BulletSim: rename some constraint variables to be consistant with other name use.

Added callbacks for shape and body changes in GetBodyAndShape() so the linkset
    constraints can be picked up and restored. A better design might be to have
    a "prim shape changed" event. Think about that.
Added constraint types to general constraint class.

1 files changed, 31 insertions, 11 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
index 39a3421..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
 
 public class BS6DofConstraint : BSConstraint
 {
+    private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
+
+    public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
+
     // Create a btGeneric6DofConstraint
     public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1, Quaternion frame1rot,
@@ -49,6 +53,9 @@ public class BS6DofConstraint : BSConstraint
                                 frame2, frame2rot,
                                 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
         m_enabled = true;
+        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            BSScene.DetailLogZero, world.worldID,
+                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
     }
 
     public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
@@ -60,12 +67,13 @@ public class BS6DofConstraint : BSConstraint
         m_body2 = obj2;
         if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
         {
-            world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            "[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
+            world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            BSScene.DetailLogZero, world.worldID,
                             obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
-            world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+            world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             "[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
                             obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+            m_enabled = false;
         }
         else
         {
@@ -73,8 +81,20 @@ public class BS6DofConstraint : BSConstraint
                                 BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
                                     joinPoint,
                                     useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
+                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
+                                obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+            if (m_constraint.ptr == IntPtr.Zero)
+            {
+                world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
+                                LogHeader, obj1.ID, obj2.ID);
+                m_enabled = false;
+            }
+            else
+            {
+                m_enabled = true;
+            }
         }
-        m_enabled = true;
     }
 
     public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
@@ -82,7 +102,7 @@ public class BS6DofConstraint : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot);
+            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
             ret = true;
         }
         return ret;
@@ -93,9 +113,9 @@ public class BS6DofConstraint : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
             ret = true;
         }
         return ret;
@@ -106,7 +126,7 @@ public class BS6DofConstraint : BSConstraint
         bool ret = false;
         float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
         return ret;
     }
 
@@ -115,7 +135,7 @@ public class BS6DofConstraint : BSConstraint
         bool ret = false;
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
         return ret;
     }
 
@@ -123,7 +143,7 @@ public class BS6DofConstraint : BSConstraint
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold);
+            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
         return ret;
     }
 }