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BulletSim: a better version of llMoveToTarget that doesn't go crazy.

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There is still some overshoot but mostly fixes Mantis 6693.
Fix bug where moveToTarget was active for non-physical objects
and while selected.
Fix bug where move target was not getting changed if the script
changed the target during a move.
This commit is contained in:
Robert Adams
2013-06-30 13:39:58 -07:00
parent 2f4a729d40
commit 23516717e4
5 changed files with 98 additions and 19 deletions
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80
OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
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@@ -50,7 +50,8 @@ public class BSActorMoveToTarget : BSActor
// BSActor.isActive
public override bool isActive
{
get { return Enabled; }
// MoveToTarget only works on physical prims
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
}
// Release any connections and resources used by the actor.
@@ -102,16 +103,28 @@ public class BSActorMoveToTarget : BSActor
// We're taking over after this.
m_controllingPrim.ZeroMotion(true);
m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
1f // efficiency
/* Someday use the PID controller
m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString());
m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau;
m_targetMotor.Efficiency = 1f;
*/
m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(),
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
1f // efficiency
);
m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
m_physicsScene.BeforeStep += Mover;
// m_physicsScene.BeforeStep += Mover;
m_physicsScene.BeforeStep += Mover2;
}
else
{
// If already allocated, make sure the target and other paramters are current
m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
}
}
@@ -119,12 +132,16 @@ public class BSActorMoveToTarget : BSActor
{
if (m_targetMotor != null)
{
m_physicsScene.BeforeStep -= Mover;
// m_physicsScene.BeforeStep -= Mover;
m_physicsScene.BeforeStep -= Mover2;
m_targetMotor = null;
}
}
// Called just before the simulation step. Update the vertical position for hoverness.
// Origional mover that set the objects position to move to the target.
// The problem was that gravity would keep trying to push the object down so
// the overall downward velocity would increase to infinity.
// Called just before the simulation step.
private void Mover(float timeStep)
{
// Don't do hovering while the object is selected.
@@ -142,6 +159,7 @@ public class BSActorMoveToTarget : BSActor
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
@@ -151,7 +169,51 @@ public class BSActorMoveToTarget : BSActor
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}",
m_controllingPrim.LocalID, origPosition, movePosition);
}
// Version of mover that applies forces to move the physical object to the target.
// Also overcomes gravity so the object doesn't just drop to the ground.
// Called just before the simulation step.
private void Mover2(float timeStep)
{
// Don't do hovering while the object is selected.
if (!isActive)
return;
OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
OMV.Vector3 addedForce = OMV.Vector3.Zero;
// CorrectionVector is the movement vector required this step
OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition);
// If we are very close to our target, turn off the movement motor.
if (m_targetMotor.ErrorIsZero())
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}",
m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_controllingPrim.ForceVelocity = OMV.Vector3.Zero;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
else
{
// First force to move us there -- the motor return a timestep scaled value.
addedForce = correctionVector / timeStep;
// Remove the existing velocity (only the moveToTarget force counts)
addedForce -= m_controllingPrim.RawVelocity;
// Overcome gravity.
addedForce -= m_controllingPrim.Gravity;
// Add enough force to overcome the mass of the object
addedForce *= m_controllingPrim.Mass;
m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
}
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
m_controllingPrim.LocalID, origPosition, addedForce);
}
}
}