452 lines
18 KiB
C#
Executable File
452 lines
18 KiB
C#
Executable File
/*
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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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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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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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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenMetaverse;
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using OpenSim.Framework;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSMotor
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{
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// Timescales and other things can be turned off by setting them to 'infinite'.
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public const float Infinite = 12345.6f;
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public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
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public BSMotor(string useName)
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{
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UseName = useName;
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PhysicsScene = null;
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Enabled = true;
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}
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public virtual bool Enabled { get; set; }
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public virtual void Reset() { }
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public virtual void Zero() { }
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public virtual void GenerateTestOutput(float timeStep) { }
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// A name passed at motor creation for easily identifyable debugging messages.
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public string UseName { get; private set; }
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// Used only for outputting debug information. Might not be set so check for null.
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public BSScene PhysicsScene { get; set; }
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protected void MDetailLog(string msg, params Object[] parms)
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{
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if (PhysicsScene != null)
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{
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PhysicsScene.DetailLog(msg, parms);
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}
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}
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}
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// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
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// The TargetValue decays in TargetValueDecayTimeScale.
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// This motor will "zero itself" over time in that the targetValue will
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// decay to zero and the currentValue will follow it to that zero.
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// The overall effect is for the returned correction value to go from large
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// values to small and eventually zero values.
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// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
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// For instance, if something is moving at speed X and the desired speed is Y,
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// CurrentValue is X and TargetValue is Y. As the motor is stepped, new
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// values of CurrentValue are returned that approach the TargetValue.
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// The feature of decaying TargetValue is so vehicles will eventually
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// come to a stop rather than run forever. This can be disabled by
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// setting TargetValueDecayTimescale to 'infinite'.
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// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
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public class BSVMotor : BSMotor
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{
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// public Vector3 FrameOfReference { get; set; }
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// public Vector3 Offset { get; set; }
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public virtual float TimeScale { get; set; }
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public virtual float TargetValueDecayTimeScale { get; set; }
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public virtual float Efficiency { get; set; }
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public virtual float ErrorZeroThreshold { get; set; }
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public virtual Vector3 TargetValue { get; protected set; }
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public virtual Vector3 CurrentValue { get; protected set; }
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public virtual Vector3 LastError { get; protected set; }
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public virtual bool ErrorIsZero()
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{
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return ErrorIsZero(LastError);
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}
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public virtual bool ErrorIsZero(Vector3 err)
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{
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return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold));
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}
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public BSVMotor(string useName)
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: base(useName)
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{
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TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
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Efficiency = 1f;
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CurrentValue = TargetValue = Vector3.Zero;
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ErrorZeroThreshold = 0.001f;
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}
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public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
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: this(useName)
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{
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TimeScale = timeScale;
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TargetValueDecayTimeScale = decayTimeScale;
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Efficiency = efficiency;
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CurrentValue = TargetValue = Vector3.Zero;
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}
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public void SetCurrent(Vector3 current)
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{
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CurrentValue = current;
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}
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public void SetTarget(Vector3 target)
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{
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TargetValue = target;
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}
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public override void Zero()
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{
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base.Zero();
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CurrentValue = TargetValue = Vector3.Zero;
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}
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// Compute the next step and return the new current value.
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// Returns the correction needed to move 'current' to 'target'.
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public virtual Vector3 Step(float timeStep)
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{
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if (!Enabled) return TargetValue;
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Vector3 origTarget = TargetValue; // DEBUG
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Vector3 origCurrVal = CurrentValue; // DEBUG
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Vector3 correction = Vector3.Zero;
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Vector3 error = TargetValue - CurrentValue;
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LastError = error;
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if (!ErrorIsZero(error))
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{
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correction = StepError(timeStep, error);
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CurrentValue += correction;
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// The desired value reduces to zero which also reduces the difference with current.
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// If the decay time is infinite, don't decay at all.
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float decayFactor = 0f;
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if (TargetValueDecayTimeScale != BSMotor.Infinite)
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{
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decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
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TargetValue *= (1f - decayFactor);
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}
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MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
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BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
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timeStep, error, correction);
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MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
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BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
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}
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else
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{
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// Difference between what we have and target is small. Motor is done.
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if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
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{
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// The target can step down to nearly zero but not get there. If close to zero
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// it is really zero.
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TargetValue = Vector3.Zero;
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}
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CurrentValue = TargetValue;
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MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
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BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
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}
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return correction;
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}
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// version of step that sets the current value before doing the step
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public virtual Vector3 Step(float timeStep, Vector3 current)
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{
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CurrentValue = current;
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return Step(timeStep);
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}
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public virtual Vector3 StepError(float timeStep, Vector3 error)
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{
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if (!Enabled) return Vector3.Zero;
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Vector3 returnCorrection = Vector3.Zero;
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if (!ErrorIsZero(error))
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{
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// correction = error / secondsItShouldTakeToCorrect
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Vector3 correctionAmount;
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if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
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correctionAmount = error * timeStep;
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else
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correctionAmount = error / TimeScale * timeStep;
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returnCorrection = correctionAmount;
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MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
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BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
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}
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return returnCorrection;
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}
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// The user sets all the parameters and calls this which outputs values until error is zero.
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public override void GenerateTestOutput(float timeStep)
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{
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// maximum number of outputs to generate.
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int maxOutput = 50;
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MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
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MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
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BSScene.DetailLogZero, UseName,
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TimeScale, TargetValueDecayTimeScale, Efficiency,
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CurrentValue, TargetValue);
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LastError = BSMotor.InfiniteVector;
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while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
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{
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Vector3 lastStep = Step(timeStep);
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MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
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BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
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}
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MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
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}
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public override string ToString()
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{
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return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
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UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
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}
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}
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// ============================================================================
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// ============================================================================
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public class BSFMotor : BSMotor
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{
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public virtual float TimeScale { get; set; }
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public virtual float TargetValueDecayTimeScale { get; set; }
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public virtual float Efficiency { get; set; }
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public virtual float ErrorZeroThreshold { get; set; }
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public virtual float TargetValue { get; protected set; }
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public virtual float CurrentValue { get; protected set; }
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public virtual float LastError { get; protected set; }
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public virtual bool ErrorIsZero()
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{
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return ErrorIsZero(LastError);
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}
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public virtual bool ErrorIsZero(float err)
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{
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return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
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}
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public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
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: base(useName)
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{
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TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
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Efficiency = 1f;
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CurrentValue = TargetValue = 0f;
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ErrorZeroThreshold = 0.01f;
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}
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public void SetCurrent(float current)
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{
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CurrentValue = current;
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}
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public void SetTarget(float target)
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{
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TargetValue = target;
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}
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public override void Zero()
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{
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base.Zero();
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CurrentValue = TargetValue = 0f;
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}
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public virtual float Step(float timeStep)
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{
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if (!Enabled) return TargetValue;
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float origTarget = TargetValue; // DEBUG
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float origCurrVal = CurrentValue; // DEBUG
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float correction = 0f;
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float error = TargetValue - CurrentValue;
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LastError = error;
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if (!ErrorIsZero(error))
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{
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correction = StepError(timeStep, error);
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CurrentValue += correction;
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// The desired value reduces to zero which also reduces the difference with current.
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// If the decay time is infinite, don't decay at all.
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float decayFactor = 0f;
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if (TargetValueDecayTimeScale != BSMotor.Infinite)
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{
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decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
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TargetValue *= (1f - decayFactor);
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}
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MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
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BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
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timeStep, error, correction);
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MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
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BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
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}
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else
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{
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// Difference between what we have and target is small. Motor is done.
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if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
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{
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// The target can step down to nearly zero but not get there. If close to zero
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// it is really zero.
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TargetValue = 0f;
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}
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CurrentValue = TargetValue;
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MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
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BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
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}
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return CurrentValue;
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}
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public virtual float StepError(float timeStep, float error)
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{
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if (!Enabled) return 0f;
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float returnCorrection = 0f;
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if (!ErrorIsZero(error))
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{
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// correction = error / secondsItShouldTakeToCorrect
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float correctionAmount;
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if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
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correctionAmount = error * timeStep;
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else
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correctionAmount = error / TimeScale * timeStep;
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returnCorrection = correctionAmount;
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MDetailLog("{0}, BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
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BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
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}
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return returnCorrection;
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}
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public override string ToString()
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{
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return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
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UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
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}
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}
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// ============================================================================
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// ============================================================================
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// Proportional, Integral, Derivitive Motor
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// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
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public class BSPIDVMotor : BSVMotor
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{
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// Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
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public Vector3 proportionFactor { get; set; }
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public Vector3 integralFactor { get; set; }
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public Vector3 derivFactor { get; set; }
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// The factors are vectors for the three dimensions. This is the proportional of each
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// that is applied. This could be multiplied through the actual factors but it
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// is sometimes easier to manipulate the factors and their mix separately.
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// to
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public Vector3 FactorMix;
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// Arbritrary factor range.
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// EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
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public float EfficiencyHigh = 0.4f;
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public float EfficiencyLow = 4.0f;
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// Running integration of the error
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Vector3 RunningIntegration { get; set; }
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public BSPIDVMotor(string useName)
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: base(useName)
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{
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proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
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integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
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derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
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FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
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RunningIntegration = Vector3.Zero;
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LastError = Vector3.Zero;
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}
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public override void Zero()
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{
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base.Zero();
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}
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public override float Efficiency
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{
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get { return base.Efficiency; }
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set
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{
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base.Efficiency = Util.Clamp(value, 0f, 1f);
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// Compute factors based on efficiency.
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// If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
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// If efficiency is low (0f), use a factor value that overcorrects.
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// TODO: might want to vary contribution of different factor depending on efficiency.
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float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
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// float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
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proportionFactor = new Vector3(factor, factor, factor);
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integralFactor = new Vector3(factor, factor, factor);
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derivFactor = new Vector3(factor, factor, factor);
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MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
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}
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}
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// Advance the PID computation on this error.
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public override Vector3 StepError(float timeStep, Vector3 error)
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{
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if (!Enabled) return Vector3.Zero;
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// Add up the error so we can integrate over the accumulated errors
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RunningIntegration += error * timeStep;
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// A simple derivitive is the rate of change from the last error.
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Vector3 derivitive = (error - LastError) * timeStep;
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LastError = error;
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// Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
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Vector3 ret = error * timeStep * proportionFactor * FactorMix.X
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+ RunningIntegration * integralFactor * FactorMix.Y
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+ derivitive * derivFactor * FactorMix.Z
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;
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MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
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BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
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return ret;
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}
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}
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}
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