llRotLookAt Pt 2
KittoFlora
parent
8428b25939
commit
a81a16f22f
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@ -1,16 +1,4 @@
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/*
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* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
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* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
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* ODEPrim.cs contains methods dealing with Prim editing, Prim
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* characteristics and Kinetic motion.
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* ODEDynamics.cs contains methods dealing with Prim Physical motion
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* (dynamics) and the associated settings. Old Linear and angular
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* motors for dynamic motion have been replace with MoveLinear()
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* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
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* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
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* switch between 'VEHICLE' parameter use and general dynamics
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* settings use.
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*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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@ -35,6 +23,19 @@
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
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* ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
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* ODEPrim.cs contains methods dealing with Prim editing, Prim
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* characteristics and Kinetic motion.
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* ODEDynamics.cs contains methods dealing with Prim Physical motion
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* (dynamics) and the associated settings. Old Linear and angular
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* motors for dynamic motion have been replace with MoveLinear()
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* and MoveAngular(); 'Physical' is used only to switch ODE dynamic
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* simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
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* switch between 'VEHICLE' parameter use and general dynamics
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* settings use.
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*
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*/
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using System;
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@ -66,8 +67,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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// private OdeScene m_parentScene = null;
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private IntPtr m_body = IntPtr.Zero;
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private IntPtr m_jointGroup = IntPtr.Zero;
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private IntPtr m_aMotor = IntPtr.Zero;
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// private IntPtr m_jointGroup = IntPtr.Zero;
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// private IntPtr m_aMotor = IntPtr.Zero;
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// Vehicle properties
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@ -560,6 +561,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
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*/
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//if(frcount == 0) Console.WriteLine("MoveAngular ");
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// Get what the body is doing, this includes 'external' influences
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d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
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@ -614,7 +616,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Error is 0 (no error) to +/- 2 (max error)
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// scale it by VAservo
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verterr = verterr * VAservo;
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//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
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if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
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// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
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// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
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@ -635,7 +637,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Deflection section tba
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// Sum velocities
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m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
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m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
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if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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{
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@ -87,9 +87,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Quaternion m_APIDTarget = new Quaternion();
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private float m_APIDStrength = 0.5f;
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private float m_APIDDamping = 0.5f;
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private float APID_D = 35f;
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private float APID_G = 25f;
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private bool m_useAPID = false;
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// KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
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@ -193,6 +190,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal int m_material = (int)Material.Wood;
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private int frcount = 0; // Used to limit dynamics debug output to
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public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
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Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
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{
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@ -1563,9 +1563,14 @@ Console.WriteLine(" JointCreateFixed");
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float fy = 0;
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float fz = 0;
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frcount++; // used to limit debug comment output
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if (frcount > 100)
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frcount = 0;
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if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
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{
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if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_vehicle.Type +
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" usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID);
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if (m_vehicle.Type != Vehicle.TYPE_NONE)
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{
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// 'VEHICLES' are dealt with in ODEDynamics.cs
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@ -1573,7 +1578,6 @@ Console.WriteLine(" JointCreateFixed");
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}
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else
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{
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//Console.WriteLine("Move " + m_primName);
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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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if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
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@ -1602,7 +1606,7 @@ Console.WriteLine(" JointCreateFixed");
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if (m_usePID)
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{
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//Console.WriteLine("PID " + m_primName);
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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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@ -1741,7 +1745,7 @@ Console.WriteLine(" JointCreateFixed");
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d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
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d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
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d.BodyAddForce(Body, 0, 0, fz);
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return;
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//KF this prevents furthur motions return;
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}
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else
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{
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@ -1756,13 +1760,16 @@ Console.WriteLine(" JointCreateFixed");
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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 // perhaps ratio other forces to lookat force?
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// float m_APIDDamping //'seconds to critically damps in'[sic]
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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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// float APID_D
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// float APID_G
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//if(frcount == 0) Console.WriteLine("APID ");
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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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@ -1770,15 +1777,21 @@ Console.WriteLine(" JointCreateFixed");
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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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PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
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float RLAservo = timestep / m_APIDDamping;
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rotforce = rotforce * RLAservo * m_mass;
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d.BodyAddTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
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// d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
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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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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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fx *= m_mass;
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@ -2674,7 +2687,7 @@ Console.WriteLine(" JointCreateFixed");
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//outofBounds = true;
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}
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float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
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// float Adiff = 1.0f - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation));
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//Console.WriteLine("Adiff " + m_primName + " = " + Adiff);
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if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
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&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
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