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BulletSim: implement llMoveToTarget by adding PIDActive, etc. 

Implementation of non-vehicle hover but haven't tested it a lot.
Update TODO list.
user_profiles
Robert Adams 2013-01-04 16:47:04 -08:00
parent d0c7f7f050
commit 48cfc6d089
2 changed files with 39 additions and 56 deletions
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73
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -1010,69 +1010,48 @@ public sealed class BSPrim : BSPhysObject
set {
if (value)
{
// Turning the target on
/*
// We're taking over after this.
ZeroMotion(true);
_targetMotor = new BSVMotor("BSPrim.PIDTarget",
_PIDTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
*/
_targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
_targetMotor.Efficiency = 1f;
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
/*
_targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
_targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
_targetMotor.SetTarget(_PIDTarget);
_targetMotor.SetCurrent(RawPosition);
_targetMotor.TimeScale = _PIDTau;
_targetMotor.Efficiency = 1f;
*/
RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
{
// How far are we away from the target
OMV.Vector3 distance = _PIDTarget - RawPosition;
// The amount of that distance we should cover per second
OMV.Vector3 movementPerSecond = distance / _PIDTau;
OMV.Vector3 adjustedVelocity = movementPerSecond - RawVelocity;
// Apply force to overcome current velocity
AddForce(-RawVelocity * Mass, false, true);
// Get it moving to the point
AddForce(movementPerSecond * Mass, false, true);
// Apply enough force to get to the speed needed to get to the point
// The physics engine will do only a timestep's worth.
// AddForce(adjustedVelocity * Mass, false, true);
// PhysicsScene.PE.ApplyCentralImpulse(PhysBody, adjustedVelocity);
DetailLog("{0},BSPrim.PIDTarget,move,tgt={1},pos={2},vel={3},dist={4},tau={5},mvmt={6},newVel={7}",
LocalID, _PIDTarget, RawPosition, RawVelocity, distance, _PIDTau, movementPerSecond, adjustedVelocity);
/*
OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
// 'movePosition' is where we'd like the prim to be at this moment.
// Compute the amount of force to push us there.
OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass;
OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
// If we are very close to our target, turn off the movement motor.
if (_targetMotor.ErrorIsZero())
{
DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3},moveForce={4}",
LocalID, movePosition, RawPosition, Mass, moveForce);
moveForce = OMV.Vector3.Zero;
DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
LocalID, movePosition, RawPosition, Mass);
ForcePosition = _targetMotor.TargetValue;
_targetMotor.Enabled = false;
}
else
{
AddForce(moveForce, false, true);
ForcePosition = movePosition;
}
DetailLog("{0},BSPrim.PIDTarget,move,movePos={1},moveForce={2},mass={3}", LocalID, movePosition, moveForce, Mass);
*/
DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
});
}
else
@ -1102,17 +1081,17 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...). There is code in ODE to do this.
_hoverMotor.SetCurrent(RawPosition.Z);
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
float targetHeight = _hoverMotor.Step(timeStep);
// 'targetHeight' is where we'd like the Z of the prim to be at this moment.
// Compute the amount of force to push us there.
float moveForce = (targetHeight - RawPosition.Z) * Mass / PhysicsScene.LastTimeStep;
float moveForce = (targetHeight - RawPosition.Z) * Mass;
// Undo anything the object thinks it's doing at the moment
moveForce = -RawVelocity.Z * Mass;
AddForce(new OMV.Vector3(0f, 0f, moveForce), false, true);
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
});
}
@ -1174,7 +1153,7 @@ public sealed class BSPrim : BSPhysObject
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite())
if (!IsStatic && force.IsFinite())
{
float magnitude = force.Length();
if (magnitude > BSParam.MaxAddForceMagnitude)

22
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
View File

@ -1,22 +1,26 @@
CURRENT PRIORITIES
=================================================
Redo BulletSimAPI to allow native C# implementation of Bullet option.
Avatar movement
flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle
walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
avatar capsule rotation completed
Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
Meshes rendering as bounding boxes
llMoveToTarget
Vehicle movement on terrain smoothness
limitMotorUp calibration (more down?)
Preferred orientatino angular correction fix
Surfboard go wonky when turning
Angular motor direction is global coordinates rather than local coordinates?
Boats float low in the water
Avatar movement
flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
Enable vehicle border crossings (at least as poorly as ODE)
Terrain skirts
Avatar created in previous region and not new region when crossing border
Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
Vehicle movement on terrain smoothness
Vehicle script tuning/debugging
Avanti speed script
Weapon shooter script
limitMotorUp calibration (more down?)
Boats float low in the water
Add material densities to the material types.
Add material densities to the material types
CRASHES
=================================================