From 6aee08ac3c48b55ebd8e945c8b11f17dc1ab3151 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 8 Aug 2013 08:36:36 -0700
Subject: BulletSim: add physChangeLinkSpring to change linkset link to be a
 spring constraint. Add implementation to create spring constraint. Send up
 property updates for linkset children at the end of flexible linkset links.
 The simulator probably doesn't do the right thing yet.

---
 .../Scripting/ExtendedPhysics/ExtendedPhysics.cs   | 73 +++++++++++++++++++++-
 1 file changed, 70 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/OptionalModules/Scripting')

diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index decb61a..278e9e7 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -291,6 +291,10 @@ public class ExtendedPhysics : INonSharedRegionModule
         return ret;
     }
 
+    // physChangeLinkFixed(integer linkNum)
+    // Change the link between the root and the linkNum into a fixed, static physical connection.
+    // This needs to change 'linkNum' into the physical object because lower level code has
+    //     no access to the link numbers.
     [ScriptInvocation]
     public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum)
     {
@@ -353,13 +357,76 @@ public class ExtendedPhysics : INonSharedRegionModule
     [ScriptInvocation]
     public int physChangeLinkHinge(UUID hostID, UUID scriptID, int linkNum)
     {
-        return 0;
+        return -1;
     }
 
     [ScriptInvocation]
-    public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum)
+    public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum,
+                        Vector3 frameInAloc, Quaternion frameInArot,
+                        Vector3 frameInBloc, Quaternion frameInBrot,
+                        Vector3 linearLimitLow, Vector3 linearLimitHigh,
+                        Vector3 angularLimitLow, Vector3 angularLimitHigh
+        )
     {
-        return 0;
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        // The part that is requesting the change.
+        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+        if (requestingPart != null)
+        {
+            // The type is is always on the root of a linkset.
+            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+            SceneObjectPart rootPart = containingGroup.RootPart;
+
+            if (rootPart != null)
+            {
+                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+                if (rootPhysActor != null)
+                {
+                    SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
+                    if (linkPart != null)
+                    {
+                        Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor;
+                        if (linkPhysActor != null)
+                        {
+                            ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkSpring, linkNum, linkPhysActor,
+                                                                    frameInAloc, frameInArot,
+                                                                    frameInBloc, frameInBrot,
+                                                                    linearLimitLow, linearLimitHigh,
+                                                                    angularLimitLow, angularLimitHigh
+                                                                        );
+                        }
+                        else
+                        {
+                            m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
+                                                LogHeader, rootPart.Name, hostID, linkNum);
+                        }
+                    }
+                    else
+                    {
+                        m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
+                                            LogHeader, rootPart.Name, hostID, linkNum);
+                    }
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
+        return ret;
     }
 
     [ScriptInvocation]
-- 
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