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BulletSim: a better version of llMoveToTarget that doesn't go crazy. 

There is still some overshoot but mostly fixes Mantis 6693.
Fix bug where moveToTarget was active for non-physical objects
and while selected.
Fix bug where move target was not getting changed if the script
changed the target during a move.
cpu-performance
Robert Adams 2013-06-30 13:39:58 -07:00
parent 2f4a729d40
commit 23516717e4
5 changed files with 98 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
View File

@ -50,7 +50,8 @@ public class BSActorMoveToTarget : BSActor
// BSActor.isActive
public override bool isActive
{
get { return Enabled; }
// MoveToTarget only works on physical prims
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
}
// Release any connections and resources used by the actor.
@ -102,16 +103,28 @@ public class BSActorMoveToTarget : BSActor
// We're taking over after this.
m_controllingPrim.ZeroMotion(true);
m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
1f // efficiency
/* Someday use the PID controller
m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
m_targetMotor.Efficiency = 1f;
*/
m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
1f // efficiency
);
m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
m_physicsScene.BeforeStep += Mover;
// m_physicsScene.BeforeStep += Mover;
m_physicsScene.BeforeStep += Mover2;
}
else
{
// If already allocated, make sure the target and other paramters are current
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
}
}
@ -119,12 +132,16 @@ public class BSActorMoveToTarget : BSActor
{
if (m_targetMotor != null)
{
m_physicsScene.BeforeStep -= Mover;
// m_physicsScene.BeforeStep -= Mover;
m_physicsScene.BeforeStep -= Mover2;
m_targetMotor = null;
}
}
// Called just before the simulation step. Update the vertical position for hoverness.
// Origional mover that set the objects position to move to the target.
// The problem was that gravity would keep trying to push the object down so
// the overall downward velocity would increase to infinity.
// Called just before the simulation step.
private void Mover(float timeStep)
{
// Don't do hovering while the object is selected.
@ -142,6 +159,7 @@ public class BSActorMoveToTarget : BSActor
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
@ -151,7 +169,51 @@ public class BSActorMoveToTarget : BSActor
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
m_controllingPrim.LocalID, origPosition, movePosition);
}
// Version of mover that applies forces to move the physical object to the target.
// Also overcomes gravity so the object doesn't just drop to the ground.
// Called just before the simulation step.
private void Mover2(float timeStep)
{
// Don't do hovering while the object is selected.
if (!isActive)
return;
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
OMV.Vector3 addedForce = OMV.Vector3.Zero;
// CorrectionVector is the movement vector required this step
OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
// If we are very close to our target, turn off the movement motor.
if (m_targetMotor.ErrorIsZero())
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
else
{
// First force to move us there -- the motor return a timestep scaled value.
addedForce = correctionVector / timeStep;
// Remove the existing velocity (only the moveToTarget force counts)
addedForce -= m_controllingPrim.RawVelocity;
// Overcome gravity.
addedForce -= m_controllingPrim.Gravity;
// Add enough force to overcome the mass of the object
addedForce *= m_controllingPrim.Mass;
m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
}
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
m_controllingPrim.LocalID, origPosition, addedForce);
}
}
}

2
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -626,7 +626,7 @@ public sealed class BSCharacter : BSPhysObject
OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
AddForce(addForce, pushforce, false);
}
private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
if (force.IsFinite())
{
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);

15
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
View File

@ -144,7 +144,6 @@ public class BSVMotor : BSMotor
Vector3 correction = Vector3.Zero;
Vector3 error = TargetValue - CurrentValue;
LastError = error;
if (!ErrorIsZero(error))
{
correction = StepError(timeStep, error);
@ -179,6 +178,7 @@ public class BSVMotor : BSMotor
MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
}
LastError = error;
return correction;
}
@ -293,7 +293,6 @@ public class BSFMotor : BSMotor
float correction = 0f;
float error = TargetValue - CurrentValue;
LastError = error;
if (!ErrorIsZero(error))
{
correction = StepError(timeStep, error);
@ -328,6 +327,7 @@ public class BSFMotor : BSMotor
MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
}
LastError = error;
return CurrentValue;
}
@ -363,7 +363,7 @@ public class BSFMotor : BSMotor
// ============================================================================
// ============================================================================
// Proportional, Integral, Derivitive Motor
// Proportional, Integral, Derivitive ("PID") Motor
// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
public class BSPIDVMotor : BSVMotor
{
@ -434,15 +434,14 @@ public class BSPIDVMotor : BSVMotor
// A simple derivitive is the rate of change from the last error.
Vector3 derivitive = (error - LastError) * timeStep;
LastError = error;
// Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
Vector3 ret = error * timeStep * proportionFactor * FactorMix.X
+ RunningIntegration * integralFactor * FactorMix.Y
+ derivitive * derivFactor * FactorMix.Z
Vector3 ret = error / TimeScale * timeStep * proportionFactor * FactorMix.X
+ RunningIntegration / TimeScale * integralFactor * FactorMix.Y
+ derivitive / TimeScale * derivFactor * FactorMix.Z
;
MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
return ret;

1
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -210,6 +210,7 @@ public abstract class BSPhysObject : PhysicsActor
AddAngularForce(force, pushforce, false);
}
public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }

19
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -450,6 +450,9 @@ public class BSPrim : BSPhysObject
Gravity = ComputeGravity(Buoyancy);
PhysScene.PE.SetGravity(PhysBody, Gravity);
OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG
Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
PhysScene.PE.UpdateInertiaTensor(PhysBody);
@ -1040,6 +1043,20 @@ public class BSPrim : BSPhysObject
}
}
public override OMV.Vector3 PIDTarget
{
set
{
base.PIDTarget = value;
BSActor actor;
if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor))
{
// if the actor exists, tell it to refresh its values.
actor.Refresh();
}
}
}
// Used for llSetHoverHeight and maybe vehicle height
// Hover Height will override MoveTo target's Z
public override bool PIDHoverActive {
@ -1063,7 +1080,7 @@ public class BSPrim : BSPhysObject
// Applying a force just adds this to the total force on the object.
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
if (IsPhysicallyActive)
{