opensim/OpenSim/Region/PhysicsModules/BulletS/BSMotors.cs

/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
using System;
using System.Collections.Generic;
using System.Text;
using OpenMetaverse;
using OpenSim.Framework;

namespace OpenSim.Region.PhysicsModule.BulletS
{
    public abstract class BSMotor
    {
        // Timescales and other things can be turned off by setting them to 'infinite'.
        public const float Infinite = 12345.6f;
        public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);

        public BSMotor(string useName)
        {
            UseName = useName;
            PhysicsScene = null;
            Enabled = true;
        }
        public virtual bool Enabled { get; set; }
        public virtual void Reset() { }
        public virtual void Zero() { }
        public virtual void GenerateTestOutput(float timeStep) { }

        // A name passed at motor creation for easily identifyable debugging messages.
        public string UseName { get; private set; }

        // Used only for outputting debug information. Might not be set so check for null.
        public BSScene PhysicsScene { get; set; }
        protected void MDetailLog(string msg, params Object[] parms)
        {
            if (PhysicsScene != null)
            {
                PhysicsScene.DetailLog(msg, parms);
            }
        }
    }

    // Motor which moves CurrentValue to TargetValue over TimeScale seconds.
    // The TargetValue decays in TargetValueDecayTimeScale.
    // This motor will "zero itself" over time in that the targetValue will
    //    decay to zero and the currentValue will follow it to that zero.
    //    The overall effect is for the returned correction value to go from large
    //    values to small and eventually zero values.
    // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.

    // For instance, if something is moving at speed X and the desired speed is Y,
    //    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
    //    values of CurrentValue are returned that approach the TargetValue.
    // The feature of decaying TargetValue is so vehicles will eventually
    //    come to a stop rather than run forever. This can be disabled by
    //    setting TargetValueDecayTimescale to 'infinite'.
    // The change from CurrentValue to TargetValue is linear over TimeScale seconds.
    public class BSVMotor : BSMotor
    {
        // public Vector3 FrameOfReference { get; set; }
        // public Vector3 Offset { get; set; }

        public virtual float TimeScale { get; set; }
        public virtual float TargetValueDecayTimeScale { get; set; }
        public virtual float Efficiency { get; set; }

        public virtual float ErrorZeroThreshold { get; set; }

        public virtual Vector3 TargetValue { get; protected set; }
        public virtual Vector3 CurrentValue { get; protected set; }
        public virtual Vector3 LastError { get; protected set; }

        public virtual bool ErrorIsZero()
        {
            return ErrorIsZero(LastError);
        }
        public virtual bool ErrorIsZero(Vector3 err)
        {
            return err.ApproxZero(ErrorZeroThreshold);
        }

        public BSVMotor(string useName)
            : base(useName)
        {
            TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
            Efficiency = 1f;
            CurrentValue = TargetValue = Vector3.Zero;
            ErrorZeroThreshold = 0.001f;
        }
        public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
            : this(useName)
        {
            TimeScale = timeScale;
            TargetValueDecayTimeScale = decayTimeScale;
            Efficiency = efficiency;
            CurrentValue = TargetValue = Vector3.Zero;
        }
        public void SetCurrent(Vector3 current)
        {
            CurrentValue = current;
        }
        public void SetTarget(Vector3 target)
        {
            TargetValue = target;
        }
        public override void Zero()
        {
            base.Zero();
            CurrentValue = TargetValue = Vector3.Zero;
        }

        // Compute the next step and return the new current value.
        // Returns the correction needed to move 'current' to 'target'.
        public virtual Vector3 Step(float timeStep)
        {
            if (!Enabled) return TargetValue;

            Vector3 origTarget = TargetValue;       // DEBUG
            Vector3 origCurrVal = CurrentValue;     // DEBUG

            Vector3 correction = Vector3.Zero;
            Vector3 error = TargetValue - CurrentValue;
            if (!ErrorIsZero(error))
            {
                correction = StepError(timeStep, error);

                CurrentValue += correction;

                // The desired value reduces to zero which also reduces the difference with current.
                // If the decay time is infinite, don't decay at all.
                float decayFactor = 0f;
                if (TargetValueDecayTimeScale != BSMotor.Infinite)
                {
                    decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
                    TargetValue *= (1f - decayFactor);
                }

                MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                    BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                    timeStep, error, correction);
                MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
                                    BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
            }
            else
            {
                // Difference between what we have and target is small. Motor is done.
                if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
                {
                    // The target can step down to nearly zero but not get there.  If close to zero
                    //     it is really zero.
                    TargetValue = Vector3.Zero;
                }
                CurrentValue = TargetValue;
                MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
                            BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
            }
            LastError = error;

            return correction;
        }
        // version of step that sets the current value before doing the step
        public virtual Vector3 Step(float timeStep, Vector3 current)
        {
            CurrentValue = current;
            return Step(timeStep);
        }
        // Given and error, computer a correction for this step.
        // Simple scaling of the error by the timestep.
        public virtual Vector3 StepError(float timeStep, Vector3 error)
        {
            if (!Enabled) return Vector3.Zero;

            Vector3 returnCorrection = Vector3.Zero;
            if (!ErrorIsZero(error))
            {
                // correction =  error / secondsItShouldTakeToCorrect
                Vector3 correctionAmount;
                if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
                    correctionAmount = error * timeStep;
                else
                    correctionAmount = error / TimeScale * timeStep;

                returnCorrection = correctionAmount;
                MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
                                        BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
            }
            return returnCorrection;
        }

        // The user sets all the parameters and calls this which outputs values until error is zero.
        public override void GenerateTestOutput(float timeStep)
        {
            // maximum number of outputs to generate.
            int maxOutput = 50;
            MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
            MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
                                    BSScene.DetailLogZero, UseName,
                                    TimeScale, TargetValueDecayTimeScale, Efficiency,
                                    CurrentValue, TargetValue);

            LastError = BSMotor.InfiniteVector;
            while (maxOutput-- > 0 && !ErrorIsZero())
            {
                Vector3 lastStep = Step(timeStep);
                MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
                                BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
            }
            MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);


        }

        public override string ToString()
        {
            return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
                UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
        }
    }

    // ============================================================================
    // ============================================================================
    public class BSFMotor : BSMotor
    {
        public virtual float TimeScale { get; set; }
        public virtual float TargetValueDecayTimeScale { get; set; }
        public virtual float Efficiency { get; set; }

        public virtual float ErrorZeroThreshold { get; set; }

        public virtual float TargetValue { get; protected set; }
        public virtual float CurrentValue { get; protected set; }
        public virtual float LastError { get; protected set; }

        public virtual bool ErrorIsZero()
        {
            return ErrorIsZero(LastError);
        }
        public virtual bool ErrorIsZero(float err)
        {
            return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
        }

        public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
            : base(useName)
        {
            TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
            Efficiency = 1f;
            CurrentValue = TargetValue = 0f;
            ErrorZeroThreshold = 0.01f;
        }
        public void SetCurrent(float current)
        {
            CurrentValue = current;
        }
        public void SetTarget(float target)
        {
            TargetValue = target;
        }
        public override void Zero()
        {
            base.Zero();
            CurrentValue = TargetValue = 0f;
        }

        public virtual float Step(float timeStep)
        {
            if (!Enabled) return TargetValue;

            float origTarget = TargetValue;       // DEBUG
            float origCurrVal = CurrentValue;     // DEBUG

            float correction = 0f;
            float error = TargetValue - CurrentValue;
            if (!ErrorIsZero(error))
            {
                correction = StepError(timeStep, error);

                CurrentValue += correction;

                // The desired value reduces to zero which also reduces the difference with current.
                // If the decay time is infinite, don't decay at all.
                float decayFactor = 0f;
                if (TargetValueDecayTimeScale != BSMotor.Infinite)
                {
                    decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
                    TargetValue *= (1f - decayFactor);
                }

                MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                    BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                    timeStep, error, correction);
                MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
                                    BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
            }
            else
            {
                // Difference between what we have and target is small. Motor is done.
                if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
                {
                    // The target can step down to nearly zero but not get there.  If close to zero
                    //     it is really zero.
                    TargetValue = 0f;
                }
                CurrentValue = TargetValue;
                MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                            BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
            }
            LastError = error;

            return CurrentValue;
        }

        public virtual float StepError(float timeStep, float error)
        {
            if (!Enabled) return 0f;

            float returnCorrection = 0f;
            if (!ErrorIsZero(error))
            {
                // correction =  error / secondsItShouldTakeToCorrect
                float correctionAmount;
                if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
                    correctionAmount = error * timeStep;
                else
                    correctionAmount = error / TimeScale * timeStep;

                returnCorrection = correctionAmount;
                MDetailLog("{0},  BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
                                        BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
            }
            return returnCorrection;
        }

        public override string ToString()
        {
            return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
                UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
        }

    }

    // ============================================================================
    // ============================================================================
    // Proportional, Integral, Derivitive ("PID") Motor
    // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
    public class BSPIDVMotor : BSVMotor
    {
        // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
        public Vector3 proportionFactor { get; set; }
        public Vector3 integralFactor { get; set; }
        public Vector3 derivFactor { get; set; }

        // The factors are vectors for the three dimensions. This is the proportional of each
        //    that is applied. This could be multiplied through the actual factors but it
        //    is sometimes easier to manipulate the factors and their mix separately.
        public Vector3 FactorMix;

        // Arbritrary factor range.
        // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
        public float EfficiencyHigh = 0.4f;
        public float EfficiencyLow = 4.0f;

        // Running integration of the error
        Vector3 RunningIntegration { get; set; }

        public BSPIDVMotor(string useName)
            : base(useName)
        {
            proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
            integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
            derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
            FactorMix = new Vector3(0.5f, 0.25f, 0.25f);
            RunningIntegration = Vector3.Zero;
            LastError = Vector3.Zero;
        }

        public override void Zero()
        {
            base.Zero();
        }

        public override float Efficiency
        {
            get { return base.Efficiency; }
            set
            {
                base.Efficiency = Util.Clamp(value, 0f, 1f);

                // Compute factors based on efficiency.
                // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
                // If efficiency is low (0f), use a factor value that overcorrects.
                // TODO: might want to vary contribution of different factor depending on efficiency.
                // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
                float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;

                proportionFactor = new Vector3(factor, factor, factor);
                integralFactor = new Vector3(factor, factor, factor);
                derivFactor = new Vector3(factor, factor, factor);

                MDetailLog("{0},  BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
            }
        }

        // Advance the PID computation on this error.
        public override Vector3 StepError(float timeStep, Vector3 error)
        {
            if (!Enabled) return Vector3.Zero;

            // Add up the error so we can integrate over the accumulated errors
            RunningIntegration += error * timeStep;

            // A simple derivitive is the rate of change from the last error.
            Vector3 derivitive = (error - LastError) * timeStep;

            // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
            Vector3 ret   =   error / TimeScale * timeStep   * proportionFactor * FactorMix.X
                            + RunningIntegration / TimeScale * integralFactor   * FactorMix.Y
                            + derivitive / TimeScale         * derivFactor      * FactorMix.Z
                            ;

            MDetailLog("{0},  BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}",
                            BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret);

            return ret;
        }
    }
}