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ubode add position to pid control it stopped flying to prevent slow drifts

0.9.1.0-post-fixes
UbitUmarov 2019-01-31 17:25:18 +00:00
parent 76b777b1fb
commit 9046e5cb9d
1 changed files with 31 additions and 27 deletions
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58
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@ -1435,37 +1435,41 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if(!m_freemove) if(!m_freemove)
{ {
// if velocity is zero, use position control; otherwise, velocity control // if velocity is zero, use position control; otherwise, velocity control
if(tviszero && m_iscolliding && !m_flying) if(tviszero)
{ {
// keep track of where we stopped. No more slippin' & slidin' if(m_iscolliding || m_flying)
if(!_zeroFlag)
{ {
_zeroFlag = true; // keep track of where we stopped. No more slippin' & slidin'
_zeroPosition = localpos; if (!_zeroFlag)
} {
if(m_pidControllerActive) _zeroFlag = true;
{ _zeroPosition = localpos;
// We only want to deactivate the PID Controller if we think we want to have our surrogate }
// react to the physics scene by moving it's position. if(m_pidControllerActive)
// Avatar to Avatar collisions {
// Prim to avatar collisions // We only want to deactivate the PID Controller if we think we want to have our surrogate
// react to the physics scene by moving it's position.
// Avatar to Avatar collisions
// Prim to avatar collisions
vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5); vec.X = -vel.X * PID_D * 2f + (_zeroPosition.X - localpos.X) * (PID_P * 5);
vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5); vec.Y = -vel.Y * PID_D * 2f + (_zeroPosition.Y - localpos.Y) * (PID_P * 5);
if(vel.Z > 0) if(vel.Z > 0)
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P;
else else
vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f; vec.Z += (-vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P) * 0.2f;
/* }
if (flying) }
{ else
vec.Z += -vel.Z * PID_D + (_zeroPosition.Z - localpos.Z) * PID_P; {
} _zeroFlag = false;
*/ vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
// hack for breaking on fall
if (ctz.Z == -9999f)
vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass;
} }
//PidStatus = true;
} }
else else
{ {
@ -1539,7 +1543,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.X += (ctz.X - vel.X) * PID_D * 0.833f; vec.X += (ctz.X - vel.X) * PID_D * 0.833f;
vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f; vec.Y += (ctz.Y - vel.Y) * PID_D * 0.833f;
// hack for breaking on fall // hack for breaking on fall
if(ctz.Z == -9999f) if (ctz.Z == -9999f)
vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass; vec.Z += -vel.Z * PID_D - m_parent_scene.gravityz * m_mass;
} }
} }