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authorJustin Clark-Casey (justincc)2012-09-29 00:09:12 +0100
committerJustin Clark-Casey (justincc)2012-09-29 00:09:12 +0100
commitfae869c4ca0d75c217b0ba8744346e238f7be0c9 (patch)
treedadf703ef6e2b7654779090ba0e4d20f6a8d5875 /OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
parentExtend attachment regression test to check for appropriate attach event firing. (diff)
parenttesting for xml-rpc errors in git repo. (diff)
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs58
1 files changed, 45 insertions, 13 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
index 683bc51..3306a97 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
@@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
34 34
35public class BS6DofConstraint : BSConstraint 35public class BS6DofConstraint : BSConstraint
36{ 36{
37 private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
38
39 public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
40
37 // Create a btGeneric6DofConstraint 41 // Create a btGeneric6DofConstraint
38 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 42 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
39 Vector3 frame1, Quaternion frame1rot, 43 Vector3 frame1, Quaternion frame1rot,
@@ -44,11 +48,14 @@ public class BS6DofConstraint : BSConstraint
44 m_body1 = obj1; 48 m_body1 = obj1;
45 m_body2 = obj2; 49 m_body2 = obj2;
46 m_constraint = new BulletConstraint( 50 m_constraint = new BulletConstraint(
47 BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 51 BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
48 frame1, frame1rot, 52 frame1, frame1rot,
49 frame2, frame2rot, 53 frame2, frame2rot,
50 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 54 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
51 m_enabled = true; 55 m_enabled = true;
56 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
57 BSScene.DetailLogZero, world.worldID,
58 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
52 } 59 }
53 60
54 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 61 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
@@ -58,11 +65,36 @@ public class BS6DofConstraint : BSConstraint
58 m_world = world; 65 m_world = world;
59 m_body1 = obj1; 66 m_body1 = obj1;
60 m_body2 = obj2; 67 m_body2 = obj2;
61 m_constraint = new BulletConstraint( 68 if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
62 BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 69 {
63 joinPoint, 70 world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
64 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 71 BSScene.DetailLogZero, world.worldID,
65 m_enabled = true; 72 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
73 world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
74 "[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
75 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
76 m_enabled = false;
77 }
78 else
79 {
80 m_constraint = new BulletConstraint(
81 BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
82 joinPoint,
83 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
84 world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
85 BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
86 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
87 if (m_constraint.ptr == IntPtr.Zero)
88 {
89 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
90 LogHeader, obj1.ID, obj2.ID);
91 m_enabled = false;
92 }
93 else
94 {
95 m_enabled = true;
96 }
97 }
66 } 98 }
67 99
68 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) 100 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
@@ -70,7 +102,7 @@ public class BS6DofConstraint : BSConstraint
70 bool ret = false; 102 bool ret = false;
71 if (m_enabled) 103 if (m_enabled)
72 { 104 {
73 BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); 105 BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
74 ret = true; 106 ret = true;
75 } 107 }
76 return ret; 108 return ret;
@@ -81,9 +113,9 @@ public class BS6DofConstraint : BSConstraint
81 bool ret = false; 113 bool ret = false;
82 if (m_enabled) 114 if (m_enabled)
83 { 115 {
84 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 116 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
85 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); 117 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
86 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 118 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
87 ret = true; 119 ret = true;
88 } 120 }
89 return ret; 121 return ret;
@@ -94,7 +126,7 @@ public class BS6DofConstraint : BSConstraint
94 bool ret = false; 126 bool ret = false;
95 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 127 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
96 if (m_enabled) 128 if (m_enabled)
97 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); 129 ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
98 return ret; 130 return ret;
99 } 131 }
100 132
@@ -103,7 +135,7 @@ public class BS6DofConstraint : BSConstraint
103 bool ret = false; 135 bool ret = false;
104 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 136 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
105 if (m_enabled) 137 if (m_enabled)
106 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); 138 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
107 return ret; 139 return ret;
108 } 140 }
109 141
@@ -111,7 +143,7 @@ public class BS6DofConstraint : BSConstraint
111 { 143 {
112 bool ret = false; 144 bool ret = false;
113 if (m_enabled) 145 if (m_enabled)
114 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); 146 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
115 return ret; 147 return ret;
116 } 148 }
117} 149}