diff options
author | Robert Adams | 2012-09-13 13:51:28 -0700 |
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committer | Robert Adams | 2012-09-15 15:31:49 -0700 |
commit | f0a098924e8a3f64692de5d3326bfbdfb2b208a2 (patch) | |
tree | bfb702f3128b4ea6d19d9c8f415176aa4d885211 | |
parent | BulletSim: Add calls to linkset class when object going static or dynamic. (diff) | |
download | opensim-SC-f0a098924e8a3f64692de5d3326bfbdfb2b208a2.zip opensim-SC-f0a098924e8a3f64692de5d3326bfbdfb2b208a2.tar.gz opensim-SC-f0a098924e8a3f64692de5d3326bfbdfb2b208a2.tar.bz2 opensim-SC-f0a098924e8a3f64692de5d3326bfbdfb2b208a2.tar.xz |
BulletSim: set all linkset objects center of mass to the whole linkset's center of mass
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 17 |
1 files changed, 15 insertions, 2 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3d73887..7e784eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -204,11 +204,14 @@ public class BSLinkset | |||
204 | 204 | ||
205 | // The object is going dynamic (physical). Do any setup necessary | 205 | // The object is going dynamic (physical). Do any setup necessary |
206 | // for a dynamic linkset. | 206 | // for a dynamic linkset. |
207 | // Only the state of the passed object can be modified. The rest of the linkset | ||
208 | // has not yet been fully constructed. | ||
207 | // Return 'true' if any properties updated on the passed object. | 209 | // Return 'true' if any properties updated on the passed object. |
208 | // Called at taint-time! | 210 | // Called at taint-time! |
209 | public bool MakeDynamic(BSPhysObject child) | 211 | public bool MakeDynamic(BSPhysObject child) |
210 | { | 212 | { |
211 | return false; | 213 | bool ret = false; |
214 | return ret; | ||
212 | } | 215 | } |
213 | 216 | ||
214 | // The object is going static (non-physical). Do any setup necessary | 217 | // The object is going static (non-physical). Do any setup necessary |
@@ -217,6 +220,7 @@ public class BSLinkset | |||
217 | // Called at taint-time! | 220 | // Called at taint-time! |
218 | public bool MakeStatic(BSPhysObject child) | 221 | public bool MakeStatic(BSPhysObject child) |
219 | { | 222 | { |
223 | // What is done for each object in BSPrim is what we want. | ||
220 | return false; | 224 | return false; |
221 | } | 225 | } |
222 | 226 | ||
@@ -269,15 +273,24 @@ public class BSLinkset | |||
269 | } | 273 | } |
270 | } | 274 | } |
271 | 275 | ||
272 | // If the whole linkset is not here, doesn't make sense to recompute the root prim now. | 276 | // If the whole linkset is not here, doesn't make sense to recompute linkset wide values |
273 | if (!somethingMissing) | 277 | if (!somethingMissing) |
274 | { | 278 | { |
279 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | ||
280 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | ||
281 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | ||
282 | foreach (BSPhysObject child in m_children) | ||
283 | { | ||
284 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | ||
285 | } | ||
286 | /* | ||
275 | // The root prim takes on the weight of the whole linkset | 287 | // The root prim takes on the weight of the whole linkset |
276 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); | 288 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); |
277 | BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); | 289 | BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); |
278 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | 290 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); |
279 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | 291 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); |
280 | BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); | 292 | BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); |
293 | */ | ||
281 | } | 294 | } |
282 | } | 295 | } |
283 | return; | 296 | return; |