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Fixes Mantis #3260. Thank you kindly, MCortez for a patch that: 

llSetHoverHeight() should not clamp the x/y position of an object the way MoveTo does, 
and it should recalculate the absolute height to hover at as an object moves to reflect 
the current ground/water height under it.
Correctly implementing required adjusting the Physics interfaces and implementing at 
the physics plug-in level. The attached is a patch that correctly implements 
llSetHoverHeight() including updates to the ODE physics plug-in.
0.6.4-rc1
Charles Krinke 2009-03-06 23:01:35 +00:00
parent 05ebd44791
commit b637a11b58
12 changed files with 239 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
View File

@ -1616,6 +1616,37 @@ namespace OpenSim.Region.Framework.Scenes
}
}
/// <summary>
/// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
/// </summary>
/// <param name="height">Height to hover. Height of zero disables hover.</param>
/// <param name="hoverType">Determines what the height is relative to </param>
/// <param name="tau">Number of seconds over which to reach target</param>
public void SetHoverHeight(float height, PIDHoverType hoverType, float tau)
{
SceneObjectPart rootpart = m_rootPart;
if (rootpart != null)
{
if (rootpart.PhysActor != null)
{
if (height != 0f)
{
rootpart.PhysActor.PIDHoverHeight = height;
rootpart.PhysActor.PIDHoverType = hoverType;
rootpart.PhysActor.PIDTau = tau;
rootpart.PhysActor.PIDHoverActive = true;
}
else
{
rootpart.PhysActor.PIDHoverActive = false;
}
}
}
}
/// <summary>
/// Set the owner of the root part.
/// </summary>

17
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
View File

@ -1748,6 +1748,23 @@ if (m_shape != null) {
}
}
/// <summary>
/// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
/// </summary>
/// <param name="height">Height to hover. Height of zero disables hover.</param>
/// <param name="hoverType">Determines what the height is relative to </param>
/// <param name="tau">Number of seconds over which to reach target</param>
public void SetHoverHeight(float height, PIDHoverType hoverType, float tau)
{
m_parentGroup.SetHoverHeight(height, hoverType, tau);
}
public void StopHover()
{
m_parentGroup.SetHoverHeight(0f, PIDHoverType.Ground, 0f);
}
public virtual void OnGrab(Vector3 offsetPos, IClientAPI remoteClient)
{
}

8
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
View File

@ -447,9 +447,17 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
public override void CrossingFailure()
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{

7
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

@ -1225,6 +1225,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{

24
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -44,6 +44,14 @@ namespace OpenSim.Region.Physics.Manager
Ground = 3
}
public enum PIDHoverType
{
Ground
, GroundAndWater
, Water
, Absolute
}
public class CollisionEventUpdate : EventArgs
{
// Raising the event on the object, so don't need to provide location.. further up the tree knows that info.
@ -204,9 +212,20 @@ namespace OpenSim.Region.Physics.Manager
public abstract PhysicsVector RotationalVelocity { get; set; }
public abstract bool Kinematic { get; set; }
public abstract float Buoyancy { get; set; }
// Used for MoveTo
public abstract PhysicsVector PIDTarget { set;}
public abstract bool PIDActive { set;}
public abstract float PIDTau { set; }
// Used for llSetHoverHeight and maybe vehicle height
// Hover Height will override MoveTo target's Z
public abstract bool PIDHoverActive { set;}
public abstract float PIDHoverHeight { set;}
public abstract PIDHoverType PIDHoverType { set;}
public abstract float PIDHoverTau { set;}
public abstract void AddForce(PhysicsVector force, bool pushforce);
public abstract void AddAngularForce(PhysicsVector force, bool pushforce);
public abstract void SetMomentum(PhysicsVector momentum);
@ -430,6 +449,11 @@ namespace OpenSim.Region.Physics.Manager
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SetMomentum(PhysicsVector momentum)
{
}

7
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -922,9 +922,16 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void CrossingFailure()
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{
m_eventsubscription = ms;

101
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -69,11 +69,20 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_PIDTau = 0f;
private float PID_D = 35f;
private float PID_G = 25f;
private bool m_usePID = false;
private float m_PIDHoverHeight = 0f;
private float m_PIDHoverTau = 0f;
private bool m_useHoverPID = false;
private PIDHoverType m_PIDHoverType = PIDHoverType.Ground;
private float m_targetHoverHeight = 0f;
private float m_groundHeight = 0f;
private float m_waterHeight = 0f;
private float m_tensor = 5f;
private int body_autodisable_frames = 20;
private IMesh primMesh = null;
private bool m_usePID = false;
private const CollisionCategories m_default_collisionFlags = (CollisionCategories.Geom
| CollisionCategories.Space
@ -1554,6 +1563,91 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
// Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
if (m_useHoverPID && !m_usePID)
{
// If we're using the PID controller, then we have no gravity
fz = (-1 * _parent_scene.gravityz) * m_mass;
// no lock; for now it's only called from within Simulate()
// If the PID Controller isn't active then we set our force
// calculating base velocity to the current position
if ((m_PIDTau < 1))
{
PID_G = PID_G / m_PIDTau;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
// determine what our target height really is based on HoverType
switch (m_PIDHoverType)
{
case PIDHoverType.Absolute:
m_targetHoverHeight = m_PIDHoverHeight;
break;
case PIDHoverType.Ground:
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
break;
case PIDHoverType.GroundAndWater:
m_groundHeight = _parent_scene.GetTerrainHeightAtXY(pos.X, pos.Y);
m_waterHeight = _parent_scene.GetWaterLevel();
if (m_groundHeight > m_waterHeight)
{
m_targetHoverHeight = m_groundHeight + m_PIDHoverHeight;
}
else
{
m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
}
break;
case PIDHoverType.Water:
m_waterHeight = _parent_scene.GetWaterLevel();
m_targetHoverHeight = m_waterHeight + m_PIDHoverHeight;
break;
}
_target_velocity =
new PhysicsVector(0.0f, 0.0f,
(m_targetHoverHeight - pos.Z) * ((PID_G - m_PIDHoverTau) * timestep)
);
// if velocity is zero, use position control; otherwise, velocity control
if (_target_velocity.IsIdentical(PhysicsVector.Zero, 0.1f))
{
// keep track of where we stopped. No more slippin' & slidin'
// 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
d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
d.BodyAddForce(Body, 0, 0, fz);
return;
}
else
{
_zeroFlag = false;
// We're flying and colliding with something
fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
}
}
fx *= m_mass;
fy *= m_mass;
//fz *= m_mass;
@ -2622,6 +2716,11 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool PIDActive { set { m_usePID = value; } }
public override float PIDTau { set { m_PIDTau = 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; } }
public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
private void createAMotor(PhysicsVector axis)
{
if (Body == IntPtr.Zero)

5
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -3031,6 +3031,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{
}
public float GetWaterLevel()
{
return waterlevel;
}
public override void SetWaterLevel(float baseheight)
{
waterlevel = baseheight;

6
OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
View File

@ -288,6 +288,12 @@ namespace OpenSim.Region.Physics.POSPlugin
set { return; }
}
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}

6
OpenSim/Region/Physics/POSPlugin/POSPrim.cs
View File

@ -283,6 +283,12 @@ namespace OpenSim.Region.Physics.POSPlugin
set { return; }
}
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{
}

13
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
View File

@ -490,9 +490,16 @@ namespace OpenSim.Region.Physics.PhysXPlugin
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{
@ -765,10 +772,16 @@ namespace OpenSim.Region.Physics.PhysXPlugin
public override void CrossingFailure()
{
}
public override PhysicsVector PIDTarget { set { return; } }
public override bool PIDActive { set { return; } }
public override float PIDTau { set { return; } }
public override float PIDHoverHeight { set { return; } }
public override bool PIDHoverActive { set { return; } }
public override PIDHoverType PIDHoverType { set { return; } }
public override float PIDHoverTau { set { return; } }
public override void SubscribeEvents(int ms)
{

31
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@ -2793,26 +2793,24 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
}
}
/// <summary>
/// Attempt to clamp the object on the Z axis at the given height over tau seconds.
/// </summary>
/// <param name="height">Height to hover. Height of zero disables hover.</param>
/// <param name="water">False if height is calculated just from ground, otherwise uses ground or water depending on whichever is higher</param>
/// <param name="tau">Number of seconds over which to reach target</param>
public void llSetHoverHeight(double height, int water, double tau)
{
m_host.AddScriptLPS(1);
Vector3 pos = m_host.GetWorldPosition();
int x = (int)(pos.X);
int y = (int)(pos.Y);
float landHeight = (float)World.Heightmap[x, y];
float targetHeight = landHeight + (float)height;
if (water == 1)
{
float waterHeight = (float)World.RegionInfo.RegionSettings.WaterHeight;
if (waterHeight > targetHeight)
{
targetHeight = waterHeight + (float)height;
}
}
if (m_host.PhysActor != null)
{
m_host.MoveToTarget(new Vector3(pos.X, pos.Y, targetHeight), (float)tau);
m_host.PhysActor.Flying = true;
PIDHoverType hoverType = PIDHoverType.Ground;
if (water == 1)
{
hoverType = PIDHoverType.GroundAndWater;
}
m_host.SetHoverHeight((float)height, hoverType, (float)tau);
}
}
@ -2821,8 +2819,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
m_host.AddScriptLPS(1);
if (m_host.PhysActor != null)
{
m_host.PhysActor.Flying = false;
m_host.PhysActor.PIDActive = false;
m_host.SetHoverHeight(0f, PIDHoverType.Ground, 0f);
}
}