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first steps adding suport for llSetHoverHeight() called from attachments on ubOde. Sure needs work.. like sp motion control still assumes stopped and not falling state. Only very basic test on flat land done

avinationmerge
UbitUmarov 2015-09-30 19:14:37 +01:00
parent 4a2e6db344
commit f87e284ec2
1 changed files with 143 additions and 16 deletions
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159
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
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@ -157,6 +157,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float mu;
// HoverHeight control
private float m_PIDHoverHeight;
private float m_PIDHoverTau;
private bool m_useHoverPID;
private PIDHoverType m_PIDHoverType;
private float m_targetHoverHeight;
public OdeCharacter(uint localID, String avName, ODEScene parent_scene, Vector3 pos, Vector3 pSize, float pfeetOffset, float density, float walk_divisor, float rundivisor)
{
m_uuid = UUID.Random();
@ -1042,7 +1050,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
Vector3 vel = new Vector3(dtmp.X, dtmp.Y, dtmp.Z);
float velLengthSquared = vel.LengthSquared();
Vector3 ctz = _target_velocity;
float movementdivisor = 1f;
@ -1144,6 +1151,52 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
bool hoverPIDActive = false;
if (m_useHoverPID && m_PIDHoverTau != 0 && m_PIDHoverHeight != 0)
{
hoverPIDActive = true;
switch (m_PIDHoverType)
{
case PIDHoverType.Ground:
m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
break;
case PIDHoverType.GroundAndWater:
float waterHeight = _parent_scene.GetWaterLevel();
if (terrainheight > waterHeight)
m_targetHoverHeight = terrainheight + m_PIDHoverHeight;
else
m_targetHoverHeight = waterHeight + m_PIDHoverHeight;
break;
} // end switch (m_PIDHoverType)
// don't go underground
if (m_targetHoverHeight > terrainheight + 0.5f * (aabb.MaxZ - aabb.MinZ))
{
float fz = (m_targetHoverHeight - localpos.Z);
// if error is zero, use position control; otherwise, velocity control
if (Math.Abs(fz) < 0.01f)
{
ctz.Z = 0;
}
else
{
_zeroFlag = false;
fz /= m_PIDHoverTau;
float tmp = Math.Abs(fz);
if (tmp > 50)
fz = 50 * Math.Sign(fz);
else if (tmp < 0.1)
fz = 0.1f * Math.Sign(fz);
ctz.Z = fz;
}
}
}
//******************************************
if (!m_iscolliding)
@ -1151,8 +1204,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
bool tviszero = (ctz.X == 0.0f && ctz.Y == 0.0f && ctz.Z == 0.0f);
if (!tviszero)
{
m_freemove = false;
@ -1172,7 +1223,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
if (!m_freemove)
{
@ -1262,7 +1312,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else // ie not colliding
{
if (flying) //(!m_iscolliding && flying)
if (flying || hoverPIDActive) //(!m_iscolliding && flying)
{
// we're in mid air suspended
vec.X += (ctz.X - vel.X) * (PID_D);
@ -1304,18 +1354,21 @@ namespace OpenSim.Region.PhysicsModule.ubOde
vec.Z -= .16f* m_mass * vel.Z;
}
if (flying)
if (flying || hoverPIDActive)
{
vec.Z -= _parent_scene.gravityz * m_mass;
//Added for auto fly height. Kitto Flora
float target_altitude = _parent_scene.GetTerrainHeightAtXY(localpos.X, localpos.Y) + MinimumGroundFlightOffset;
if (localpos.Z < target_altitude)
if(!hoverPIDActive)
{
vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
//Added for auto fly height. Kitto Flora
float target_altitude = terrainheight + MinimumGroundFlightOffset;
if (localpos.Z < target_altitude)
{
vec.Z += (target_altitude - localpos.Z) * PID_P * 5.0f;
}
// end add Kitto Flora
}
// end add Kitto Flora
}
if (vec.IsFinite())
@ -1418,10 +1471,45 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override bool PIDActive {get {return m_pidControllerActive;} 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 float PIDHoverHeight
{
set
{
AddChange(changes.PIDHoverHeight,value);
}
}
public override bool PIDHoverActive
{
set
{
AddChange(changes.PIDHoverActive, value);
}
}
public override PIDHoverType PIDHoverType
{
set
{
AddChange(changes.PIDHoverType,value);
}
}
public override float PIDHoverTau
{
set
{
float tmp =0;
if (value > 0)
{
float mint = (0.05f > timeStep ? 0.05f : timeStep);
if (value < mint)
tmp = mint;
else
tmp = value;
}
AddChange(changes.PIDHoverTau, tmp);
}
}
public override Quaternion APIDTarget { set { return; } }
@ -1713,6 +1801,28 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetLinearVel(Body, newmomentum.X, newmomentum.Y, newmomentum.Z);
}
private void changePIDHoverHeight(float val)
{
m_PIDHoverHeight = val;
if (val == 0)
m_useHoverPID = false;
}
private void changePIDHoverType(PIDHoverType type)
{
m_PIDHoverType = type;
}
private void changePIDHoverTau(float tau)
{
m_PIDHoverTau = tau;
}
private void changePIDHoverActive(bool active)
{
m_useHoverPID = active;
}
private void donullchange()
{
}
@ -1792,6 +1902,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
case changes.Momentum:
changeMomentum((Vector3)arg);
break;
case changes.PIDHoverHeight:
changePIDHoverHeight((float)arg);
break;
case changes.PIDHoverType:
changePIDHoverType((PIDHoverType)arg);
break;
case changes.PIDHoverTau:
changePIDHoverTau((float)arg);
break;
case changes.PIDHoverActive:
changePIDHoverActive((bool)arg);
break;
/* not in use for now
case changes.Shape:
changeShape((PrimitiveBaseShape)arg);