BulletSim: implement llMoveToTarget by adding PIDActive, etc.

Implementation of non-vehicle hover but haven't tested it a lot.
Update TODO list.

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -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 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
-                    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);
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
-                    // Compute the amount of force to push us there.
+                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
-                    OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass;
 
                     // 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}",
+                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
-                                                LocalID, movePosition, RawPosition, Mass, moveForce);
+                                                LocalID, movePosition, RawPosition, Mass);
-                        moveForce = OMV.Vector3.Zero;
                         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
+                    _hoverMotor.SetCurrent(RawPosition.Z);
-                    //     state (flying, colliding, ...). There is code in ODE to do this.
-
                     _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)

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,22 +1,26 @@
 CURRENT PRIORITIES
 =================================================
-Redo BulletSimAPI to allow native C# implementation of Bullet option.
+Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
-Avatar movement
+Meshes rendering as bounding boxes
-	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
 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?)
+Add material densities to the material types
-Boats float low in the water
-Add material densities to the material types.
 
 CRASHES
 =================================================