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author | Robert Adams | 2013-07-16 10:02:14 -0700 |
---|---|---|
committer | Robert Adams | 2013-07-22 10:27:24 -0700 |
commit | b44f0e1a00eba7f76401692322e48a3b23a81164 (patch) | |
tree | 96e44a80c97f35571116f120adf0e4d9c679b42e /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: change BSDynamics to expect to be passed a BSPrimLinkable (diff) | |
download | opensim-SC-b44f0e1a00eba7f76401692322e48a3b23a81164.zip opensim-SC-b44f0e1a00eba7f76401692322e48a3b23a81164.tar.gz opensim-SC-b44f0e1a00eba7f76401692322e48a3b23a81164.tar.bz2 opensim-SC-b44f0e1a00eba7f76401692322e48a3b23a81164.tar.xz |
BulletSim: Add logic to linksets to change physical properties for
whole linkset.
Override physical property setting for BSLinksetCompound as there are
not children to the compound spape.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 6 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 36 |
3 files changed, 59 insertions, 7 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index fff63e4..e0ccc50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | |||
@@ -69,7 +69,7 @@ public class BSActorCollection | |||
69 | { | 69 | { |
70 | lock (m_actors) | 70 | lock (m_actors) |
71 | { | 71 | { |
72 | Release(); | 72 | ForEachActor(a => a.Dispose()); |
73 | m_actors.Clear(); | 73 | m_actors.Clear(); |
74 | } | 74 | } |
75 | } | 75 | } |
@@ -98,10 +98,6 @@ public class BSActorCollection | |||
98 | { | 98 | { |
99 | ForEachActor(a => a.SetEnabled(enabl)); | 99 | ForEachActor(a => a.SetEnabled(enabl)); |
100 | } | 100 | } |
101 | public void Release() | ||
102 | { | ||
103 | ForEachActor(a => a.Dispose()); | ||
104 | } | ||
105 | public void Refresh() | 101 | public void Refresh() |
106 | { | 102 | { |
107 | ForEachActor(a => a.Refresh()); | 103 | ForEachActor(a => a.Refresh()); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 78c0af7..960c0b4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -309,14 +309,14 @@ public abstract class BSLinkset | |||
309 | } | 309 | } |
310 | ); | 310 | ); |
311 | } | 311 | } |
312 | public virtual void ComputeLocalInertia() | 312 | public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) |
313 | { | 313 | { |
314 | ForEachMember((member) => | 314 | ForEachMember((member) => |
315 | { | 315 | { |
316 | if (member.PhysBody.HasPhysicalBody) | 316 | if (member.PhysBody.HasPhysicalBody) |
317 | { | 317 | { |
318 | OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); | 318 | OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); |
319 | member.Inertia = inertia * BSParam.VehicleInertiaFactor; | 319 | member.Inertia = inertia * inertiaFactor; |
320 | m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); | 320 | m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); |
321 | m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); | 321 | m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); |
322 | } | 322 | } |
@@ -324,6 +324,26 @@ public abstract class BSLinkset | |||
324 | } | 324 | } |
325 | ); | 325 | ); |
326 | } | 326 | } |
327 | public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags) | ||
328 | { | ||
329 | ForEachMember((member) => | ||
330 | { | ||
331 | if (member.PhysBody.HasPhysicalBody) | ||
332 | m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags); | ||
333 | return false; // 'false' says to continue looping | ||
334 | } | ||
335 | ); | ||
336 | } | ||
337 | public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) | ||
338 | { | ||
339 | ForEachMember((member) => | ||
340 | { | ||
341 | if (member.PhysBody.HasPhysicalBody) | ||
342 | m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags); | ||
343 | return false; // 'false' says to continue looping | ||
344 | } | ||
345 | ); | ||
346 | } | ||
327 | // ================================================================ | 347 | // ================================================================ |
328 | protected virtual float ComputeLinksetMass() | 348 | protected virtual float ComputeLinksetMass() |
329 | { | 349 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3668456..33ae5a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset | |||
44 | { | 44 | { |
45 | } | 45 | } |
46 | 46 | ||
47 | // ================================================================ | ||
48 | // Changing the physical property of the linkset only needs to change the root | ||
49 | public override void SetPhysicalFriction(float friction) | ||
50 | { | ||
51 | if (LinksetRoot.PhysBody.HasPhysicalBody) | ||
52 | m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); | ||
53 | } | ||
54 | public override void SetPhysicalRestitution(float restitution) | ||
55 | { | ||
56 | if (LinksetRoot.PhysBody.HasPhysicalBody) | ||
57 | m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); | ||
58 | } | ||
59 | public override void SetPhysicalGravity(OMV.Vector3 gravity) | ||
60 | { | ||
61 | if (LinksetRoot.PhysBody.HasPhysicalBody) | ||
62 | m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); | ||
63 | } | ||
64 | public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) | ||
65 | { | ||
66 | OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); | ||
67 | LinksetRoot.Inertia = inertia * inertiaFactor; | ||
68 | m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); | ||
69 | m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); | ||
70 | } | ||
71 | public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) | ||
72 | { | ||
73 | if (LinksetRoot.PhysBody.HasPhysicalBody) | ||
74 | m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); | ||
75 | } | ||
76 | public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) | ||
77 | { | ||
78 | if (LinksetRoot.PhysBody.HasPhysicalBody) | ||
79 | m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); | ||
80 | } | ||
81 | // ================================================================ | ||
82 | |||
47 | // When physical properties are changed the linkset needs to recalculate | 83 | // When physical properties are changed the linkset needs to recalculate |
48 | // its internal properties. | 84 | // its internal properties. |
49 | public override void Refresh(BSPrimLinkable requestor) | 85 | public override void Refresh(BSPrimLinkable requestor) |