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* Tuned the llMove2Target PID controller to be more reasonable and not overshoot the target.

0.6.0-stable
Teravus Ovares 2008-04-24 22:26:26 +00:00
parent 03c7055902
commit d023c331f8
2 changed files with 33 additions and 8 deletions
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9
OpenSim/Region/Physics/Manager/PhysicsVector.cs
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@ -130,6 +130,14 @@ namespace OpenSim.Region.Physics.Manager
return (float) Math.Sqrt(X*X + Y*Y + Z*Z); return (float) Math.Sqrt(X*X + Y*Y + Z*Z);
} }
public static float GetDistanceTo(PhysicsVector a, PhysicsVector b)
{
float dx = a.X - b.X;
float dy = a.Y - b.Y;
float dz = a.Z - b.Z;
return (float) Math.Sqrt(dx * dx + dy * dy + dz * dz);
}
public static PhysicsVector operator /(PhysicsVector v, float f) public static PhysicsVector operator /(PhysicsVector v, float f)
{ {
return new PhysicsVector(v.X/f, v.Y/f, v.Z/f); return new PhysicsVector(v.X/f, v.Y/f, v.Z/f);
@ -154,5 +162,6 @@ namespace OpenSim.Region.Physics.Manager
return false; return false;
} }
} }
} }

30
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -1192,12 +1192,27 @@ namespace OpenSim.Region.Physics.OdePlugin
PID_D = 2200.0f; PID_D = 2200.0f;
//PID_P = 900.0f; //PID_P = 900.0f;
} }
PID_D = 1.0f; PID_D = 35f;
//PID_P = 1.0f; //PID_P = 1.0f;
float PID_G = 25;
if ((m_PIDTau < 1))
{
PID_G = PID_G / m_PIDTau;
}
if ((PID_G - m_PIDTau) <= 0)
{
PID_G = m_PIDTau + 1;
}
//PidStatus = true; //PidStatus = true;
PhysicsVector vec = new PhysicsVector(); PhysicsVector vec = new PhysicsVector();
d.Vector3 vel = d.BodyGetLinearVel(Body); d.Vector3 vel = d.BodyGetLinearVel(Body);
@ -1205,9 +1220,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 pos = d.BodyGetPosition(Body); d.Vector3 pos = d.BodyGetPosition(Body);
_target_velocity = _target_velocity =
new PhysicsVector( new PhysicsVector(
(m_PIDTarget.X - pos.X) / m_PIDTau, (m_PIDTarget.X - pos.X) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Y - pos.Y) / m_PIDTau, (m_PIDTarget.Y - pos.Y) * ((PID_G - m_PIDTau) * timestep),
(m_PIDTarget.Z - pos.Z) / m_PIDTau (m_PIDTarget.Z - pos.Z) * ((PID_G - m_PIDTau) * timestep)
); );
@ -1239,8 +1254,8 @@ namespace OpenSim.Region.Physics.OdePlugin
_zeroFlag = false; _zeroFlag = false;
// We're flying and colliding with something // We're flying and colliding with something
fx = ((_target_velocity.X / m_PIDTau) - vel.X) * (PID_D / 6); fx = ((_target_velocity.X) - vel.X) * (PID_D);
fy = ((_target_velocity.Y / m_PIDTau) - vel.Y) * (PID_D / 6); fy = ((_target_velocity.Y) - vel.Y) * (PID_D);
@ -1262,6 +1277,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_taintdisable = true; //m_taintdisable = true;
//base.RaiseOutOfBounds(Position); //base.RaiseOutOfBounds(Position);
//d.BodySetLinearVel(Body, fx, fy, 0f); //d.BodySetLinearVel(Body, fx, fy, 0f);
enableBodySoft();
d.BodyAddForce(Body, fx, fy, fz); d.BodyAddForce(Body, fx, fy, fz);
} }
} }
@ -2146,7 +2162,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } } public override PhysicsVector PIDTarget { set { m_PIDTarget = value; ; } }
public override bool PIDActive { set { m_usePID = value; } } public override bool PIDActive { set { m_usePID = value; } }
public override float PIDTau { set { m_PIDTau = (value * 0.6f); } } public override float PIDTau { set { m_PIDTau = value; } }
private void createAMotor(PhysicsVector axis) private void createAMotor(PhysicsVector axis)
{ {