Fix border fence for physicals. Fix llRotLookAt() for Vehicles.
Kitto Flora
parent
711db25dfa
commit
95a915efd8
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@ -3001,12 +3001,9 @@ Console.WriteLine(" JointCreateFixed");
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// This is a temp patch until proper region crossing is developed.
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int failureLimit = _parent_scene.geomCrossingFailuresBeforeOutofbounds;
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int fence = _parent_scene.geomRegionFence;
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float fence = _parent_scene.geomRegionFence;
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float border_limit = 0.05f; // original limit
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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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frcount++; // used to limit debug comment output
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if (frcount > 50)
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frcount = 0;
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@ -3049,35 +3046,34 @@ Console.WriteLine(" JointCreateFixed");
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// Check if outside region
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// In Scene.cs/CrossPrimGroupIntoNewRegion the object is checked for 0.1M from border!
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if (l_position.X > ((float)_parent_scene.WorldExtents.X - border_limit))
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if (l_position.X > ((float)_parent_scene.WorldExtents.X - fence))
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{
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l_position.X = ((float)_parent_scene.WorldExtents.X - border_limit);
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l_position.X = ((float)_parent_scene.WorldExtents.X - fence);
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outside = 1;
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}
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if (l_position.X < border_limit)
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if (l_position.X < fence)
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{
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l_position.X = border_limit;
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l_position.X = fence;
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outside = 2;
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}
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if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - border_limit))
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if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - fence))
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{
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l_position.Y = ((float)_parent_scene.WorldExtents.Y - border_limit);
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l_position.Y = ((float)_parent_scene.WorldExtents.Y - fence);
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outside = 3;
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}
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if (l_position.Y < border_limit)
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if (l_position.Y < fence)
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{
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l_position.Y = border_limit;
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l_position.Y = fence;
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outside = 4;
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}
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if (outside > 0)
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{
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//Console.WriteLine(" fence = {0}",fence);
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//Console.WriteLine("Border {0}", l_position);
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if (fence == 1) // bounce object off boundary
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//Console.WriteLine("Border {0} fence={1}", l_position, fence);
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if (fence > 0.0f) // bounce object off boundary
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{
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if (revcount == 0)
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{
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@ -3647,75 +3643,6 @@ Console.WriteLine("AxisZ {0} set to {1}", i, m_lockZ);
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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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// If the PID Controller isn't active then we set our force
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// calculating base velocity to the current position
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if ((m_PIDTau < 1) && (m_PIDTau != 0))
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{
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//PID_G = PID_G / m_PIDTau;
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m_PIDTau = 1;
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}
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if ((PID_G - m_PIDTau) <= 0)
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{
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PID_G = m_PIDTau + 1;
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}
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//PidStatus = true;
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// PhysicsVector vec = new PhysicsVector();
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// d.Vector3 vel = d.BodyGetLinearVel(Body);
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d.Vector3 pos = d.BodyGetPosition(Body);
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_target_velocity =
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new Vector3(
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(m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
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(m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
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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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{
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// keep track of where we stopped. No more slippin' & slidin'
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// We only want to deactivate the PID Controller if we think we want to have our surrogate
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// react to the physics scene by moving it's position.
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// Avatar to Avatar collisions
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// Prim to avatar collisions
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//fx = (_target_velocity.X - vel.X) * (PID_D) + (_zeroPosition.X - pos.X) * (PID_P * 2);
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//fy = (_target_velocity.Y - vel.Y) * (PID_D) + (_zeroPosition.Y - pos.Y) * (PID_P * 2);
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//fz = fz + (_target_velocity.Z - vel.Z) * (PID_D) + (_zeroPosition.Z - pos.Z) * PID_P;
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d.BodySetPosition(Body, m_PIDTarget.X, m_PIDTarget.Y, m_PIDTarget.Z);
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d.BodySetLinearVel(Body, 0, 0, 0);
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d.BodyAddForce(Body, 0, 0, fz);
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// return;
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}
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else
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{
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_zeroFlag = false;
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// We're flying and colliding with something
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fx = ((_target_velocity.X) - vel.X) * (PID_D);
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fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
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// vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
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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 can only run if the PIDcontroller is not in use.
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@ -3802,51 +3729,6 @@ if(frcount == 0) Console.WriteLine("PID {0} b={1} fz={2} vel={3}", m_primName
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}
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} // end m_useHoverPID && !m_usePID
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/// Dynamics RotLookAt =================================================================================
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if (m_useAPID)
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{
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// RotLookAt, apparently overrides all other rotation sources. Inputs:
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// Quaternion m_APIDTarget
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// float m_APIDStrength // From SL experiments, this is the time to get there
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// float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
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// Also in SL the mass of the object has no effect on time to get there.
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// Factors:
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// get present body rotation
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float limit = 1.0f;
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float scaler = 50f; // adjusts damping time
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float RLAservo = 0f;
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d.Quaternion rot = d.BodyGetQuaternion(Body);
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Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
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Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
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float diff_angle;
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Vector3 diff_axis;
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rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
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diff_axis.Normalize();
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if(diff_angle > 0.01f) // diff_angle is always +ve
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{
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// PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
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Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
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rotforce = rotforce * rotq;
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if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
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// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
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// rotforce = rotforce * RLAservo * diff_angle ;
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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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//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
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} // end m_useAPID
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/// Dynamics Apply Forces ===================================================================================
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fx *= m_mass;
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@ -3889,29 +3771,55 @@ if(frcount == 0) Console.WriteLine("PID {0} b={1} fz={2} vel={3}", m_primName
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d.BodyAddForce(Body, fx, fy, fz);
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//Console.WriteLine("AddForce " + fx + "," + fy + "," + fz);
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} // end apply forces
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} // end Dynamics
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} // end Vehicle/Dynamics
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/// RotLookAt =================================================================================
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if (m_useAPID)
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{
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// RotLookAt, apparently overrides all other rotation sources. Inputs:
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// Quaternion m_APIDTarget
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// float m_APIDStrength // From SL experiments, this is the time to get there
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// float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
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// Also in SL the mass of the object has no effect on time to get there.
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// Factors:
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// get present body rotation
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float limit = 1.0f;
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float scaler = 50f; // adjusts damping time
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float RLAservo = 0f;
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d.Quaternion rot = d.BodyGetQuaternion(Body);
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Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
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Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
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float diff_angle;
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Vector3 diff_axis;
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rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
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diff_axis.Normalize();
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if(diff_angle > 0.01f) // diff_angle is always +ve
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{
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// PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
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Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
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rotforce = rotforce * rotq;
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if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
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// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
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// rotforce = rotforce * RLAservo * diff_angle ;
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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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//if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
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} // end m_useAPID
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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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_velocity.Z = 0;
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_acceleration.X = 0;
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_acceleration.Y = 0;
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_acceleration.Z = 0;
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m_rotationalVelocity.X = 0;
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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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*/
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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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@ -224,7 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public float bodyPIDG = 25;
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public int geomCrossingFailuresBeforeOutofbounds = 5;
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public int geomRegionFence = 0;
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public float geomRegionFence = 0.0f;
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public float bodyMotorJointMaxforceTensor = 2;
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@ -448,7 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
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geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
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geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
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geomRegionFence = physicsconfig.GetInt("region_border_fence", 0);
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geomRegionFence = physicsconfig.GetFloat("region_border_fence", 0.0f);
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geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
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bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
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