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.

---
 .../Physics/BulletSPlugin/BSLinksetConstraints.cs  | 102 ++++++++++++++++++++-
 1 file changed, 99 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index db323c2..17fec9d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -60,8 +60,6 @@ public sealed class BSLinksetConstraints : BSLinkset
         public float springDamping;
         public float springStiffness;
 
-
-
         public BSLinkInfoConstraint(BSPrimLinkable pMember)
             : base(pMember)
         {
@@ -72,7 +70,8 @@ public sealed class BSLinksetConstraints : BSLinkset
         // Set all the parameters for this constraint to a fixed, non-movable constraint.
         public override void ResetLink()
         {
-            constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
+            // constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
+            constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE;
             linearLimitLow = OMV.Vector3.Zero;
             linearLimitHigh = OMV.Vector3.Zero;
             angularLimitLow = OMV.Vector3.Zero;
@@ -97,6 +96,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         {
             switch (constraintType)
             {
+                case ConstraintType.FIXED_CONSTRAINT_TYPE:
                 case ConstraintType.D6_CONSTRAINT_TYPE:
                     BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
                     if (constrain6dof != null)
@@ -145,6 +145,20 @@ public sealed class BSLinksetConstraints : BSLinkset
                     break;
             }
         }
+
+        // Return 'true' if the property updates from the physics engine should be reported
+        //    to the simulator.
+        // If the constraint is fixed, we don't need to report as the simulator and viewer will
+        //    report the right things.
+        public override bool ShouldUpdateChildProperties()
+        {
+            bool ret = true;
+
+            if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE)
+                ret = false;
+
+            return ret;
+        }
     }
 
     public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
@@ -316,6 +330,7 @@ public sealed class BSLinksetConstraints : BSLinkset
 
         switch (linkInfo.constraintType)
         {
+            case ConstraintType.FIXED_CONSTRAINT_TYPE:
             case ConstraintType.D6_CONSTRAINT_TYPE:
                 // Relative position normalized to the root prim
                 // Essentually a vector pointing from center of rootPrim to center of li.member
@@ -466,5 +481,86 @@ public sealed class BSLinksetConstraints : BSLinkset
             Rebuilding = false;
         }
     }
+
+    #region Extension
+    public override object Extension(string pFunct, params object[] pParams)
+    {
+        object ret = null;
+        switch (pFunct)
+        {
+            // pParams = (int linkNUm, PhysActor linkChild)
+            case BSScene.PhysFunctChangeLinkFixed:
+                if (pParams.Length > 1)
+                {
+                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
+                    if (child != null)
+                    {
+                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
+                        {
+                            // 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)
+                                {
+                                    // 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);
+
+                            BSLinkInfo linkInfo = null;
+                            if (m_children.TryGetValue(child, out linkInfo))
+                            {
+                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                                if (linkInfoC != null)
+                                {
+                                    // 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;
+                                }
+                            }
+                            // Cause the whole linkset to be rebuilt in post-taint time.
+                            Refresh(child);
+                        });
+                    }
+                }
+                break;
+            default:
+                ret = base.Extension(pFunct, pParams);
+                break;
+        }
+        return ret;
+    }
+    #endregion // Extension
+
 }
 }
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