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authorRobert Adams2013-03-31 22:06:02 -0700
committerRobert Adams2013-03-31 22:19:43 -0700
commit933ac607468fb160636af601ce83ee1011794ec3 (patch)
treef3967455395612e24e322da6938072f7be4c901e
parentBulletSim: start the renaming of local variables to m_ form to match the Open... (diff)
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BulletSim: not quite functional axis lock code.
Diffstat (limited to '')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs62
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActors.cs8
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs2
5 files changed, 43 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 5f74a14..aa75663 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -42,14 +42,14 @@ public class BSActorLockAxis : BSActor
42 public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) 42 public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
43 : base(physicsScene, pObj,actorName) 43 : base(physicsScene, pObj,actorName)
44 { 44 {
45 PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID); 45 m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
46 LockAxisConstraint = null; 46 LockAxisConstraint = null;
47 } 47 }
48 48
49 // BSActor.isActive 49 // BSActor.isActive
50 public override bool isActive 50 public override bool isActive
51 { 51 {
52 get { return Enabled && Prim.IsPhysicallyActive; } 52 get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
53 } 53 }
54 54
55 // Release any connections and resources used by the actor. 55 // Release any connections and resources used by the actor.
@@ -64,21 +64,22 @@ public class BSActorLockAxis : BSActor
64 // BSActor.Refresh() 64 // BSActor.Refresh()
65 public override void Refresh() 65 public override void Refresh()
66 { 66 {
67 PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", 67 m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
68 Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive); 68 m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
69 // If all the axis are free, we don't need to exist 69 // If all the axis are free, we don't need to exist
70 if (Prim.LockedAxis == Prim.LockedAxisFree) 70 if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
71 { 71 {
72 Prim.PhysicalActors.RemoveAndRelease(ActorName); 72 m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName);
73 m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
73 return; 74 return;
74 } 75 }
75 // If the object is physically active, add the axis locking constraint 76 // If the object is physically active, add the axis locking constraint
76 if (Enabled 77 if (Enabled
77 && Prim.IsPhysicallyActive 78 && m_controllingPrim.IsPhysicallyActive
78 && TryExperimentalLockAxisCode 79 && TryExperimentalLockAxisCode
79 && Prim.LockedAxis != Prim.LockedAxisFree) 80 && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree)
80 { 81 {
81 if (LockAxisConstraint != null) 82 if (LockAxisConstraint == null)
82 AddAxisLockConstraint(); 83 AddAxisLockConstraint();
83 } 84 }
84 else 85 else
@@ -98,7 +99,7 @@ public class BSActorLockAxis : BSActor
98 // If a constraint is set up, remove it from the physical scene 99 // If a constraint is set up, remove it from the physical scene
99 RemoveAxisLockConstraint(); 100 RemoveAxisLockConstraint();
100 // Schedule a call before the next simulation step to restore the constraint. 101 // Schedule a call before the next simulation step to restore the constraint.
101 PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() 102 m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate()
102 { 103 {
103 Refresh(); 104 Refresh();
104 }); 105 });
@@ -115,56 +116,61 @@ public class BSActorLockAxis : BSActor
115 // Remove any existing axis constraint (just to be sure) 116 // Remove any existing axis constraint (just to be sure)
116 RemoveAxisLockConstraint(); 117 RemoveAxisLockConstraint();
117 118
118 BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, 119 BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
119 OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), 120 // OMV.Vector3.Zero, OMV.Quaternion.Identity,
120 true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); 121 OMV.Vector3.Zero, OMV.Quaternion.Inverse(m_controllingPrim.RawOrientation),
122 // OMV.Vector3.Zero, m_controllingPrim.RawOrientation,
123 false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
121 LockAxisConstraint = axisConstrainer; 124 LockAxisConstraint = axisConstrainer;
122 PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); 125 m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
123 126
124 // The constraint is tied to the world and oriented to the prim. 127 // The constraint is tied to the world and oriented to the prim.
125 128
126 // Free to move linearly 129 // Free to move linearly in the region
127 OMV.Vector3 linearLow = OMV.Vector3.Zero; 130 OMV.Vector3 linearLow = OMV.Vector3.Zero;
128 OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; 131 OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
129 axisConstrainer.SetLinearLimits(linearLow, linearHigh); 132 axisConstrainer.SetLinearLimits(linearLow, linearHigh);
130 133
131 // Angular with some axis locked 134 // Angular with some axis locked
132 float f2PI = (float)Math.PI * 2f; 135 float fPI = (float)Math.PI;
133 OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); 136 OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
134 OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); 137 OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
135 if (Prim.LockedAxis.X != 1f) 138 if (m_controllingPrim.LockedAxis.X != 1f)
136 { 139 {
137 angularLow.X = 0f; 140 angularLow.X = 0f;
138 angularHigh.X = 0f; 141 angularHigh.X = 0f;
139 } 142 }
140 if (Prim.LockedAxis.Y != 1f) 143 if (m_controllingPrim.LockedAxis.Y != 1f)
141 { 144 {
142 angularLow.Y = 0f; 145 angularLow.Y = 0f;
143 angularHigh.Y = 0f; 146 angularHigh.Y = 0f;
144 } 147 }
145 if (Prim.LockedAxis.Z != 1f) 148 if (m_controllingPrim.LockedAxis.Z != 1f)
146 { 149 {
147 angularLow.Z = 0f; 150 angularLow.Z = 0f;
148 angularHigh.Z = 0f; 151 angularHigh.Z = 0f;
149 } 152 }
150 axisConstrainer.SetAngularLimits(angularLow, angularHigh); 153 if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
154 {
155 m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
156 }
151 157
152 PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", 158 m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
153 Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); 159 m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
154 160
155 // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. 161 // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
156 axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); 162 axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
157 163
158 axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); 164 axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
159 } 165 }
160 166
161 private void RemoveAxisLockConstraint() 167 private void RemoveAxisLockConstraint()
162 { 168 {
163 if (LockAxisConstraint != null) 169 if (LockAxisConstraint != null)
164 { 170 {
165 PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); 171 m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
166 LockAxisConstraint = null; 172 LockAxisConstraint = null;
167 PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); 173 m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
168 } 174 }
169 } 175 }
170} 176}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index 3163440..5a19ba4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -96,15 +96,15 @@ public class BSActorCollection
96/// </summary> 96/// </summary>
97public abstract class BSActor 97public abstract class BSActor
98{ 98{
99 protected BSScene PhysicsScene { get; private set; } 99 protected BSScene m_physicsScene { get; private set; }
100 protected BSPhysObject Prim { get; private set; } 100 protected BSPhysObject m_controllingPrim { get; private set; }
101 protected bool Enabled { get; set; } 101 protected bool Enabled { get; set; }
102 public string ActorName { get; private set; } 102 public string ActorName { get; private set; }
103 103
104 public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) 104 public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
105 { 105 {
106 PhysicsScene = physicsScene; 106 m_physicsScene = physicsScene;
107 Prim = pObj; 107 m_controllingPrim = pObj;
108 ActorName = actorName; 108 ActorName = actorName;
109 Enabled = true; 109 Enabled = true;
110 } 110 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index b813974..42b5c49 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -85,7 +85,9 @@ public abstract class BSConstraint : IDisposable
85 { 85 {
86 bool ret = false; 86 bool ret = false;
87 if (m_enabled) 87 if (m_enabled)
88 {
88 ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); 89 ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
90 }
89 return ret; 91 return ret;
90 } 92 }
91 93
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index 476a0e5..d0949f5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -97,14 +97,14 @@ public sealed class BSConstraint6Dof : BSConstraint
97 97
98 // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object 98 // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
99 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, 99 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
100 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 100 bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
101 : base(world) 101 : base(world)
102 { 102 {
103 m_body1 = obj1; 103 m_body1 = obj1;
104 m_body2 = obj1; // Look out for confusion down the road 104 m_body2 = obj1; // Look out for confusion down the road
105 m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, 105 m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
106 frameInBloc, frameInBrot, 106 frameInBloc, frameInBrot,
107 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); 107 useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
108 m_enabled = true; 108 m_enabled = true;
109 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", 109 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
110 BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); 110 BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ec78fdc..e56276a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -274,10 +274,10 @@ public class BSPrim : BSPhysObject
274 { 274 {
275 PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() 275 PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
276 { 276 {
277 DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
278 // If there is not already an axis locker, make one 277 // If there is not already an axis locker, make one
279 if (!PhysicalActors.HasActor(LockedAxisActorName)) 278 if (!PhysicalActors.HasActor(LockedAxisActorName))
280 { 279 {
280 DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
281 PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); 281 PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
282 } 282 }
283 UpdatePhysicalParameters(); 283 UpdatePhysicalParameters();