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llRotLookAt Pt 2

avinationmerge
KittoFlora 2009-10-27 19:56:39 +01:00
parent 8428b25939
commit a81a16f22f
2 changed files with 52 additions and 37 deletions
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34
OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
View File

@ -1,16 +1,4 @@
/* /*
* Revised Aug, Sept 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/ * Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders. * See CONTRIBUTORS.TXT for a full list of copyright holders.
* *
@ -35,6 +23,19 @@
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 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 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Revised Aug, Sept 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;
@ -66,8 +67,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// private OdeScene m_parentScene = null; // private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero; private IntPtr m_body = IntPtr.Zero;
private IntPtr m_jointGroup = IntPtr.Zero; // private IntPtr m_jointGroup = IntPtr.Zero;
private IntPtr m_aMotor = IntPtr.Zero; // private IntPtr m_aMotor = IntPtr.Zero;
// Vehicle properties // Vehicle properties
@ -560,6 +561,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
*/ */
//if(frcount == 0) Console.WriteLine("MoveAngular ");
// Get what the body is doing, this includes 'external' influences // Get what the body is doing, this includes 'external' influences
d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
@ -614,7 +616,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Error is 0 (no error) to +/- 2 (max error) // Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo // scale it by VAservo
verterr = verterr * VAservo; verterr = verterr * VAservo;
//if(frcount == 0) Console.WriteLine("VAerr=" + verterr); if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed. // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
@ -635,7 +637,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Deflection section tba // Deflection section tba
// Sum velocities // Sum velocities
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{ {

55
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -87,9 +87,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private Quaternion m_APIDTarget = new Quaternion(); private Quaternion m_APIDTarget = new Quaternion();
private float m_APIDStrength = 0.5f; private float m_APIDStrength = 0.5f;
private float m_APIDDamping = 0.5f; private float m_APIDDamping = 0.5f;
private float APID_D = 35f;
private float APID_G = 25f;
private bool m_useAPID = false; private bool m_useAPID = false;
// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau), // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
@ -192,6 +189,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private ODEDynamics m_vehicle; private ODEDynamics m_vehicle;
internal int m_material = (int)Material.Wood; internal int m_material = (int)Material.Wood;
private int frcount = 0; // Used to limit dynamics debug output to
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
@ -1563,9 +1563,14 @@ Console.WriteLine(" JointCreateFixed");
float fy = 0; float fy = 0;
float fz = 0; float fz = 0;
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
{ {
if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle.Type +
" usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID);
if (m_vehicle.Type != Vehicle.TYPE_NONE) if (m_vehicle.Type != Vehicle.TYPE_NONE)
{ {
// 'VEHICLES' are dealt with in ODEDynamics.cs // 'VEHICLES' are dealt with in ODEDynamics.cs
@ -1573,7 +1578,6 @@ Console.WriteLine(" JointCreateFixed");
} }
else else
{ {
//Console.WriteLine("Move " + m_primName);
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009
// NON-'VEHICLES' are dealt with here // NON-'VEHICLES' are dealt with here
if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f)) if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
@ -1602,7 +1606,7 @@ Console.WriteLine(" JointCreateFixed");
if (m_usePID) if (m_usePID)
{ {
//Console.WriteLine("PID " + m_primName); //if(frcount == 0) Console.WriteLine("PID " + m_primName);
// KF - this is for object MoveToTarget. // KF - this is for object MoveToTarget.
//if (!d.BodyIsEnabled(Body)) //if (!d.BodyIsEnabled(Body))
@ -1741,7 +1745,7 @@ Console.WriteLine(" JointCreateFixed");
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0); d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
d.BodyAddForce(Body, 0, 0, fz); d.BodyAddForce(Body, 0, 0, fz);
return; //KF this prevents furthur motions return;
} }
else else
{ {
@ -1756,13 +1760,16 @@ Console.WriteLine(" JointCreateFixed");
{ {
// RotLookAt, apparently overrides all other rotation sources. Inputs: // RotLookAt, apparently overrides all other rotation sources. Inputs:
// Quaternion m_APIDTarget // Quaternion m_APIDTarget
// float m_APIDStrength // perhaps ratio other forces to lookat force? // float m_APIDStrength // From SL experiments, this is the time to get there
// float m_APIDDamping //'seconds to critically damps in'[sic] // float m_APIDDamping // From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
// Also in SL the mass of the object has no effect on time to get there.
// Factors: // Factors:
// float APID_D //if(frcount == 0) Console.WriteLine("APID ");
// float APID_G
// get present body rotation // get present body rotation
float limit = 1.0f;
float scaler = 50f; // adjusts damping time
float RLAservo = 0f;
d.Quaternion rot = d.BodyGetQuaternion(Body); d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget; Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
@ -1770,15 +1777,21 @@ Console.WriteLine(" JointCreateFixed");
Vector3 diff_axis; Vector3 diff_axis;
rot_diff.GetAxisAngle(out diff_axis, out diff_angle); rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
diff_axis.Normalize(); diff_axis.Normalize();
PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z); if(diff_angle > 0.01f) // diff_angle is always +ve
float RLAservo = timestep / m_APIDDamping; {
rotforce = rotforce * RLAservo * m_mass; // PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
d.BodyAddTorque(Body, rotforce.X, rotforce.Y, rotforce.Z); Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
rotforce = rotforce * rotq;
// d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); if(diff_angle > limit) diff_angle = limit; // cap the rotate rate
// RLAservo = timestep / m_APIDStrength * m_mass * scaler;
// rotforce = rotforce * RLAservo * diff_angle ;
// d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
RLAservo = timestep / m_APIDStrength * scaler;
rotforce = rotforce * RLAservo * diff_angle ;
d.BodySetAngularVel (Body, rotforce.X, rotforce.Y, rotforce.Z);
//Console.WriteLine("axis= " + diff_axis + " angle= " + diff_angle + "servo= " + RLAservo);
}
if(frcount == 0) Console.WriteLine("mass= " + m_mass + " servo= " + RLAservo + " angle= " + diff_angle);
} // end m_useAPID } // end m_useAPID
fx *= m_mass; fx *= m_mass;
@ -2674,7 +2687,7 @@ Console.WriteLine(" JointCreateFixed");
//outofBounds = true; //outofBounds = true;
} }
float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)); // float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
//Console.WriteLine("Adiff " + m_primName + " = " + Adiff); //Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)