From d023c331f813598c3cabab93927a7ab105d6e7f1 Mon Sep 17 00:00:00 2001
From: Teravus Ovares
Date: Thu, 24 Apr 2008 22:26:26 +0000
Subject: * Tuned the llMove2Target PID controller to be more reasonable and
 not overshoot the target.

---
 OpenSim/Region/Physics/Manager/PhysicsVector.cs |  9 +++++++
 OpenSim/Region/Physics/OdePlugin/ODEPrim.cs     | 32 ++++++++++++++++++-------
 2 files changed, 33 insertions(+), 8 deletions(-)

(limited to 'OpenSim/Region/Physics')

diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
index 4ec943c..adf4715 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsVector.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -130,6 +130,14 @@ namespace OpenSim.Region.Physics.Manager
             return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
         }
 
+        public static float GetDistanceTo(PhysicsVector a, PhysicsVector b)
+        {
+            float dx = a.X - b.X;
+            float dy = a.Y - b.Y;
+            float dz = a.Z - b.Z;
+            return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
         public static PhysicsVector operator /(PhysicsVector v, float f)
         {
             return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
@@ -154,5 +162,6 @@ namespace OpenSim.Region.Physics.Manager
 
             return false;
         }
+
     }
 }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index 947466f..5a5cf59 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -1192,12 +1192,27 @@ namespace OpenSim.Region.Physics.OdePlugin
                         PID_D = 2200.0f;
                         //PID_P = 900.0f;
                     }
-                    PID_D = 1.0f;
-                    //PID_P = 1.0f;
+                    PID_D = 35f;
 
                     
+                    //PID_P = 1.0f;
+                    float PID_G = 25;
+
+                    if ((m_PIDTau < 1))
+                    {
+                        PID_G = PID_G / m_PIDTau;
+                    }
+                        
+
+                    if ((PID_G - m_PIDTau) <= 0)
+                    {
+                        PID_G = m_PIDTau + 1;
+                    }
                     //PidStatus = true;
 
+                   
+
+
                     PhysicsVector vec = new PhysicsVector();
                     d.Vector3 vel = d.BodyGetLinearVel(Body);
                     
@@ -1205,9 +1220,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     d.Vector3 pos = d.BodyGetPosition(Body);
                     _target_velocity = 
                         new PhysicsVector(
-                            (m_PIDTarget.X - pos.X) / m_PIDTau,
-                            (m_PIDTarget.Y - pos.Y) / m_PIDTau, 
-                            (m_PIDTarget.Z - pos.Z) / m_PIDTau
+                            (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
+                            (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
+                            (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
                             );
 
 
@@ -1239,8 +1254,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                         _zeroFlag = false;
                         
                         // We're flying and colliding with something
-                        fx = ((_target_velocity.X / m_PIDTau) - vel.X) * (PID_D / 6);
-                        fy = ((_target_velocity.Y / m_PIDTau) - vel.Y) * (PID_D / 6);
+                        fx = ((_target_velocity.X) - vel.X) * (PID_D);
+                        fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
                     
 
                    
@@ -1262,6 +1277,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     //m_taintdisable = true;
                     //base.RaiseOutOfBounds(Position);
                     //d.BodySetLinearVel(Body, fx, fy, 0f);
+                    enableBodySoft();
                     d.BodyAddForce(Body, fx, fy, fz);
                 }
             }
@@ -2146,7 +2162,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
         public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
         public override bool PIDActive { set { m_usePID = value; } }
-        public override float PIDTau { set { m_PIDTau = (value * 0.6f); } }
+        public override float PIDTau { set { m_PIDTau = value; } }
 
         private void createAMotor(PhysicsVector axis)
         {
-- 
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