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authorDiva Canto2012-11-27 14:43:01 -0800
committerDiva Canto2012-11-27 14:43:01 -0800
commita82f699f4348ea1ab139ab338973c9cee04df712 (patch)
treed1bf4948670e1d207fe4f6c60f6b7771e1625839 /OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
parentPrevent the core Groups module from being enabled when its name doesn't match... (diff)
parentBulletSim: reorganize linear movement routine into separate subroutines enabl... (diff)
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs273
1 files changed, 169 insertions, 104 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index bc6e4c4..e91bfa8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -1,104 +1,169 @@
1using System; 1using System;
2using System.Collections.Generic; 2using System.Collections.Generic;
3using System.Text; 3using System.Text;
4using OpenMetaverse; 4using OpenMetaverse;
5 5
6namespace OpenSim.Region.Physics.BulletSPlugin 6namespace OpenSim.Region.Physics.BulletSPlugin
7{ 7{
8public abstract class BSMotor 8public abstract class BSMotor
9{ 9{
10 public virtual void Reset() { } 10 // Timescales and other things can be turned off by setting them to 'infinite'.
11 public virtual void Zero() { } 11 public const float Infinite = 10000f;
12} 12 public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
13// Can all the incremental stepping be replaced with motor classes? 13
14public class BSVMotor : BSMotor 14 public BSMotor(string useName)
15{ 15 {
16 public Vector3 FrameOfReference { get; set; } 16 UseName = useName;
17 public Vector3 Offset { get; set; } 17 PhysicsScene = null;
18 18 }
19 public float TimeScale { get; set; } 19 public virtual void Reset() { }
20 public float TargetValueDecayTimeScale { get; set; } 20 public virtual void Zero() { }
21 public Vector3 CurrentValueReductionTimescale { get; set; } 21
22 public float Efficiency { get; set; } 22 public string UseName { get; private set; }
23 23 // Used only for outputting debug information. Might not be set so check for null.
24 public Vector3 TargetValue { get; private set; } 24 public BSScene PhysicsScene { get; set; }
25 public Vector3 CurrentValue { get; private set; } 25 protected void MDetailLog(string msg, params Object[] parms)
26 26 {
27 27 if (PhysicsScene != null)
28 28 {
29 BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 29 if (PhysicsScene.VehicleLoggingEnabled)
30 { 30 {
31 TimeScale = timeScale; 31 PhysicsScene.DetailLog(msg, parms);
32 TargetValueDecayTimeScale = decayTimeScale; 32 }
33 CurrentValueReductionTimescale = frictionTimeScale; 33 }
34 Efficiency = efficiency; 34 }
35 } 35}
36 public void SetCurrent(Vector3 current) 36// Can all the incremental stepping be replaced with motor classes?
37 { 37public class BSVMotor : BSMotor
38 CurrentValue = current; 38{
39 } 39 public Vector3 FrameOfReference { get; set; }
40 public void SetTarget(Vector3 target) 40 public Vector3 Offset { get; set; }
41 { 41
42 TargetValue = target; 42 public float TimeScale { get; set; }
43 } 43 public float TargetValueDecayTimeScale { get; set; }
44 public Vector3 Step(float timeStep) 44 public Vector3 FrictionTimescale { get; set; }
45 { 45 public float Efficiency { get; set; }
46 if (CurrentValue.LengthSquared() > 0.001f) 46
47 { 47 public Vector3 TargetValue { get; private set; }
48 // Vector3 origDir = Target; // DEBUG 48 public Vector3 CurrentValue { get; private set; }
49 // Vector3 origVel = CurrentValue; // DEBUG 49
50 50 public BSVMotor(string useName)
51 // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete 51 : base(useName)
52 Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep; 52 {
53 CurrentValue += addAmount; 53 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
54 54 Efficiency = 1f;
55 float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; 55 FrictionTimescale = BSMotor.InfiniteVector;
56 TargetValue *= (1f - decayFactor); 56 CurrentValue = TargetValue = Vector3.Zero;
57 57 }
58 Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; 58 public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
59 CurrentValue *= (Vector3.One - frictionFactor); 59 : this(useName)
60 } 60 {
61 else 61 TimeScale = timeScale;
62 { 62 TargetValueDecayTimeScale = decayTimeScale;
63 // if what remains of direction is very small, zero it. 63 FrictionTimescale = frictionTimeScale;
64 TargetValue = Vector3.Zero; 64 Efficiency = efficiency;
65 CurrentValue = Vector3.Zero; 65 CurrentValue = TargetValue = Vector3.Zero;
66 66 }
67 // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); 67 public void SetCurrent(Vector3 current)
68 } 68 {
69 return CurrentValue; 69 CurrentValue = current;
70 } 70 }
71} 71 public void SetTarget(Vector3 target)
72 72 {
73public class BSFMotor : BSMotor 73 TargetValue = target;
74{ 74 }
75 public float TimeScale { get; set; } 75 public Vector3 Step(float timeStep)
76 public float DecayTimeScale { get; set; } 76 {
77 public float Friction { get; set; } 77 Vector3 returnCurrent = Vector3.Zero;
78 public float Efficiency { get; set; } 78 if (!CurrentValue.ApproxEquals(TargetValue, 0.01f))
79 79 {
80 public float Target { get; private set; } 80 Vector3 origTarget = TargetValue; // DEBUG
81 public float CurrentValue { get; private set; } 81 Vector3 origCurrVal = CurrentValue; // DEBUG
82 82
83 BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) 83 // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete
84 { 84 Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
85 } 85 CurrentValue += addAmount;
86 public void SetCurrent(float target) 86
87 { 87 returnCurrent = CurrentValue;
88 } 88
89 public void SetTarget(float target) 89 // The desired value reduces to zero which also reduces the difference with current.
90 { 90 // If the decay time is infinite, don't decay at all.
91 } 91 float decayFactor = 0f;
92 public float Step(float timeStep) 92 if (TargetValueDecayTimeScale != BSMotor.Infinite)
93 { 93 {
94 return 0f; 94 decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
95 } 95 TargetValue *= (1f - decayFactor);
96} 96 }
97public class BSPIDMotor : BSMotor 97
98{ 98 Vector3 frictionFactor = Vector3.Zero;
99 // TODO: write and use this one 99 if (FrictionTimescale != BSMotor.InfiniteVector)
100 BSPIDMotor() 100 {
101 { 101 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
102 } 102 frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep;
103} 103 frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep;
104} 104 frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep;
105 CurrentValue *= (Vector3.One - frictionFactor);
106 }
107
108 MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
109 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
110 timeStep, TimeScale, addAmount,
111 TargetValueDecayTimeScale, decayFactor,
112 FrictionTimescale, frictionFactor);
113 MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
114 BSScene.DetailLogZero, UseName, CurrentValue, TargetValue,
115 addAmount, decayFactor, frictionFactor, returnCurrent);
116 }
117 else
118 {
119 // Difference between what we have and target is small. Motor is done.
120 CurrentValue = Vector3.Zero;
121 TargetValue = Vector3.Zero;
122
123 MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
124 BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent);
125
126 }
127 return returnCurrent;
128 }
129 public override string ToString()
130 {
131 return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
132 UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
133 }
134}
135
136public class BSFMotor : BSMotor
137{
138 public float TimeScale { get; set; }
139 public float DecayTimeScale { get; set; }
140 public float Friction { get; set; }
141 public float Efficiency { get; set; }
142
143 public float Target { get; private set; }
144 public float CurrentValue { get; private set; }
145
146 public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
147 : base(useName)
148 {
149 }
150 public void SetCurrent(float target)
151 {
152 }
153 public void SetTarget(float target)
154 {
155 }
156 public float Step(float timeStep)
157 {
158 return 0f;
159 }
160}
161public class BSPIDMotor : BSMotor
162{
163 // TODO: write and use this one
164 public BSPIDMotor(string useName)
165 : base(useName)
166 {
167 }
168}
169}