec.Z; | 2620 | l_position.Z = vec.Z; |
@@ -2681,10 +2622,6 @@ Console.WriteLine(" JointCreateFixed"); | |||
2681 | l_orientation.Y = ori.Y; | 2622 | l_orientation.Y = ori.Y; |
2682 | l_orientation.Z = ori.Z; | 2623 | l_orientation.Z = ori.Z; |
2683 | l_orientation.W = ori.W; | 2624 | l_orientation.W = ori.W; |
2684 | |||
2685 | // if(l_position.Y != m_lastposition.Y){ | ||
2686 | // Console.WriteLine("UP&V {0} {1}", m_primName, l_position); | ||
2687 | // } | ||
2688 | 2625 | ||
2689 | if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f) | 2626 | if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || l_position.X < 0f || l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || l_position.Y < 0f) |
2690 | { | 2627 | { |
@@ -2885,17 +2822,20 @@ Console.WriteLine(" JointCreateFixed"); | |||
2885 | } | 2822 | } |
2886 | public override bool PIDActive { set { m_usePID = value; } } | 2823 | public override bool PIDActive { set { m_usePID = value; } } |
2887 | public override float PIDTau { set { m_PIDTau = value; } } | 2824 | public override float PIDTau { set { m_PIDTau = value; } } |
2888 | |||
2889 | // For RotLookAt | ||
2890 | public override Quaternion APIDTarget { set { m_APIDTarget = value; } } | ||
2891 | public override bool APIDActive { set { m_useAPID = value; } } | ||
2892 | public override float APIDStrength { set { m_APIDStrength = value; } } | ||
2893 | public override float APIDDamping { set { m_APIDDamping = value; } } | ||
2894 | 2825 | ||
2895 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } | 2826 | public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } } |
2896 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } | 2827 | public override bool PIDHoverActive { set { m_useHoverPID = value; } } |
2897 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } | 2828 | public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } } |
2898 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } | 2829 | public override float PIDHoverTau { set { m_PIDHoverTau = value; } } |
2830 | |||
2831 | public override Quaternion APIDTarget{ set { return; } } | ||
2832 | |||
2833 | public override bool APIDActive{ set { return; } } | ||
2834 | |||
2835 | public override float APIDStrength{ set { return; } } | ||
2836 | |||
2837 | public override float APIDDamping{ set { return; } } | ||
2838 | |||
2899 | 2839 | ||
2900 | private void createAMotor(Vector3 axis) | 2840 | private void createAMotor(Vector3 axis) |
2901 | { | 2841 | { |