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authorRobert Adams2013-09-04 07:56:59 -0700
committerRobert Adams2013-09-11 09:12:18 -0700
commit5827b6e1aabf2e19624faf0141b9611917fb84c5 (patch)
tree6b13ebc4d7840d5dcd04d4efeddfdbb933609620 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
parentBulletSim: ability to specify groups of axis to modify in constraint paramete... (diff)
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BulletSim: add extended physics LSL constants for axis specification.
Add specific error warnings for mis-matched parameter types in extended physics functions.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs89
1 files changed, 57 insertions, 32 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index ff5ac0e..b3347bf 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -605,30 +605,32 @@ public sealed class BSLinksetConstraints : BSLinkset
605 // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ] 605 // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
606 case ExtendedPhysics.PhysFunctChangeLinkParams: 606 case ExtendedPhysics.PhysFunctChangeLinkParams:
607 // There should be two parameters: the childActor and a list of parameters to set 607 // There should be two parameters: the childActor and a list of parameters to set
608 try 608 if (pParams.Length > 2)
609 { 609 {
610 if (pParams.Length > 2) 610 BSPrimLinkable child = pParams[1] as BSPrimLinkable;
611 BSLinkInfo baseLinkInfo = null;
612 if (TryGetLinkInfo(child, out baseLinkInfo))
611 { 613 {
612 BSPrimLinkable child = pParams[1] as BSPrimLinkable; 614 BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
613 BSLinkInfo baseLinkInfo = null; 615 if (linkInfo != null)
614 if (TryGetLinkInfo(child, out baseLinkInfo))
615 { 616 {
616 BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; 617 int valueInt;
617 if (linkInfo != null) 618 float valueFloat;
619 bool valueBool;
620 OMV.Vector3 valueVector;
621 OMV.Quaternion valueQuaternion;
622 int axisLow, axisHigh;
623
624 int opIndex = 2;
625 while (opIndex < pParams.Length)
618 { 626 {
619 int valueInt; 627 int thisOp = 0;
620 float valueFloat; 628 string errMsg = "";
621 bool valueBool; 629 try
622 OMV.Vector3 valueVector;
623 OMV.Quaternion valueQuaternion;
624 int axisLow, axisHigh;
625
626 int opIndex = 2;
627 while (opIndex < pParams.Length)
628 { 630 {
629 int thisOp = (int)pParams[opIndex]; 631 thisOp = (int)pParams[opIndex];
630 DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", 632 DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}",
631 linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); 633 linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]);
632 switch (thisOp) 634 switch (thisOp)
633 { 635 {
634 case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: 636 case ExtendedPhysics.PHYS_PARAM_LINK_TYPE:
@@ -646,89 +648,106 @@ public sealed class BSLinksetConstraints : BSLinkset
646 opIndex += 2; 648 opIndex += 2;
647 break; 649 break;
648 case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: 650 case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
651 errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector";
649 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 652 valueVector = (OMV.Vector3)pParams[opIndex + 1];
650 linkInfo.frameInAloc = valueVector; 653 linkInfo.frameInAloc = valueVector;
651 opIndex += 2; 654 opIndex += 2;
652 break; 655 break;
653 case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: 656 case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
657 errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation";
654 valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; 658 valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
655 linkInfo.frameInArot = valueQuaternion; 659 linkInfo.frameInArot = valueQuaternion;
656 opIndex += 2; 660 opIndex += 2;
657 break; 661 break;
658 case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: 662 case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
663 errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector";
659 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 664 valueVector = (OMV.Vector3)pParams[opIndex + 1];
660 linkInfo.frameInBloc = valueVector; 665 linkInfo.frameInBloc = valueVector;
661 opIndex += 2; 666 opIndex += 2;
662 break; 667 break;
663 case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: 668 case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
669 errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation";
664 valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; 670 valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
665 linkInfo.frameInBrot = valueQuaternion; 671 linkInfo.frameInBrot = valueQuaternion;
666 opIndex += 2; 672 opIndex += 2;
667 break; 673 break;
668 case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: 674 case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
675 errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector";
669 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 676 valueVector = (OMV.Vector3)pParams[opIndex + 1];
670 linkInfo.linearLimitLow = valueVector; 677 linkInfo.linearLimitLow = valueVector;
671 opIndex += 2; 678 opIndex += 2;
672 break; 679 break;
673 case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: 680 case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
681 errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector";
674 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 682 valueVector = (OMV.Vector3)pParams[opIndex + 1];
675 linkInfo.linearLimitHigh = valueVector; 683 linkInfo.linearLimitHigh = valueVector;
676 opIndex += 2; 684 opIndex += 2;
677 break; 685 break;
678 case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: 686 case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
687 errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector";
679 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 688 valueVector = (OMV.Vector3)pParams[opIndex + 1];
680 linkInfo.angularLimitLow = valueVector; 689 linkInfo.angularLimitLow = valueVector;
681 opIndex += 2; 690 opIndex += 2;
682 break; 691 break;
683 case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: 692 case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
693 errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector";
684 valueVector = (OMV.Vector3)pParams[opIndex + 1]; 694 valueVector = (OMV.Vector3)pParams[opIndex + 1];
685 linkInfo.angularLimitHigh = valueVector; 695 linkInfo.angularLimitHigh = valueVector;
686 opIndex += 2; 696 opIndex += 2;
687 break; 697 break;
688 case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: 698 case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
689 valueBool = (bool)pParams[opIndex + 1]; 699 errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)";
700 valueBool = ((int)pParams[opIndex + 1]) != 0;
690 linkInfo.useFrameOffset = valueBool; 701 linkInfo.useFrameOffset = valueBool;
691 opIndex += 2; 702 opIndex += 2;
692 break; 703 break;
693 case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: 704 case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
694 valueBool = (bool)pParams[opIndex + 1]; 705 errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)";
706 valueBool = ((int)pParams[opIndex + 1]) != 0;
695 linkInfo.enableTransMotor = valueBool; 707 linkInfo.enableTransMotor = valueBool;
696 opIndex += 2; 708 opIndex += 2;
697 break; 709 break;
698 case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: 710 case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
711 errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float";
699 valueFloat = (float)pParams[opIndex + 1]; 712 valueFloat = (float)pParams[opIndex + 1];
700 linkInfo.transMotorMaxVel = valueFloat; 713 linkInfo.transMotorMaxVel = valueFloat;
701 opIndex += 2; 714 opIndex += 2;
702 break; 715 break;
703 case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: 716 case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
717 errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float";
704 valueFloat = (float)pParams[opIndex + 1]; 718 valueFloat = (float)pParams[opIndex + 1];
705 linkInfo.transMotorMaxForce = valueFloat; 719 linkInfo.transMotorMaxForce = valueFloat;
706 opIndex += 2; 720 opIndex += 2;
707 break; 721 break;
708 case ExtendedPhysics.PHYS_PARAM_CFM: 722 case ExtendedPhysics.PHYS_PARAM_CFM:
723 errMsg = "PHYS_PARAM_CFM takes one parameter of type float";
709 valueFloat = (float)pParams[opIndex + 1]; 724 valueFloat = (float)pParams[opIndex + 1];
710 linkInfo.cfm = valueFloat; 725 linkInfo.cfm = valueFloat;
711 opIndex += 2; 726 opIndex += 2;
712 break; 727 break;
713 case ExtendedPhysics.PHYS_PARAM_ERP: 728 case ExtendedPhysics.PHYS_PARAM_ERP:
729 errMsg = "PHYS_PARAM_ERP takes one parameter of type float";
714 valueFloat = (float)pParams[opIndex + 1]; 730 valueFloat = (float)pParams[opIndex + 1];
715 linkInfo.erp = valueFloat; 731 linkInfo.erp = valueFloat;
716 opIndex += 2; 732 opIndex += 2;
717 break; 733 break;
718 case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: 734 case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
735 errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float";
719 valueFloat = (float)pParams[opIndex + 1]; 736 valueFloat = (float)pParams[opIndex + 1];
720 linkInfo.solverIterations = valueFloat; 737 linkInfo.solverIterations = valueFloat;
721 opIndex += 2; 738 opIndex += 2;
722 break; 739 break;
723 case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: 740 case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
741 errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)";
724 valueInt = (int)pParams[opIndex + 1]; 742 valueInt = (int)pParams[opIndex + 1];
725 valueBool = ((int)pParams[opIndex + 2] != 0); 743 valueBool = ((int)pParams[opIndex + 2]) != 0;
726 GetAxisRange(valueInt, out axisLow, out axisHigh); 744 GetAxisRange(valueInt, out axisLow, out axisHigh);
727 for (int ii = axisLow; ii <= axisHigh; ii++) 745 for (int ii = axisLow; ii <= axisHigh; ii++)
728 linkInfo.springAxisEnable[ii] = valueBool; 746 linkInfo.springAxisEnable[ii] = valueBool;
729 opIndex += 3; 747 opIndex += 3;
730 break; 748 break;
731 case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: 749 case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
750 errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float";
732 valueInt = (int)pParams[opIndex + 1]; 751 valueInt = (int)pParams[opIndex + 1];
733 valueFloat = (float)pParams[opIndex + 2]; 752 valueFloat = (float)pParams[opIndex + 2];
734 GetAxisRange(valueInt, out axisLow, out axisHigh); 753 GetAxisRange(valueInt, out axisLow, out axisHigh);
@@ -737,6 +756,7 @@ public sealed class BSLinksetConstraints : BSLinkset
737 opIndex += 3; 756 opIndex += 3;
738 break; 757 break;
739 case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: 758 case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
759 errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float";
740 valueInt = (int)pParams[opIndex + 1]; 760 valueInt = (int)pParams[opIndex + 1];
741 valueFloat = (float)pParams[opIndex + 2]; 761 valueFloat = (float)pParams[opIndex + 2];
742 GetAxisRange(valueInt, out axisLow, out axisHigh); 762 GetAxisRange(valueInt, out axisLow, out axisHigh);
@@ -745,7 +765,8 @@ public sealed class BSLinksetConstraints : BSLinkset
745 opIndex += 3; 765 opIndex += 3;
746 break; 766 break;
747 case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: 767 case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
748 valueBool = (bool)pParams[opIndex + 1]; 768 errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
769 valueBool = ((int)pParams[opIndex + 1]) != 0;
749 linkInfo.useLinearReferenceFrameA = valueBool; 770 linkInfo.useLinearReferenceFrameA = valueBool;
750 opIndex += 2; 771 opIndex += 2;
751 break; 772 break;
@@ -753,18 +774,22 @@ public sealed class BSLinksetConstraints : BSLinkset
753 break; 774 break;
754 } 775 }
755 } 776 }
777 catch (InvalidCastException e)
778 {
779 m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}",
780 LogHeader, errMsg, e);
781 }
782 catch (Exception e)
783 {
784 m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
785 }
756 } 786 }
757 // Something changed so a rebuild is in order
758 Refresh(child);
759 } 787 }
788 // Something changed so a rebuild is in order
789 Refresh(child);
760 } 790 }
761 } 791 }
762 catch (Exception e) 792 break;
763 {
764 // There are many ways to mess up the parameters. If not just right don't fail without some error.
765 m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
766 }
767 break;
768 default: 793 default:
769 ret = base.Extension(pFunct, pParams); 794 ret = base.Extension(pFunct, pParams);
770 break; 795 break;
@@ -779,11 +804,11 @@ public sealed class BSLinksetConstraints : BSLinkset
779 { 804 {
780 switch (rangeSpec) 805 switch (rangeSpec)
781 { 806 {
782 case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR: 807 case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL:
783 low = 0; 808 low = 0;
784 high = 2; 809 high = 2;
785 break; 810 break;
786 case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR: 811 case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL:
787 low = 3; 812 low = 3;
788 high = 5; 813 high = 5;
789 break; 814 break;
generated by cgit v1.1 at 2024-12-13 19:14:36 +0000