BulletSim: add physChangeLinkParams to set individual parameters on link constraints. Not fully functional. Remove double definition of ExtendedPhysics parameters by having BulletSim reference the optional module (addition to prebuild.xml and usings).

5 files changed, 153 insertions, 73 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
new file mode 100755
index 0000000..7a76a9a
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public sealed class BSConstraintConeTwist : BSConstraint
+{
+    public override ConstraintType Type { get { return ConstraintType.CONETWIST_CONSTRAINT_TYPE; } }
+
+    public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
+                                frameInAloc, frameInArot, frameInBloc, frameInBrot,
+                                disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+    }
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
new file mode 100755
index 0000000..37cfa07
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public sealed class BSConstraintSlider : BSConstraint
+{
+    public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } }
+
+    public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
+                                frameInAloc, frameInArot, frameInBloc, frameInBrot,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+    }
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 17fec9d..c09dd42 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -28,6 +28,8 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 
+using OpenSim.Region.OptionalModules.Scripting;
+
 using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
@@ -489,71 +491,46 @@ public sealed class BSLinksetConstraints : BSLinkset
         switch (pFunct)
         {
             // pParams = (int linkNUm, PhysActor linkChild)
-            case BSScene.PhysFunctChangeLinkFixed:
+            case ExtendedPhysics.PhysFunctChangeLinkType:
                 if (pParams.Length > 1)
                 {
-                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
-                    if (child != null)
+                    int requestedType = (int)pParams[1];
+                    if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE)
                     {
-                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
+                        BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                        if (child != null)
                         {
-                            // Pick up all the constraints currently created.
-                            RemoveDependencies(child);
-
-                            BSLinkInfo linkInfo = null;
-                            if (m_children.TryGetValue(child, out linkInfo))
+                            m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
                             {
-                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
-                                if (linkInfoC != null)
-                                {
-                                    // Setting to fixed is easy. The reset state is the fixed link configuration.
-                                    linkInfoC.ResetLink();
-                                    ret = (object)true;
-                                }
-                            }
-                            // Cause the whole linkset to be rebuilt in post-taint time.
-                            Refresh(child);
-                        });
-                    }
-                }
-                break;
-            case BSScene.PhysFunctChangeLinkSpring:
-                if (pParams.Length > 11)
-                {
-                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
-                    if (child != null)
-                    {
-                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
-                        {
-                            // Pick up all the constraints currently created.
-                            RemoveDependencies(child);
+                                // Pick up all the constraints currently created.
+                                RemoveDependencies(child);
 
-                            BSLinkInfo linkInfo = null;
-                            if (m_children.TryGetValue(child, out linkInfo))
-                            {
-                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
-                                if (linkInfoC != null)
+                                BSLinkInfo linkInfo = null;
+                                if (m_children.TryGetValue(child, out linkInfo))
                                 {
-                                    // Start with a reset link definition
-                                    linkInfoC.ResetLink();
-                                    linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE;
-                                    linkInfoC.frameInAloc = (OMV.Vector3)pParams[2];
-                                    linkInfoC.frameInArot = (OMV.Quaternion)pParams[3];
-                                    linkInfoC.frameInBloc = (OMV.Vector3)pParams[4];
-                                    linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5];
-                                    linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6];
-                                    linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7];
-                                    linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8];
-                                    linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9];
-                                    ret = (object)true;
+                                    BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                                    if (linkInfoC != null)
+                                    {
+                                        // Setting to fixed is easy. The reset state is the fixed link configuration.
+                                        linkInfoC.ResetLink();
+                                        linkInfoC.constraintType = (ConstraintType)requestedType;
+                                        ret = (object)true;
+                                    }
                                 }
-                            }
-                            // Cause the whole linkset to be rebuilt in post-taint time.
-                            Refresh(child);
-                        });
+                                // Cause the whole linkset to be rebuilt in post-taint time.
+                                Refresh(child);
+                            });
+                        }
                     }
                 }
                 break;
+            case ExtendedPhysics.PhysFunctChangeLinkParams:
+                break;
             default:
                 ret = base.Extension(pFunct, pParams);
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 4c384a6..6136257 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -30,6 +30,7 @@ using System.Linq;
 using System.Text;
 
 using OpenSim.Framework;
+using OpenSim.Region.OptionalModules.Scripting;
 
 using OMV = OpenMetaverse;
 
@@ -286,14 +287,14 @@ public class BSPrimLinkable : BSPrimDisplaced
         switch (pFunct)
         {
             // physGetLinksetType();
-            case BSScene.PhysFunctGetLinksetType:
+            case ExtendedPhysics.PhysFunctGetLinksetType:
             {
                 ret = (object)LinksetType;
                 m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret);
                 break;
             }
             // physSetLinksetType(type);
-            case BSScene.PhysFunctSetLinksetType:
+            case ExtendedPhysics.PhysFunctSetLinksetType:
             {
                 if (pParams.Length > 0)
                 {
@@ -312,9 +313,16 @@ public class BSPrimLinkable : BSPrimDisplaced
                 }
                 break;
             }
-            // physChangeLinkFixed(linknum);
-            // Params: int linkNum, PhysActor linkedPrim
-            case BSScene.PhysFunctChangeLinkFixed:
+            // physChangeLinkType(linknum, typeCode);
+            // Params: PhysActor linkedPrim, int typeCode
+            case ExtendedPhysics.PhysFunctChangeLinkType:
+            {
+                Linkset.Extension(pFunct, pParams);
+                break;
+            }
+            // physChangeLinkParams(linknum, [code, value, code, value, ...]);
+            // Params: PhysActor linkedPrim, object[] params
+            case ExtendedPhysics.PhysFunctChangeLinkParams:
             {
                 Linkset.Extension(pFunct, pParams);
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 571db86..7440468 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -867,20 +867,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public override bool IsThreaded { get { return false;  } }
 
     #region Extensions
-    // =============================================================
-    // Per scene functions. See below.
-
-    // Per avatar functions. See BSCharacter.
-
-    // Per prim functions. See BSPrim.
-    public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
-    public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
-    public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
-    public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge";
-    public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring";
-    public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider";
-    // =============================================================
-
     public override object Extension(string pFunct, params object[] pParams)
     {
         return base.Extension(pFunct, pParams);