Fixed llMoveToTarget() and Rotation Lock/Enable (ChODE/ODEPrim only)
Kitto Flora
parent
74d62901c8
commit
6e2cc98eac
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@ -64,11 +64,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Vector3 m_taintVelocity;
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private Vector3 m_taintTorque;
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private Quaternion m_taintrot;
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private Vector3 m_angularEnable = Vector3.One; // Current setting
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private Vector3 m_taintAngularLock = Vector3.One; // Request from LSL
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private Vector3 m_rotateEnable = Vector3.One; // Current setting
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private Vector3 m_rotateEnableRequest = Vector3.One; // Request from LSL
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private bool m_rotateEnableUpdate = false;
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private Vector3 m_lockX;
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private Vector3 m_lockY;
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private Vector3 m_lockZ;
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private IntPtr Amotor = IntPtr.Zero;
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private IntPtr AmotorX = IntPtr.Zero;
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private IntPtr AmotorY = IntPtr.Zero;
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private IntPtr AmotorZ = IntPtr.Zero;
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private Vector3 m_PIDTarget;
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private float m_PIDTau;
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@ -729,7 +734,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override float Buoyancy
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{
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get { return m_buoyancy; }
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set { m_buoyancy = value; }
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// set { m_buoyancy = value; }
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set {
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m_buoyancy = value;
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Console.WriteLine("m_buoyancy={0}", m_buoyancy);
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}
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}
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public override void link(PhysicsActor obj)
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@ -744,14 +754,18 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override void LockAngularMotion(Vector3 axis)
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{
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// reverse the zero/non zero values for ODE.
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// This is actually ROTATION ENABLE, not a lock.
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// default is <1,1,1> which is all enabled.
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// The lock value is updated inside Move(), no point in using the taint system.
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// OS 'm_taintAngularLock' etc change to m_rotateEnable.
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if (axis.IsFinite())
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{
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axis.X = (axis.X > 0) ? 1f : 0f;
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axis.Y = (axis.Y > 0) ? 1f : 0f;
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axis.Z = (axis.Z > 0) ? 1f : 0f;
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m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
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m_taintAngularLock = axis;
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m_rotateEnableRequest = axis;
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m_rotateEnableUpdate = true;
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}
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else
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{
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@ -1391,10 +1405,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (m_taintCollidesWater != m_collidesWater)
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changefloatonwater(timestep);
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if (!m_angularEnable.ApproxEquals(m_taintAngularLock,0f))
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/* obsolete
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if (!m_angularLock.ApproxEquals(m_taintAngularLock,0f))
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changeAngularLock(timestep);
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*/
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}
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else
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{
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@ -1402,15 +1416,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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/* obsolete
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private void changeAngularLock(float timestep)
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{
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if (_parent == null)
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{
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m_angularEnable = m_taintAngularLock;
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m_angularLock = m_taintAngularLock;
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m_angularLockSet = true;
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}
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}
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*/
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private void changelink(float timestep)
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{
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// If the newly set parent is not null
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@ -2991,7 +3006,7 @@ Console.WriteLine(" JointCreateFixed");
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if (fence == 1) border_limit = 0.5f; // bounce point
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frcount++; // used to limit debug comment output
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if (frcount > 10)
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if (frcount > 50)
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frcount = 0;
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if(revcount > 0) revcount--;
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@ -3200,8 +3215,91 @@ Console.WriteLine(" JointCreateFixed");
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}
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m_lastposition = l_position;
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/// End UpdatePositionAndVelocity insert
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/// End UpdatePositionAndVelocity insert
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// Rotation lock =====================================
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if(m_rotateEnableUpdate)
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{
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// Snapshot current angles, set up Amotor(s)
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m_rotateEnableUpdate = false;
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m_rotateEnable = m_rotateEnableRequest;
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Console.WriteLine("RotEnable {0} = {1}",m_primName, m_rotateEnable);
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if (Amotor != IntPtr.Zero)
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{
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d.JointDestroy(Amotor);
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Amotor = IntPtr.Zero;
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Console.WriteLine("Old Amotor Destroyed");
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}
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if (!m_rotateEnable.ApproxEquals(Vector3.One, 0.003f))
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{ // not all are enabled
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d.Quaternion r = d.BodyGetQuaternion(Body);
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Quaternion locrot = new Quaternion(r.X, r.Y, r.Z, r.W);
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// extract the axes vectors
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Vector3 vX = new Vector3(1f,0f,0f);
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Vector3 vY = new Vector3(0f,1f,0f);
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Vector3 vZ = new Vector3(0f,0f,1f);
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vX = vX * locrot;
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vY = vY * locrot;
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vZ = vZ * locrot;
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// snapshot the current angle vectors
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m_lockX = vX;
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m_lockY = vY;
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m_lockZ = vZ;
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// m_lockRot = locrot;
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, 0); // User mode??
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Console.WriteLine("New Amotor Created for {0}", m_primName);
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float axisnum = 3; // how many to lock
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axisnum = (axisnum - (m_rotateEnable.X + m_rotateEnable.Y + m_rotateEnable.Z));
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d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
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Console.WriteLine("AxisNum={0}",(int)axisnum);
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int i = 0;
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if (m_rotateEnable.X == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockX.X, m_lockX.Y, m_lockX.Z);
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Console.WriteLine("AxisX {0} set to {1}", i, m_lockX);
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i++;
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}
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if (m_rotateEnable.Y == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockY.X, m_lockY.Y, m_lockY.Z);
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Console.WriteLine("AxisY {0} set to {1}", i, m_lockY);
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i++;
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}
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if (m_rotateEnable.Z == 0)
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{
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d.JointSetAMotorAxis(Amotor, i, 0, m_lockZ.X, m_lockZ.Y, m_lockZ.Z);
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Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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i++;
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}
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// These lowstops and high stops are effectively (no wiggle room)
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
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d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 0f);
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d.JointSetAMotorParam(Amotor, (int) dParam.Vel3, 0f);
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d.JointSetAMotorParam(Amotor, (int) dParam.Vel2, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM3, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.StopCFM2, 0f);
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} // else none are locked
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} // end Rotation Update
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// VEHICLE processing ==========================================
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if (m_type != Vehicle.TYPE_NONE)
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{
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// get body attitude
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@ -3420,7 +3518,7 @@ Console.WriteLine(" JointCreateFixed");
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//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
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// Rotation Axis Disables:
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/* // Rotation Axis Disables:
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if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
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{
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if (m_angularEnable.X == 0)
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@ -3430,7 +3528,7 @@ Console.WriteLine(" JointCreateFixed");
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if (m_angularEnable.Z == 0)
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angObjectVel.Z = 0f;
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}
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*/
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angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
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// Vertical attractor section
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@ -3500,35 +3598,58 @@ Console.WriteLine(" JointCreateFixed");
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} // end VEHICLES
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else
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{
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// Dyamics (NON-'VEHICLES') are dealt with here ================================================================
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if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
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// NON-'VEHICLES' are dealt with here
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/// Dynamics Angular Lock ========================================================================
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if (d.BodyIsEnabled(Body) && !m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
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{
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d.Vector3 avel2 = d.BodyGetAngularVel(Body);
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if (m_angularEnable.X == 0)
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avel2.X = 0;
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if (m_angularEnable.Y == 0)
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avel2.Y = 0;
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if (m_angularEnable.Z == 0)
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avel2.Z = 0;
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d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
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}
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/// Dynamics Buoyancy ===============================================================================
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/// Dynamics Buoyancy
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//KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
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// m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up
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// NB Prims in ODE are no subject to global gravity
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// This should only affect gravity operations
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float m_mass = CalculateMass();
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// calculate z-force due togravity on object.
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fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
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if (m_usePID)
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if ((m_usePID) && (m_PIDTau > 0.0f)) // Dynamics llMoveToTarget.
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{
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//if(frcount == 0) Console.WriteLine("PID " + m_primName);
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// KF - this is for object MoveToTarget.
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//if (!d.BodyIsEnabled(Body))
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fz = 0; // llMoveToTarget ignores gravity.
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// it also ignores mass of object, and any physical resting on it.
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// Vector3 m_PIDTarget is where we are going
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// float m_PIDTau is time to get there
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fx = 0;
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fy = 0;
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d.Vector3 pos = d.BodyGetPosition(Body);
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Vector3 error = new Vector3(
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(m_PIDTarget.X - pos.X),
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(m_PIDTarget.Y - pos.Y),
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(m_PIDTarget.Z - pos.Z));
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if (error.ApproxEquals(Vector3.Zero,0.01f))
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{ // Very close, Jump there and quit move
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d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
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_target_velocity = Vector3.Zero;
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d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
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}
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else
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{
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float scale = 50.0f * timestep / m_PIDTau;
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if ((error.ApproxEquals(Vector3.Zero,0.5f)) && (_target_velocity != Vector3.Zero))
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{
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// Nearby, quit update of velocity
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}
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else
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{ // Far, calc damped velocity
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_target_velocity = error * scale;
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}
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d.BodySetLinearVel(Body, _target_velocity.X, _target_velocity.Y, _target_velocity.Z);
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}
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} // end PID MoveToTarget
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/* Original OS implementation: Does not work correctly as another phys object resting on THIS object purturbs its position.
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This is incorrect behavior. llMoveToTarget must move the Body no matter what phys object is resting on it.
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//if (!d.BodyIsEnabled(Body))
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//d.BodySetForce(Body, 0f, 0f, 0f);
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// no lock; for now it's only called from within Simulate()
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@ -3559,6 +3680,7 @@ Console.WriteLine(" JointCreateFixed");
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(m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
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);
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if(frcount == 0) Console.WriteLine("PID {0} b={1} fz={2} vel={3}", m_primName, m_buoyancy, fz, _target_velocity);
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// if velocity is zero, use position control; otherwise, velocity control
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if (_target_velocity.ApproxEquals(Vector3.Zero,0.1f))
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@ -3591,9 +3713,11 @@ Console.WriteLine(" JointCreateFixed");
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fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
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}
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} // end if (m_usePID)
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End of old PID system */
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/// Dynamics Hover ===================================================================================
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// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
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// Hover PID Controller can only run if the PIDcontroller is not in use.
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if (m_useHoverPID && !m_usePID)
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{
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//Console.WriteLine("Hover " + m_primName);
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@ -3709,14 +3833,14 @@ Console.WriteLine(" JointCreateFixed");
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// d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
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RLAservo = timestep / m_APIDStrength * scaler;
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rotforce = rotforce * RLAservo * diff_angle ;
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/*
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if (m_angularEnable.X == 0)
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rotforce.X = 0;
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if (m_angularEnable.Y == 0)
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rotforce.Y = 0;
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if (m_angularEnable.Z == 0)
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rotforce.Z = 0;
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*/
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d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
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//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
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}
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@ -3763,11 +3887,12 @@ Console.WriteLine(" JointCreateFixed");
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fy = nmin;
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d.BodyAddForce(Body, fx, fy, fz);
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//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
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}
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}
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}
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else
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{ // is not physical, or is not a body or is selected
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} // end apply forces
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} // end Dynamics
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/* obsolete?
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else
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{ // is not physical, or is not a body or is selected
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// from old UpdatePositionAndVelocity, ... Not a body.. so Make sure the client isn't interpolating
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_velocity.X = 0;
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_velocity.Y = 0;
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@ -3781,8 +3906,11 @@ Console.WriteLine(" JointCreateFixed");
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m_rotationalVelocity.Y = 0;
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m_rotationalVelocity.Z = 0;
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_zeroFlag = true;
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return;
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}
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} // end Move()
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return;
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}
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*/
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} // end root prims
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} // end Move()
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} // end class
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}
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