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author | UbitUmarov | 2015-09-30 19:14:37 +0100 |
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committer | UbitUmarov | 2015-09-30 19:14:37 +0100 |
commit | f87e284ec2dc056abd44b8497d346d36642c34ba (patch) | |
tree | 4218087c607032a67041276f2568c70763b515e5 /OpenSim/Region/PhysicsModules/ubOde | |
parent | add high level code suport for SetHoverHeight() called from a attachment, so... (diff) | |
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first steps adding suport for llSetHoverHeight() called from attachments on ubOde. Sure needs work.. like sp motion control still assumes stopped and not falling state. Only very basic test on flat land done
Diffstat (limited to 'OpenSim/Region/PhysicsModules/ubOde')
-rw-r--r-- | OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | 159 |
1 files changed, 143 insertions, 16 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs index cc37ef5..1cebacf 100644 --- a/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs +++ b/OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs | |||
@@ -157,6 +157,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
157 | 157 | ||
158 | float mu; | 158 | float mu; |
159 | 159 | ||
160 | // HoverHeight control | ||
161 | private float m_PIDHoverHeight; | ||
162 | private float m_PIDHoverTau; | ||
163 | private bool m_useHoverPID; | ||
164 | private PIDHoverType m_PIDHoverType; | ||
165 | private float m_targetHoverHeight; | ||
166 | |||
167 | |||
160 | public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor) | 168 | public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor) |
161 | { | 169 | { |
162 | m_uuid = UUID.Random(); | 170 | m_uuid = UUID.Random(); |
@@ -1042,7 +1050,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1042 | Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); | 1050 | Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z); |
1043 | float velLengthSquared = vel.LengthSquared(); | 1051 | float velLengthSquared = vel.LengthSquared(); |
1044 | 1052 | ||
1045 | |||
1046 | Vector3 ctz = _target_velocity; | 1053 | Vector3 ctz = _target_velocity; |
1047 | 1054 | ||
1048 | float movementdivisor = 1f; | 1055 | float movementdivisor = 1f; |
@@ -1144,6 +1151,52 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1144 | } | 1151 | } |
1145 | } | 1152 | } |
1146 | 1153 | ||
1154 | bool hoverPIDActive = false; | ||
1155 | |||
1156 | if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0) | ||
1157 | { | ||
1158 | hoverPIDActive = true; | ||
1159 | |||
1160 | switch (m_PIDHoverType) | ||
1161 | { | ||
1162 | case PIDHoverType.Ground: | ||
1163 | m_targetHoverHeight = terrainheight + m_PIDHoverHeight; | ||
1164 | break; | ||
1165 | |||
1166 | case PIDHoverType.GroundAndWater: | ||
1167 | float waterHeight = _parent_scene.GetWaterLevel(); | ||
1168 | if (terrainheight > waterHeight) | ||
1169 | m_targetHoverHeight = terrainheight + m_PIDHoverHeight; | ||
1170 | else | ||
1171 | m_targetHoverHeight = waterHeight + m_PIDHoverHeight; | ||
1172 | break; | ||
1173 | } // end switch (m_PIDHoverType) | ||
1174 | |||
1175 | // don't go underground | ||
1176 | if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ)) | ||
1177 | { | ||
1178 | float fz = (m_targetHoverHeight - localpos.Z); | ||
1179 | |||
1180 | // if error is zero, use position control; otherwise, velocity control | ||
1181 | if (Math.Abs(fz) < 0.01f) | ||
1182 | { | ||
1183 | ctz.Z = 0; | ||
1184 | } | ||
1185 | else | ||
1186 | { | ||
1187 | _zeroFlag = false; | ||
1188 | fz /= m_PIDHoverTau; | ||
1189 | |||
1190 | float tmp = Math.Abs(fz); | ||
1191 | if (tmp > 50) | ||
1192 | fz = 50 * Math.Sign(fz); | ||
1193 | else if (tmp < 0.1) | ||
1194 | fz = 0.1f * Math.Sign(fz); | ||
1195 | |||
1196 | ctz.Z = fz; | ||
1197 | } | ||
1198 | } | ||
1199 | } | ||
1147 | 1200 | ||
1148 | //****************************************** | 1201 | //****************************************** |
1149 | if (!m_iscolliding) | 1202 | if (!m_iscolliding) |
@@ -1151,8 +1204,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1151 | 1204 | ||
1152 | bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f); | 1205 | bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f); |
1153 | 1206 | ||
1154 | |||
1155 | |||
1156 | if (!tviszero) | 1207 | if (!tviszero) |
1157 | { | 1208 | { |
1158 | m_freemove = false; | 1209 | m_freemove = false; |
@@ -1172,7 +1223,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1172 | 1223 | ||
1173 | } | 1224 | } |
1174 | 1225 | ||
1175 | |||
1176 | if (!m_freemove) | 1226 | if (!m_freemove) |
1177 | { | 1227 | { |
1178 | 1228 | ||
@@ -1262,7 +1312,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1262 | } | 1312 | } |
1263 | else // ie not colliding | 1313 | else // ie not colliding |
1264 | { | 1314 | { |
1265 | if (flying) //(!m_iscolliding && flying) | 1315 | if (flying || hoverPIDActive) //(!m_iscolliding && flying) |
1266 | { | 1316 | { |
1267 | // we're in mid air suspended | 1317 | // we're in mid air suspended |
1268 | vec.X += (ctz.X - vel.X) * (PID_D); | 1318 | vec.X += (ctz.X - vel.X) * (PID_D); |
@@ -1304,18 +1354,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1304 | vec.Z -= .16f* m_mass * vel.Z; | 1354 | vec.Z -= .16f* m_mass * vel.Z; |
1305 | } | 1355 | } |
1306 | 1356 | ||
1307 | if (flying) | 1357 | if (flying || hoverPIDActive) |
1308 | { | 1358 | { |
1309 | vec.Z -= _parent_scene.gravityz * m_mass; | 1359 | vec.Z -= _parent_scene.gravityz * m_mass; |
1310 | 1360 | ||
1311 | //Added for auto fly height. Kitto Flora | 1361 | if(!hoverPIDActive) |
1312 | float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset; | ||
1313 | |||
1314 | if (localpos.Z < target_altitude) | ||
1315 | { | 1362 | { |
1316 | vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f; | 1363 | //Added for auto fly height. Kitto Flora |
1364 | float target_altitude = terrainheight + MinimumGroundFlightOffset; | ||
1365 | |||
1366 | if (localpos.Z < target_altitude) | ||
1367 | { | ||
1368 | vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f; | ||
1369 | } | ||
1370 | // end add Kitto Flora | ||
1317 | } | 1371 | } |
1318 | // end add Kitto Flora | ||
1319 | } | 1372 | } |
1320 | 1373 | ||
1321 | if (vec.IsFinite()) | 1374 | if (vec.IsFinite()) |
@@ -1418,10 +1471,45 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1418 | public override bool PIDActive {get {return m_pidControllerActive;} set { return; } } | 1471 | public override bool PIDActive {get {return m_pidControllerActive;} set { return; } } |
1419 | public override float PIDTau { set { return; } } | 1472 | public override float PIDTau { set { return; } } |
1420 | 1473 | ||
1421 | public override float PIDHoverHeight { set { return; } } | 1474 | public override float PIDHoverHeight |
1422 | public override bool PIDHoverActive { set { return; } } | 1475 | { |
1423 | public override PIDHoverType PIDHoverType { set { return; } } | 1476 | set |
1424 | public override float PIDHoverTau { set { return; } } | 1477 | { |
1478 | AddChange(changes.PIDHoverHeight,value); | ||
1479 | } | ||
1480 | } | ||
1481 | public override bool PIDHoverActive | ||
1482 | { | ||
1483 | set | ||
1484 | { | ||
1485 | AddChange(changes.PIDHoverActive, value); | ||
1486 | } | ||
1487 | } | ||
1488 | |||
1489 | public override PIDHoverType PIDHoverType | ||
1490 | { | ||
1491 | set | ||
1492 | { | ||
1493 | AddChange(changes.PIDHoverType,value); | ||
1494 | } | ||
1495 | } | ||
1496 | |||
1497 | public override float PIDHoverTau | ||
1498 | { | ||
1499 | set | ||
1500 | { | ||
1501 | float tmp =0; | ||
1502 | if (value > 0) | ||
1503 | { | ||
1504 | float mint = (0.05f > timeStep ? 0.05f : timeStep); | ||
1505 | if (value < mint) | ||
1506 | tmp = mint; | ||
1507 | else | ||
1508 | tmp = value; | ||
1509 | } | ||
1510 | AddChange(changes.PIDHoverTau, tmp); | ||
1511 | } | ||
1512 | } | ||
1425 | 1513 | ||
1426 | public override Quaternion APIDTarget { set { return; } } | 1514 | public override Quaternion APIDTarget { set { return; } } |
1427 | 1515 | ||
@@ -1713,6 +1801,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1713 | d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); | 1801 | d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z); |
1714 | } | 1802 | } |
1715 | 1803 | ||
1804 | private void changePIDHoverHeight(float val) | ||
1805 | { | ||
1806 | m_PIDHoverHeight = val; | ||
1807 | if (val == 0) | ||
1808 | m_useHoverPID = false; | ||
1809 | } | ||
1810 | |||
1811 | private void changePIDHoverType(PIDHoverType type) | ||
1812 | { | ||
1813 | m_PIDHoverType = type; | ||
1814 | } | ||
1815 | |||
1816 | private void changePIDHoverTau(float tau) | ||
1817 | { | ||
1818 | m_PIDHoverTau = tau; | ||
1819 | } | ||
1820 | |||
1821 | private void changePIDHoverActive(bool active) | ||
1822 | { | ||
1823 | m_useHoverPID = active; | ||
1824 | } | ||
1825 | |||
1716 | private void donullchange() | 1826 | private void donullchange() |
1717 | { | 1827 | { |
1718 | } | 1828 | } |
@@ -1792,6 +1902,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde | |||
1792 | case changes.Momentum: | 1902 | case changes.Momentum: |
1793 | changeMomentum((Vector3)arg); | 1903 | changeMomentum((Vector3)arg); |
1794 | break; | 1904 | break; |
1905 | |||
1906 | case changes.PIDHoverHeight: | ||
1907 | changePIDHoverHeight((float)arg); | ||
1908 | break; | ||
1909 | |||
1910 | case changes.PIDHoverType: | ||
1911 | changePIDHoverType((PIDHoverType)arg); | ||
1912 | break; | ||
1913 | |||
1914 | case changes.PIDHoverTau: | ||
1915 | changePIDHoverTau((float)arg); | ||
1916 | break; | ||
1917 | |||
1918 | case changes.PIDHoverActive: | ||
1919 | changePIDHoverActive((bool)arg); | ||
1920 | break; | ||
1921 | |||
1795 | /* not in use for now | 1922 | /* not in use for now |
1796 | case changes.Shape: | 1923 | case changes.Shape: |
1797 | changeShape((PrimitiveBaseShape)arg); | 1924 | changeShape((PrimitiveBaseShape)arg); |