BulletSim: add parameters and API calls for setting ERP and CFM.

Set ERP and CFM in linkset constraints.
Reorder rebuilding of object bodies so they are not rebuilt everytime
   something is linked and unlinked.

1 files changed, 37 insertions, 8 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 65e3145..fe705cc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -66,13 +66,14 @@ public struct ShapeData
 {
     public enum PhysicsShapeType
     {
-                SHAPE_AVATAR = 0,
-                SHAPE_BOX = 1,
-                SHAPE_CONE = 2,
-                SHAPE_CYLINDER = 3,
-                SHAPE_SPHERE = 4,
-                SHAPE_MESH = 5,
-                SHAPE_HULL = 6
+                SHAPE_UNKNOWN   = 0,
+                SHAPE_AVATAR    = 1,
+                SHAPE_BOX       = 2,
+                SHAPE_CONE      = 3,
+                SHAPE_CYLINDER  = 4,
+                SHAPE_SPHERE    = 5,
+                SHAPE_MESH      = 6,
+                SHAPE_HULL      = 7
     };
     public uint ID;
     public PhysicsShapeType Type;
@@ -168,6 +169,8 @@ public struct ConfigurationParameters
     public float linkConstraintEnableTransMotor;
     public float linkConstraintTransMotorMaxVel;
     public float linkConstraintTransMotorMaxForce;
+    public float linkConstraintERP;
+    public float linkConstraintCFM;
 
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
@@ -189,6 +192,28 @@ public enum CollisionFlags : uint
     PHYSICAL_OBJECT               = 1 << 12,
 };
 
+// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
+// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
+public enum ConstraintParams : int
+{
+    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
+    BT_CONSTRAINT_STOP_ERP,
+    BT_CONSTRAINT_CFM,
+    BT_CONSTRAINT_STOP_CFM,
+};
+public enum ConstraintParamAxis : int
+{
+    AXIS_LINEAR_X = 0,
+    AXIS_LINEAR_Y,
+    AXIS_LINEAR_Z,
+    AXIS_ANGULAR_X,
+    AXIS_ANGULAR_Y,
+    AXIS_ANGULAR_Z,
+    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_ANGULAR_ALL,
+    AXIS_ALL
+};
+
 // ===============================================================================
 static class BulletSimAPI {
 
@@ -380,7 +405,8 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
                     Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot);
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
@@ -398,6 +424,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl
 public static extern bool CalculateTransforms2(IntPtr constrain);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]