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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs80
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs15
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs1
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs19
5 files changed, 98 insertions, 19 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 75ff24e..bdf4bc0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -50,7 +50,8 @@ public class BSActorMoveToTarget : BSActor
50 // BSActor.isActive 50 // BSActor.isActive
51 public override bool isActive 51 public override bool isActive
52 { 52 {
53 get { return Enabled; } 53 // MoveToTarget only works on physical prims
54 get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
54 } 55 }
55 56
56 // Release any connections and resources used by the actor. 57 // Release any connections and resources used by the actor.
@@ -102,16 +103,28 @@ public class BSActorMoveToTarget : BSActor
102 // We're taking over after this. 103 // We're taking over after this.
103 m_controllingPrim.ZeroMotion(true); 104 m_controllingPrim.ZeroMotion(true);
104 105
105 m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", 106 /* Someday use the PID controller
106 m_controllingPrim.MoveToTargetTau, // timeScale 107 m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
107 BSMotor.Infinite, // decay time scale 108 m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
108 1f // efficiency 109 m_targetMotor.Efficiency = 1f;
110 */
111 m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
112 m_controllingPrim.MoveToTargetTau, // timeScale
113 BSMotor.Infinite, // decay time scale
114 1f // efficiency
109 ); 115 );
110 m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. 116 m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
111 m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); 117 m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
112 m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); 118 m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
113 119
114 m_physicsScene.BeforeStep += Mover; 120 // m_physicsScene.BeforeStep += Mover;
121 m_physicsScene.BeforeStep += Mover2;
122 }
123 else
124 {
125 // If already allocated, make sure the target and other paramters are current
126 m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
127 m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
115 } 128 }
116 } 129 }
117 130
@@ -119,12 +132,16 @@ public class BSActorMoveToTarget : BSActor
119 { 132 {
120 if (m_targetMotor != null) 133 if (m_targetMotor != null)
121 { 134 {
122 m_physicsScene.BeforeStep -= Mover; 135 // m_physicsScene.BeforeStep -= Mover;
136 m_physicsScene.BeforeStep -= Mover2;
123 m_targetMotor = null; 137 m_targetMotor = null;
124 } 138 }
125 } 139 }
126 140
127 // Called just before the simulation step. Update the vertical position for hoverness. 141 // Origional mover that set the objects position to move to the target.
142 // The problem was that gravity would keep trying to push the object down so
143 // the overall downward velocity would increase to infinity.
144 // Called just before the simulation step.
128 private void Mover(float timeStep) 145 private void Mover(float timeStep)
129 { 146 {
130 // Don't do hovering while the object is selected. 147 // Don't do hovering while the object is selected.
@@ -142,6 +159,7 @@ public class BSActorMoveToTarget : BSActor
142 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", 159 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
143 m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); 160 m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
144 m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; 161 m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
162 m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
145 // Setting the position does not cause the physics engine to generate a property update. Force it. 163 // Setting the position does not cause the physics engine to generate a property update. Force it.
146 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); 164 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
147 } 165 }
@@ -151,7 +169,51 @@ public class BSActorMoveToTarget : BSActor
151 // Setting the position does not cause the physics engine to generate a property update. Force it. 169 // Setting the position does not cause the physics engine to generate a property update. Force it.
152 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); 170 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
153 } 171 }
154 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); 172 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
173 m_controllingPrim.LocalID, origPosition, movePosition);
174 }
175
176 // Version of mover that applies forces to move the physical object to the target.
177 // Also overcomes gravity so the object doesn't just drop to the ground.
178 // Called just before the simulation step.
179 private void Mover2(float timeStep)
180 {
181 // Don't do hovering while the object is selected.
182 if (!isActive)
183 return;
184
185 OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
186 OMV.Vector3 addedForce = OMV.Vector3.Zero;
187
188 // CorrectionVector is the movement vector required this step
189 OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
190
191 // If we are very close to our target, turn off the movement motor.
192 if (m_targetMotor.ErrorIsZero())
193 {
194 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
195 m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
196 m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
197 m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
198 // Setting the position does not cause the physics engine to generate a property update. Force it.
199 m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
200 }
201 else
202 {
203 // First force to move us there -- the motor return a timestep scaled value.
204 addedForce = correctionVector / timeStep;
205 // Remove the existing velocity (only the moveToTarget force counts)
206 addedForce -= m_controllingPrim.RawVelocity;
207 // Overcome gravity.
208 addedForce -= m_controllingPrim.Gravity;
209
210 // Add enough force to overcome the mass of the object
211 addedForce *= m_controllingPrim.Mass;
212
213 m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
214 }
215 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
216 m_controllingPrim.LocalID, origPosition, addedForce);
155 } 217 }
156} 218}
157} 219}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 48f842e..5ef6992 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -626,7 +626,7 @@ public sealed class BSCharacter : BSPhysObject
626 OMV.Vector3 addForce = force / PhysScene.LastTimeStep; 626 OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
627 AddForce(addForce, pushforce, false); 627 AddForce(addForce, pushforce, false);
628 } 628 }
629 private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 629 public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
630 if (force.IsFinite()) 630 if (force.IsFinite())
631 { 631 {
632 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); 632 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index ef662b5..1214703 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -144,7 +144,6 @@ public class BSVMotor : BSMotor
144 144
145 Vector3 correction = Vector3.Zero; 145 Vector3 correction = Vector3.Zero;
146 Vector3 error = TargetValue - CurrentValue; 146 Vector3 error = TargetValue - CurrentValue;
147 LastError = error;
148 if (!ErrorIsZero(error)) 147 if (!ErrorIsZero(error))
149 { 148 {
150 correction = StepError(timeStep, error); 149 correction = StepError(timeStep, error);
@@ -179,6 +178,7 @@ public class BSVMotor : BSMotor
179 MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}", 178 MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
180 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue); 179 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
181 } 180 }
181 LastError = error;
182 182
183 return correction; 183 return correction;
184 } 184 }
@@ -293,7 +293,6 @@ public class BSFMotor : BSMotor
293 293
294 float correction = 0f; 294 float correction = 0f;
295 float error = TargetValue - CurrentValue; 295 float error = TargetValue - CurrentValue;
296 LastError = error;
297 if (!ErrorIsZero(error)) 296 if (!ErrorIsZero(error))
298 { 297 {
299 correction = StepError(timeStep, error); 298 correction = StepError(timeStep, error);
@@ -328,6 +327,7 @@ public class BSFMotor : BSMotor
328 MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", 327 MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
329 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); 328 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
330 } 329 }
330 LastError = error;
331 331
332 return CurrentValue; 332 return CurrentValue;
333 } 333 }
@@ -363,7 +363,7 @@ public class BSFMotor : BSMotor
363 363
364// ============================================================================ 364// ============================================================================
365// ============================================================================ 365// ============================================================================
366// Proportional, Integral, Derivitive Motor 366// Proportional, Integral, Derivitive ("PID") Motor
367// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. 367// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
368public class BSPIDVMotor : BSVMotor 368public class BSPIDVMotor : BSVMotor
369{ 369{
@@ -434,15 +434,14 @@ public class BSPIDVMotor : BSVMotor
434 434
435 // A simple derivitive is the rate of change from the last error. 435 // A simple derivitive is the rate of change from the last error.
436 Vector3 derivitive = (error - LastError) * timeStep; 436 Vector3 derivitive = (error - LastError) * timeStep;
437 LastError = error;
438 437
439 // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) 438 // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
440 Vector3 ret = error * timeStep * proportionFactor * FactorMix.X 439 Vector3 ret = error / TimeScale * timeStep * proportionFactor * FactorMix.X
441 + RunningIntegration * integralFactor * FactorMix.Y 440 + RunningIntegration / TimeScale * integralFactor * FactorMix.Y
442 + derivitive * derivFactor * FactorMix.Z 441 + derivitive / TimeScale * derivFactor * FactorMix.Z
443 ; 442 ;
444 443
445 MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", 444 MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
446 BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); 445 BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
447 446
448 return ret; 447 return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a4c5e08..a0d5c42 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -210,6 +210,7 @@ public abstract class BSPhysObject : PhysicsActor
210 AddAngularForce(force, pushforce, false); 210 AddAngularForce(force, pushforce, false);
211 } 211 }
212 public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); 212 public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
213 public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
213 214
214 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } 215 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
215 216
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 95bdc7b..90f74df 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -450,6 +450,9 @@ public class BSPrim : BSPhysObject
450 Gravity = ComputeGravity(Buoyancy); 450 Gravity = ComputeGravity(Buoyancy);
451 PhysScene.PE.SetGravity(PhysBody, Gravity); 451 PhysScene.PE.SetGravity(PhysBody, Gravity);
452 452
453 OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG
454 DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG
455
453 Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); 456 Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
454 PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); 457 PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
455 PhysScene.PE.UpdateInertiaTensor(PhysBody); 458 PhysScene.PE.UpdateInertiaTensor(PhysBody);
@@ -1040,6 +1043,20 @@ public class BSPrim : BSPhysObject
1040 } 1043 }
1041 } 1044 }
1042 1045
1046 public override OMV.Vector3 PIDTarget
1047 {
1048 set
1049 {
1050 base.PIDTarget = value;
1051 BSActor actor;
1052 if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor))
1053 {
1054 // if the actor exists, tell it to refresh its values.
1055 actor.Refresh();
1056 }
1057
1058 }
1059 }
1043 // Used for llSetHoverHeight and maybe vehicle height 1060 // Used for llSetHoverHeight and maybe vehicle height
1044 // Hover Height will override MoveTo target's Z 1061 // Hover Height will override MoveTo target's Z
1045 public override bool PIDHoverActive { 1062 public override bool PIDHoverActive {
@@ -1063,7 +1080,7 @@ public class BSPrim : BSPhysObject
1063 1080
1064 // Applying a force just adds this to the total force on the object. 1081 // Applying a force just adds this to the total force on the object.
1065 // This added force will only last the next simulation tick. 1082 // This added force will only last the next simulation tick.
1066 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 1083 public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
1067 // for an object, doesn't matter if force is a pushforce or not 1084 // for an object, doesn't matter if force is a pushforce or not
1068 if (IsPhysicallyActive) 1085 if (IsPhysicallyActive)
1069 { 1086 {