Add llRotLookat pt1.

OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs

@@ -1727,6 +1727,45 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public void rotLookAt(Quaternion target, float strength, float damping)
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (IsAttachment)
+                {
+                /*
+                    ScenePresence avatar = m_scene.GetScenePresence(rootpart.AttachedAvatar);
+                    if (avatar != null)
+                    {
+                    Rotate the Av?
+                    } */
+                }
+                else
+                {
+                    if (rootpart.PhysActor != null)
+                    {
+                        rootpart.PhysActor.APIDTarget = new Quaternion(target.X, target.Y, target.Z, target.W);
+                        rootpart.PhysActor.APIDStrength = strength;
+                        rootpart.PhysActor.APIDDamping = damping;
+                        rootpart.PhysActor.APIDActive = true;
+                    }
+                }
+            }
+        }
+        public void stopLookAt()
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {
+                    rootpart.PhysActor.APIDActive = false;
+                }
+            }
+        
+        }
+
         /// <summary>
         /// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
         /// </summary>

OpenSim/Region/Framework/Scenes/SceneObjectPart.cs

@@ -2188,6 +2188,11 @@ if (m_shape != null) {
             ScheduleFullUpdate();
         }
         
+        public void RotLookAt(Quaternion target, float strength, float damping)
+        {
+            m_parentGroup.rotLookAt(target, strength, damping);
+        }
+
         /// <summary>
         /// Schedules this prim for a full update
         /// </summary>
@@ -2662,6 +2667,13 @@ if (m_shape != null) {
             SetText(text);
         }
 
+        public void StopLookAt()
+        {
+            m_parentGroup.stopLookAt();
+
+            m_parentGroup.ScheduleGroupForTerseUpdate();        
+        }        
+        
         public void StopMoveToTarget()
         {
             m_parentGroup.stopMoveToTarget();

OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs

@@ -307,6 +307,26 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             set { return; }
         }
 
+        public override Quaternion APIDTarget 
+        { 
+        	set { return; }
+        }
+        
+        public override bool APIDActive
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDStrength
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDDamping
+        { 
+        	set { return; }
+        }
+
         public override void SubscribeEvents(int ms)
         {
         }

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs

@@ -628,6 +628,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
             set { return; }
         }
         
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
+
         /// <summary>
         /// Adds the force supplied to the Target Velocity
         /// The PID controller takes this target velocity and tries to make it a reality

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs

@@ -566,6 +566,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
         public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
 
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
 
         public override void AddForce(PhysicsVector force, bool pushforce)
         {

OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs

@@ -1236,6 +1236,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
 
+        public override OpenMetaverse.Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -230,6 +230,11 @@ namespace OpenSim.Region.Physics.Manager
         public abstract PIDHoverType PIDHoverType { set;}
         public abstract float PIDHoverTau { set;}
 
+		// For RotLookAt        
+        public abstract Quaternion APIDTarget { set;}
+        public abstract bool APIDActive { set;}
+        public abstract float APIDStrength { set;}
+        public abstract float APIDDamping { set;}
         
         public abstract void AddForce(PhysicsVector force, bool pushforce);
         public abstract void AddAngularForce(PhysicsVector force, bool pushforce);
@@ -464,6 +469,12 @@ namespace OpenSim.Region.Physics.Manager
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
         
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
+
         public override void SetMomentum(PhysicsVector momentum)
         {
         }

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -1206,6 +1206,28 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
         
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+
+
         public override void SubscribeEvents(int ms)
         {
             m_requestedUpdateFrequency = ms;

OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs

@@ -119,7 +119,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
-        private float m_VehicleBuoyancy = 0f;			//KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+        private float m_VehicleBuoyancy = 0f;			// Set by VEHICLE_BUOYANCY, for a vehicle.
         			// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
         			// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
         			// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -1,15 +1,4 @@
 /*
- * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
- * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
- * ODEPrim.cs contains methods dealing with Prim editing, Prim
- * characteristics and Kinetic motion.
- * ODEDynamics.cs contains methods dealing with Prim Physical motion
- * (dynamics) and the associated settings. Old Linear and angular
- * motors for dynamic motion have been replace with  MoveLinear()
- * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
- * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
- * switch between 'VEHICLE' parameter use and general dynamics
- * settings use.
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -34,6 +23,18 @@
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
  */
 using System;
 using System.Collections.Generic;
@@ -83,6 +84,14 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float PID_G = 25f;
         private bool m_usePID = false;
         
+        private Quaternion m_APIDTarget = new Quaternion();
+        private float m_APIDStrength = 0.5f;
+        private float m_APIDDamping = 0.5f;
+        
+        private float APID_D = 35f;
+        private float APID_G = 25f;
+        private bool m_useAPID = false;
+
         // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
         // and are for non-VEHICLES only.
          
@@ -93,7 +102,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float m_targetHoverHeight = 0f;
         private float m_groundHeight = 0f;
         private float m_waterHeight = 0f;
-        private float m_buoyancy = 0f;				//KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle. 
+        private float m_buoyancy = 0f;				//Set by llSetBuoyancy(), for non-vehicles. 
 
         // private float m_tensor = 5f;
         private int body_autodisable_frames = 20;
@@ -1586,21 +1595,18 @@ Console.WriteLine(" JointCreateFixed");
                     //m_log.Info(m_collisionFlags.ToString());
 
 	                
-	                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
+	                //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
-	                // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
 	                // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 
-	                // gravityz multiplier = 1 - m_buoyancy
+	                // NB Prims in ODE are no subject to global gravity
-	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
+	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
 
 	                if (m_usePID)
 	                {
 //Console.WriteLine("PID " +  m_primName);           	
-                    	// KF - this is for object move? eg. llSetPos() ?
+                    	// KF - this is for object MoveToTarget.
+                    	
 	                    //if (!d.BodyIsEnabled(Body))
 	                    //d.BodySetForce(Body, 0f, 0f, 0f);
-	                    // If we're using the PID controller, then we have no gravity
-	                    //fz = (-1 * _parent_scene.gravityz) * m_mass; 	//KF: ?? Prims have no global gravity,so simply...
-	                    fz = 0f;
 
 	                    //  no lock; for now it's only called from within Simulate()
 	
@@ -1744,7 +1750,36 @@ Console.WriteLine(" JointCreateFixed");
     	                    // We're flying and colliding with something
     	                    fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
     	                }
-    	            }
+    	            } // end m_useHoverPID && !m_usePID
+    	            
+	                if (m_useAPID)
+	                {
+	                	// RotLookAt, apparently overrides all other rotation sources. Inputs:
+	                	// Quaternion m_APIDTarget
+						// float m_APIDStrength		// perhaps ratio other forces to lookat force?
+						// float m_APIDDamping		//'seconds to critically damps in'[sic]
+						// Factors:
+						// float APID_D
+						// float APID_G
+						
+			    	    // get present body rotation
+			    	    d.Quaternion rot = d.BodyGetQuaternion(Body);
+			    	    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+			    	    Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
+                        float diff_angle;
+                        Vector3 diff_axis;
+                        rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
+                        diff_axis.Normalize();
+                        PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
+                        float RLAservo = timestep / m_APIDDamping;
+                        rotforce = rotforce * RLAservo * m_mass;
+                        d.BodyAddTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
+
+	                //	d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
+
+	                
+	                
+	                } // end m_useAPID
 	                
     	            fx *= m_mass;
     	            fy *= m_mass;
@@ -2779,6 +2814,12 @@ Console.WriteLine(" JointCreateFixed");
         public override bool PIDActive { set { m_usePID = value; } }
         public override float PIDTau { set { m_PIDTau = value; } }
         
+		// For RotLookAt        
+        public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
+        public override bool APIDActive { set { m_useAPID = value; } }
+        public override float APIDStrength { set { m_APIDStrength = value; } }
+        public override float APIDDamping { set { m_APIDDamping = value; } }
+
         public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
         public override bool PIDHoverActive { set { m_useHoverPID = value; } }
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }

OpenSim/Region/Physics/POSPlugin/POSCharacter.cs

@@ -308,6 +308,27 @@ namespace OpenSim.Region.Physics.POSPlugin
             set { return; }
         }
         
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+
         public override void SubscribeEvents(int ms)
         {
         }

OpenSim/Region/Physics/POSPlugin/POSPrim.cs

@@ -302,6 +302,26 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
             set { return; }
         }
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs

@@ -501,6 +501,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
         
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+
+
         public override void SubscribeEvents(int ms)
         {
 
@@ -783,6 +805,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
         
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+        
+
         public override void SubscribeEvents(int ms)
         {
 

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs

@@ -2695,10 +2695,20 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             llSetRot(rot);
         }
         
+        public void llRotLookAt(LSL_Rotation target, double strength, double damping)
+        {
+            m_host.AddScriptLPS(1);
+//            NotImplemented("llRotLookAt");
+            m_host.RotLookAt(Rot2Quaternion(target), (float)strength, (float)damping);
+            
+        }
+
+
         public void llStopLookAt()
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llStopLookAt");
+//            NotImplemented("llStopLookAt");
+            m_host.StopLookAt();
         }
 
         public void llSetTimerEvent(double sec)
@@ -3042,12 +3052,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
         }
 
-        public void llRotLookAt(LSL_Rotation target, double strength, double damping)
-        {
-            m_host.AddScriptLPS(1);
-            NotImplemented("llRotLookAt");
-        }
-
         public LSL_Integer llStringLength(string str)
         {
             m_host.AddScriptLPS(1);