diff options
author | Robert Adams | 2013-03-31 09:12:18 -0700 |
---|---|---|
committer | Robert Adams | 2013-03-31 22:19:41 -0700 |
commit | 2c581cae2a77628704ae7ae2f9f0f0a87cbb0072 (patch) | |
tree | 2095b9afd1a0c984119fcac98e3dfd94ab99aabb /OpenSim | |
parent | Export permission, part two. Setting export perms for textures and clothing w... (diff) | |
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BulletSim: Add physical 'actors' that operate on the physical object.
Add first 'actor' for locked axis.
Diffstat (limited to 'OpenSim')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs | 168 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 123 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 83 |
4 files changed, 311 insertions, 74 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000..b4af126 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs | |||
@@ -0,0 +1,168 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Linq; | ||
31 | using System.Text; | ||
32 | |||
33 | using OMV = OpenMetaverse; | ||
34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
36 | { | ||
37 | public class BSActorLockAxis : BSActor | ||
38 | { | ||
39 | bool TryExperimentalLockAxisCode = false; | ||
40 | BSConstraint LockAxisConstraint = null; | ||
41 | |||
42 | public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) | ||
43 | : base(physicsScene, pObj,actorName) | ||
44 | { | ||
45 | LockAxisConstraint = null; | ||
46 | } | ||
47 | |||
48 | // BSActor.isActive | ||
49 | public override bool isActive | ||
50 | { | ||
51 | get { return Enabled && Prim.IsPhysicallyActive; } | ||
52 | } | ||
53 | |||
54 | // Release any connections and resources used by the actor. | ||
55 | // BSActor.Release() | ||
56 | public override void Release() | ||
57 | { | ||
58 | RemoveAxisLockConstraint(); | ||
59 | } | ||
60 | |||
61 | // Called when physical parameters (properties set in Bullet) need to be re-applied. | ||
62 | // Called at taint-time. | ||
63 | // BSActor.Refresh() | ||
64 | public override void Refresh() | ||
65 | { | ||
66 | // If all the axis are free, we don't need to exist | ||
67 | if (Prim.LockedAxis == Prim.LockedAxisFree) | ||
68 | { | ||
69 | Prim.PhysicalActors.RemoveAndRelease(ActorName); | ||
70 | return; | ||
71 | } | ||
72 | // If the object is physically active, add the axis locking constraint | ||
73 | if (Enabled | ||
74 | && Prim.IsPhysicallyActive | ||
75 | && TryExperimentalLockAxisCode | ||
76 | && Prim.LockedAxis != Prim.LockedAxisFree) | ||
77 | { | ||
78 | if (LockAxisConstraint != null) | ||
79 | AddAxisLockConstraint(); | ||
80 | } | ||
81 | else | ||
82 | { | ||
83 | RemoveAxisLockConstraint(); | ||
84 | } | ||
85 | } | ||
86 | |||
87 | // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). | ||
88 | // Register a prestep action to restore physical requirements before the next simulation step. | ||
89 | // Called at taint-time. | ||
90 | // BSActor.RemoveBodyDependencies() | ||
91 | public override void RemoveBodyDependencies() | ||
92 | { | ||
93 | if (LockAxisConstraint != null) | ||
94 | { | ||
95 | // If a constraint is set up, remove it from the physical scene | ||
96 | RemoveAxisLockConstraint(); | ||
97 | // Schedule a call before the next simulation step to restore the constraint. | ||
98 | PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() | ||
99 | { | ||
100 | Refresh(); | ||
101 | }); | ||
102 | } | ||
103 | } | ||
104 | |||
105 | private void AddAxisLockConstraint() | ||
106 | { | ||
107 | // Lock that axis by creating a 6DOF constraint that has one end in the world and | ||
108 | // the other in the object. | ||
109 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 | ||
110 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 | ||
111 | |||
112 | // Remove any existing axis constraint (just to be sure) | ||
113 | RemoveAxisLockConstraint(); | ||
114 | |||
115 | BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, | ||
116 | OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), | ||
117 | true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); | ||
118 | LockAxisConstraint = axisConstrainer; | ||
119 | PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); | ||
120 | |||
121 | // The constraint is tied to the world and oriented to the prim. | ||
122 | |||
123 | // Free to move linearly | ||
124 | OMV.Vector3 linearLow = OMV.Vector3.Zero; | ||
125 | OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; | ||
126 | axisConstrainer.SetLinearLimits(linearLow, linearHigh); | ||
127 | |||
128 | // Angular with some axis locked | ||
129 | float f2PI = (float)Math.PI * 2f; | ||
130 | OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); | ||
131 | OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); | ||
132 | if (Prim.LockedAxis.X != 1f) | ||
133 | { | ||
134 | angularLow.X = 0f; | ||
135 | angularHigh.X = 0f; | ||
136 | } | ||
137 | if (Prim.LockedAxis.Y != 1f) | ||
138 | { | ||
139 | angularLow.Y = 0f; | ||
140 | angularHigh.Y = 0f; | ||
141 | } | ||
142 | if (Prim.LockedAxis.Z != 1f) | ||
143 | { | ||
144 | angularLow.Z = 0f; | ||
145 | angularHigh.Z = 0f; | ||
146 | } | ||
147 | axisConstrainer.SetAngularLimits(angularLow, angularHigh); | ||
148 | |||
149 | PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", | ||
150 | Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); | ||
151 | |||
152 | // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. | ||
153 | axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); | ||
154 | |||
155 | axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); | ||
156 | } | ||
157 | |||
158 | private void RemoveAxisLockConstraint() | ||
159 | { | ||
160 | if (LockAxisConstraint != null) | ||
161 | { | ||
162 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); | ||
163 | LockAxisConstraint = null; | ||
164 | PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); | ||
165 | } | ||
166 | } | ||
167 | } | ||
168 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs new file mode 100755 index 0000000..b9b5ce1 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | |||
@@ -0,0 +1,123 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | |||
31 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
32 | { | ||
33 | public class BSActorCollection | ||
34 | { | ||
35 | private BSScene PhysicsScene { get; set; } | ||
36 | private Dictionary<string, BSActor> m_actors; | ||
37 | |||
38 | public BSActorCollection(BSScene physicsScene) | ||
39 | { | ||
40 | PhysicsScene = physicsScene; | ||
41 | m_actors = new Dictionary<string, BSActor>(); | ||
42 | } | ||
43 | public void Add(string name, BSActor actor) | ||
44 | { | ||
45 | m_actors[name] = actor; | ||
46 | } | ||
47 | public bool RemoveAndRelease(string name) | ||
48 | { | ||
49 | bool ret = false; | ||
50 | if (m_actors.ContainsKey(name)) | ||
51 | { | ||
52 | BSActor beingRemoved = m_actors[name]; | ||
53 | beingRemoved.Release(); | ||
54 | m_actors.Remove(name); | ||
55 | ret = true; | ||
56 | } | ||
57 | return ret; | ||
58 | } | ||
59 | public void Clear() | ||
60 | { | ||
61 | Release(); | ||
62 | m_actors.Clear(); | ||
63 | } | ||
64 | public bool HasActor(string name) | ||
65 | { | ||
66 | return m_actors.ContainsKey(name); | ||
67 | } | ||
68 | public void ForEachActor(Action<BSActor> act) | ||
69 | { | ||
70 | foreach (KeyValuePair<string, BSActor> kvp in m_actors) | ||
71 | act(kvp.Value); | ||
72 | } | ||
73 | |||
74 | public void Release() | ||
75 | { | ||
76 | ForEachActor(a => a.Release()); | ||
77 | } | ||
78 | public void Refresh() | ||
79 | { | ||
80 | ForEachActor(a => a.Refresh()); | ||
81 | } | ||
82 | public void RemoveBodyDependencies() | ||
83 | { | ||
84 | ForEachActor(a => a.RemoveBodyDependencies()); | ||
85 | } | ||
86 | } | ||
87 | |||
88 | // ============================================================================= | ||
89 | public abstract class BSActor | ||
90 | { | ||
91 | protected BSScene PhysicsScene { get; private set; } | ||
92 | protected BSPhysObject Prim { get; private set; } | ||
93 | protected bool Enabled { get; set; } | ||
94 | public string ActorName { get; private set; } | ||
95 | |||
96 | public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) | ||
97 | { | ||
98 | PhysicsScene = physicsScene; | ||
99 | Prim = pObj; | ||
100 | ActorName = actorName; | ||
101 | Enabled = true; | ||
102 | } | ||
103 | |||
104 | // Return 'true' if activily updating the prim | ||
105 | public virtual bool isActive | ||
106 | { | ||
107 | get { return Enabled; } | ||
108 | } | ||
109 | // Turn the actor on an off. | ||
110 | public virtual void Enable(bool setEnabled) | ||
111 | { | ||
112 | Enabled = setEnabled; | ||
113 | } | ||
114 | // Release any connections and resources used by the actor. | ||
115 | public abstract void Release(); | ||
116 | // Called when physical parameters (properties set in Bullet) need to be re-applied. | ||
117 | public abstract void Refresh(); | ||
118 | // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). | ||
119 | // Register a prestep action to restore physical requirements before the next simulation step. | ||
120 | public abstract void RemoveBodyDependencies(); | ||
121 | |||
122 | } | ||
123 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6bb88c7..cba2646 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor | |||
78 | Name = name; // PhysicsActor also has the name of the object. Someday consolidate. | 78 | Name = name; // PhysicsActor also has the name of the object. Someday consolidate. |
79 | TypeName = typeName; | 79 | TypeName = typeName; |
80 | 80 | ||
81 | // The collection of things that push me around | ||
82 | PhysicalActors = new BSActorCollection(PhysicsScene); | ||
83 | |||
81 | // Initialize variables kept in base. | 84 | // Initialize variables kept in base. |
82 | GravModifier = 1.0f; | 85 | GravModifier = 1.0f; |
83 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); | 86 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); |
@@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor | |||
109 | { | 112 | { |
110 | UnRegisterAllPreStepActions(); | 113 | UnRegisterAllPreStepActions(); |
111 | UnRegisterAllPostStepActions(); | 114 | UnRegisterAllPostStepActions(); |
115 | PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() | ||
116 | { | ||
117 | PhysicalActors.Release(); | ||
118 | }); | ||
112 | } | 119 | } |
113 | 120 | ||
114 | public BSScene PhysicsScene { get; protected set; } | 121 | public BSScene PhysicsScene { get; protected set; } |
@@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
230 | 237 | ||
231 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. | 238 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. |
232 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free | 239 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free |
240 | public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; | ||
233 | 241 | ||
234 | #region Collisions | 242 | #region Collisions |
235 | 243 | ||
@@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor | |||
413 | #endregion // Collisions | 421 | #endregion // Collisions |
414 | 422 | ||
415 | #region Per Simulation Step actions | 423 | #region Per Simulation Step actions |
424 | |||
425 | public BSActorCollection PhysicalActors; | ||
426 | |||
416 | // There are some actions that must be performed for a physical object before each simulation step. | 427 | // There are some actions that must be performed for a physical object before each simulation step. |
417 | // These actions are optional so, rather than scanning all the physical objects and asking them | 428 | // These actions are optional so, rather than scanning all the physical objects and asking them |
418 | // if they have anything to do, a physical object registers for an event call before the step is performed. | 429 | // if they have anything to do, a physical object registers for an event call before the step is performed. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6a5461a..68a6c41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject | |||
126 | // Undo any vehicle properties | 126 | // Undo any vehicle properties |
127 | this.VehicleType = (int)Vehicle.TYPE_NONE; | 127 | this.VehicleType = (int)Vehicle.TYPE_NONE; |
128 | 128 | ||
129 | PhysicsScene.TaintedObject("BSPrim.destroy", delegate() | 129 | PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() |
130 | { | 130 | { |
131 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); | 131 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); |
132 | // If there are physical body and shape, release my use of same. | 132 | // If there are physical body and shape, release my use of same. |
@@ -257,98 +257,31 @@ public class BSPrim : BSPhysObject | |||
257 | }); | 257 | }); |
258 | } | 258 | } |
259 | 259 | ||
260 | bool TryExperimentalLockAxisCode = false; | ||
261 | BSConstraint LockAxisConstraint = null; | ||
262 | public override void LockAngularMotion(OMV.Vector3 axis) | 260 | public override void LockAngularMotion(OMV.Vector3 axis) |
263 | { | 261 | { |
264 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); | 262 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); |
265 | 263 | ||
266 | // "1" means free, "0" means locked | 264 | // "1" means free, "0" means locked |
267 | OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); | 265 | OMV.Vector3 locking = LockedAxisFree; |
268 | if (axis.X != 1) locking.X = 0f; | 266 | if (axis.X != 1) locking.X = 0f; |
269 | if (axis.Y != 1) locking.Y = 0f; | 267 | if (axis.Y != 1) locking.Y = 0f; |
270 | if (axis.Z != 1) locking.Z = 0f; | 268 | if (axis.Z != 1) locking.Z = 0f; |
271 | LockedAxis = locking; | 269 | LockedAxis = locking; |
272 | 270 | ||
273 | if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree) | 271 | if (LockedAxis != LockedAxisFree) |
274 | { | 272 | { |
275 | // Lock that axis by creating a 6DOF constraint that has one end in the world and | ||
276 | // the other in the object. | ||
277 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 | ||
278 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 | ||
279 | |||
280 | PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() | 273 | PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() |
281 | { | 274 | { |
282 | CleanUpLockAxisPhysicals(true /* inTaintTime */); | 275 | // If there is not already an axis locker, make one |
283 | 276 | if (!PhysicalActors.HasActor(LockedAxisActorName)) | |
284 | BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, | ||
285 | OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation), | ||
286 | true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); | ||
287 | LockAxisConstraint = axisConstrainer; | ||
288 | PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); | ||
289 | |||
290 | // The constraint is tied to the world and oriented to the prim. | ||
291 | |||
292 | // Free to move linearly | ||
293 | OMV.Vector3 linearLow = OMV.Vector3.Zero; | ||
294 | OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; | ||
295 | axisConstrainer.SetLinearLimits(linearLow, linearHigh); | ||
296 | |||
297 | // Angular with some axis locked | ||
298 | float f2PI = (float)Math.PI * 2f; | ||
299 | OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); | ||
300 | OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); | ||
301 | if (LockedAxis.X != 1f) | ||
302 | { | ||
303 | angularLow.X = 0f; | ||
304 | angularHigh.X = 0f; | ||
305 | } | ||
306 | if (LockedAxis.Y != 1f) | ||
307 | { | ||
308 | angularLow.Y = 0f; | ||
309 | angularHigh.Y = 0f; | ||
310 | } | ||
311 | if (LockedAxis.Z != 1f) | ||
312 | { | 277 | { |
313 | angularLow.Z = 0f; | 278 | PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); |
314 | angularHigh.Z = 0f; | ||
315 | } | 279 | } |
316 | axisConstrainer.SetAngularLimits(angularLow, angularHigh); | 280 | UpdatePhysicalParameters(); |
317 | |||
318 | DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", | ||
319 | LocalID, linearLow, linearHigh, angularLow, angularHigh); | ||
320 | |||
321 | // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. | ||
322 | axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); | ||
323 | |||
324 | axisConstrainer.RecomputeConstraintVariables(RawMass); | ||
325 | }); | 281 | }); |
326 | } | 282 | } |
327 | else | ||
328 | { | ||
329 | // Everything seems unlocked | ||
330 | CleanUpLockAxisPhysicals(false /* inTaintTime */); | ||
331 | } | ||
332 | |||
333 | return; | 283 | return; |
334 | } | 284 | } |
335 | // Get rid of any constraint built for LockAxis | ||
336 | // Most often the constraint is removed when the constraint collection is cleaned for this prim. | ||
337 | private void CleanUpLockAxisPhysicals(bool inTaintTime) | ||
338 | { | ||
339 | if (LockAxisConstraint != null) | ||
340 | { | ||
341 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate() | ||
342 | { | ||
343 | if (LockAxisConstraint != null) | ||
344 | { | ||
345 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); | ||
346 | LockAxisConstraint = null; | ||
347 | DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID); | ||
348 | } | ||
349 | }); | ||
350 | } | ||
351 | } | ||
352 | 285 | ||
353 | public override OMV.Vector3 RawPosition | 286 | public override OMV.Vector3 RawPosition |
354 | { | 287 | { |
@@ -916,6 +849,7 @@ public class BSPrim : BSPhysObject | |||
916 | 849 | ||
917 | // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) | 850 | // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) |
918 | VehicleController.Refresh(); | 851 | VehicleController.Refresh(); |
852 | PhysicalActors.Refresh(); | ||
919 | 853 | ||
920 | // Arrange for collision events if the simulator wants them | 854 | // Arrange for collision events if the simulator wants them |
921 | EnableCollisions(SubscribedEvents()); | 855 | EnableCollisions(SubscribedEvents()); |
@@ -1753,6 +1687,7 @@ public class BSPrim : BSPhysObject | |||
1753 | protected virtual void RemoveBodyDependencies() | 1687 | protected virtual void RemoveBodyDependencies() |
1754 | { | 1688 | { |
1755 | VehicleController.RemoveBodyDependencies(this); | 1689 | VehicleController.RemoveBodyDependencies(this); |
1690 | PhysicalActors.RemoveBodyDependencies(); | ||
1756 | } | 1691 | } |
1757 | 1692 | ||
1758 | // The physics engine says that properties have updated. Update same and inform | 1693 | // The physics engine says that properties have updated. Update same and inform |