From 22d5bf8ff9942707c3e189aa31e1e253dc20603b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 20:01:34 -0800 Subject: BulletSim: complete vector motor. Correct line endings. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 233 +++++++++++++---------- 1 file changed, 129 insertions(+), 104 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index bc6e4c4..b8bdd87 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -1,104 +1,129 @@ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public abstract class BSMotor -{ - public virtual void Reset() { } - public virtual void Zero() { } -} -// Can all the incremental stepping be replaced with motor classes? -public class BSVMotor : BSMotor -{ - public Vector3 FrameOfReference { get; set; } - public Vector3 Offset { get; set; } - - public float TimeScale { get; set; } - public float TargetValueDecayTimeScale { get; set; } - public Vector3 CurrentValueReductionTimescale { get; set; } - public float Efficiency { get; set; } - - public Vector3 TargetValue { get; private set; } - public Vector3 CurrentValue { get; private set; } - - - - BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) - { - TimeScale = timeScale; - TargetValueDecayTimeScale = decayTimeScale; - CurrentValueReductionTimescale = frictionTimeScale; - Efficiency = efficiency; - } - public void SetCurrent(Vector3 current) - { - CurrentValue = current; - } - public void SetTarget(Vector3 target) - { - TargetValue = target; - } - public Vector3 Step(float timeStep) - { - if (CurrentValue.LengthSquared() > 0.001f) - { - // Vector3 origDir = Target; // DEBUG - // Vector3 origVel = CurrentValue; // DEBUG - - // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete - Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep; - CurrentValue += addAmount; - - float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; - TargetValue *= (1f - decayFactor); - - Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; - CurrentValue *= (Vector3.One - frictionFactor); - } - else - { - // if what remains of direction is very small, zero it. - TargetValue = Vector3.Zero; - CurrentValue = Vector3.Zero; - - // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); - } - return CurrentValue; - } -} - -public class BSFMotor : BSMotor -{ - public float TimeScale { get; set; } - public float DecayTimeScale { get; set; } - public float Friction { get; set; } - public float Efficiency { get; set; } - - public float Target { get; private set; } - public float CurrentValue { get; private set; } - - BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) - { - } - public void SetCurrent(float target) - { - } - public void SetTarget(float target) - { - } - public float Step(float timeStep) - { - return 0f; - } -} -public class BSPIDMotor : BSMotor -{ - // TODO: write and use this one - BSPIDMotor() - { - } -} -} +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public abstract class BSMotor +{ + public BSMotor() + { + PhysicsScene = null; + } + public virtual void Reset() { } + public virtual void Zero() { } + + // Used only for outputting debug information. Might not be set so check for null. + public BSScene PhysicsScene { get; set; } + protected void MDetailLog(string msg, params Object[] parms) + { + if (PhysicsScene != null) + { + if (PhysicsScene.VehicleLoggingEnabled) + { + PhysicsScene.DetailLog(msg, parms); + } + } + } +} +// Can all the incremental stepping be replaced with motor classes? +public class BSVMotor : BSMotor +{ + public Vector3 FrameOfReference { get; set; } + public Vector3 Offset { get; set; } + + public float TimeScale { get; set; } + public float TargetValueDecayTimeScale { get; set; } + public Vector3 CurrentValueReductionTimescale { get; set; } + public float Efficiency { get; set; } + + public Vector3 TargetValue { get; private set; } + public Vector3 CurrentValue { get; private set; } + + BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base() + { + TimeScale = timeScale; + TargetValueDecayTimeScale = decayTimeScale; + CurrentValueReductionTimescale = frictionTimeScale; + Efficiency = efficiency; + CurrentValue = TargetValue = Vector3.Zero; + } + public void SetCurrent(Vector3 current) + { + CurrentValue = current; + } + public void SetTarget(Vector3 target) + { + TargetValue = target; + } + public Vector3 Step(float timeStep) + { + Vector3 returnCurrent = Vector3.Zero; + if (CurrentValue.LengthSquared() > 0.001f) + { + // Vector3 origDir = Target; // DEBUG + // Vector3 origVel = CurrentValue; // DEBUG + + // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete + Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; + CurrentValue += addAmount; + returnCurrent = CurrentValue; + + // The desired value reduces to zero when also reduces the difference with current. + float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + + Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; + CurrentValue *= (Vector3.One - frictionFactor); + + MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}", + BSScene.DetailLogZero, TargetValue, CurrentValue, + addAmount, decayFactor, frictionFactor, returnCurrent); + } + else + { + // Difference between what we have and target is small. Motor is done. + CurrentValue = Vector3.Zero; + TargetValue = Vector3.Zero; + + MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}", + BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent); + + } + return returnCurrent; + } +} + +public class BSFMotor : BSMotor +{ + public float TimeScale { get; set; } + public float DecayTimeScale { get; set; } + public float Friction { get; set; } + public float Efficiency { get; set; } + + public float Target { get; private set; } + public float CurrentValue { get; private set; } + + BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base() + { + } + public void SetCurrent(float target) + { + } + public void SetTarget(float target) + { + } + public float Step(float timeStep) + { + return 0f; + } +} +public class BSPIDMotor : BSMotor +{ + // TODO: write and use this one + BSPIDMotor() : base() + { + } +} +} -- cgit v1.1 From 319ec3235c69bb207fe04415feb8bc9f90601f37 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 17:41:15 -0800 Subject: BulletSim: add BSVMotor as BSDynamics linear motor. Properly limit *_MOTOR_DECAY_TIMESCALE to 120 as per specs. Invode BSDynamics.Refresh() when vehicle type is changed. Previously the vehicle properties weren't getting set because the physical properties were set before the vehicle type was set. Add a "use name" to BSMotors for identification while debugging. Correct current and target confusion in BSVMotor design. Rename CurrentValueReductionTimescale to FrictionTimescale. Event more detailed logging. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 46 ++++++++++++++++-------- 1 file changed, 32 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index b8bdd87..68eec2d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -7,13 +7,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSMotor { - public BSMotor() + public BSMotor(string useName) { + UseName = useName; PhysicsScene = null; } public virtual void Reset() { } public virtual void Zero() { } + public string UseName { get; private set; } // Used only for outputting debug information. Might not be set so check for null. public BSScene PhysicsScene { get; set; } protected void MDetailLog(string msg, params Object[] parms) @@ -35,17 +37,25 @@ public class BSVMotor : BSMotor public float TimeScale { get; set; } public float TargetValueDecayTimeScale { get; set; } - public Vector3 CurrentValueReductionTimescale { get; set; } + public Vector3 FrictionTimescale { get; set; } public float Efficiency { get; set; } public Vector3 TargetValue { get; private set; } public Vector3 CurrentValue { get; private set; } - BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base() + public BSVMotor(string useName) + : base(useName) + { + TimeScale = TargetValueDecayTimeScale = Efficiency = 1f; + FrictionTimescale = Vector3.Zero; + CurrentValue = TargetValue = Vector3.Zero; + } + public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + : this(useName) { TimeScale = timeScale; TargetValueDecayTimeScale = decayTimeScale; - CurrentValueReductionTimescale = frictionTimeScale; + FrictionTimescale = frictionTimeScale; Efficiency = efficiency; CurrentValue = TargetValue = Vector3.Zero; } @@ -60,10 +70,10 @@ public class BSVMotor : BSMotor public Vector3 Step(float timeStep) { Vector3 returnCurrent = Vector3.Zero; - if (CurrentValue.LengthSquared() > 0.001f) + if (!CurrentValue.ApproxEquals(TargetValue, 0.01f)) { - // Vector3 origDir = Target; // DEBUG - // Vector3 origVel = CurrentValue; // DEBUG + Vector3 origTarget = TargetValue; // DEBUG + Vector3 origCurrVal = CurrentValue; // DEBUG // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; @@ -74,11 +84,17 @@ public class BSVMotor : BSMotor float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; TargetValue *= (1f - decayFactor); - Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; + Vector3 frictionFactor = Vector3.Zero; + frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; CurrentValue *= (Vector3.One - frictionFactor); - MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}", - BSScene.DetailLogZero, TargetValue, CurrentValue, + MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + BSScene.DetailLogZero, UseName, origTarget, origCurrVal, + timeStep, TimeScale, addAmount, + TargetValueDecayTimeScale, decayFactor, + FrictionTimescale, frictionFactor); + MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", + BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, addAmount, decayFactor, frictionFactor, returnCurrent); } else @@ -87,8 +103,8 @@ public class BSVMotor : BSMotor CurrentValue = Vector3.Zero; TargetValue = Vector3.Zero; - MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}", - BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent); + MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", + BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent); } return returnCurrent; @@ -105,7 +121,8 @@ public class BSFMotor : BSMotor public float Target { get; private set; } public float CurrentValue { get; private set; } - BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base() + public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) + : base(useName) { } public void SetCurrent(float target) @@ -122,7 +139,8 @@ public class BSFMotor : BSMotor public class BSPIDMotor : BSMotor { // TODO: write and use this one - BSPIDMotor() : base() + public BSPIDMotor(string useName) + : base(useName) { } } -- cgit v1.1 From f977131fe084b9bd431a24c27e61b59ebe88ec84 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 19:05:42 -0800 Subject: BulletSim: add ToString override to BSVMotor. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 68eec2d..480da2c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -75,7 +75,7 @@ public class BSVMotor : BSMotor Vector3 origTarget = TargetValue; // DEBUG Vector3 origCurrVal = CurrentValue; // DEBUG - // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete + // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; returnCurrent = CurrentValue; @@ -109,6 +109,11 @@ public class BSVMotor : BSMotor } return returnCurrent; } + public override string ToString() + { + return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", + UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); + } } public class BSFMotor : BSMotor -- cgit v1.1 From 9e0db36c82da303a0d9c709b84b1c35879a39e86 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 05:23:50 -0800 Subject: BulletSim: add 'infinite' timescale that does not reduce motor target or friction. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 37 +++++++++++++++++------- 1 file changed, 27 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 480da2c..e91bfa8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -7,6 +7,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSMotor { + // Timescales and other things can be turned off by setting them to 'infinite'. + public const float Infinite = 10000f; + public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); + public BSMotor(string useName) { UseName = useName; @@ -46,8 +50,9 @@ public class BSVMotor : BSMotor public BSVMotor(string useName) : base(useName) { - TimeScale = TargetValueDecayTimeScale = Efficiency = 1f; - FrictionTimescale = Vector3.Zero; + TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; + Efficiency = 1f; + FrictionTimescale = BSMotor.InfiniteVector; CurrentValue = TargetValue = Vector3.Zero; } public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) @@ -78,23 +83,35 @@ public class BSVMotor : BSMotor // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; + returnCurrent = CurrentValue; - // The desired value reduces to zero when also reduces the difference with current. - float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; - TargetValue *= (1f - decayFactor); + // The desired value reduces to zero which also reduces the difference with current. + // If the decay time is infinite, don't decay at all. + float decayFactor = 0f; + if (TargetValueDecayTimeScale != BSMotor.Infinite) + { + decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + } Vector3 frictionFactor = Vector3.Zero; - frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; - CurrentValue *= (Vector3.One - frictionFactor); + if (FrictionTimescale != BSMotor.InfiniteVector) + { + // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep; + frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep; + frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep; + CurrentValue *= (Vector3.One - frictionFactor); + } - MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", - BSScene.DetailLogZero, UseName, origTarget, origCurrVal, + MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor); MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", - BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, + BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, addAmount, decayFactor, frictionFactor, returnCurrent); } else -- cgit v1.1