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authorRobert Adams2013-08-22 09:08:58 -0700
committerRobert Adams2013-09-11 09:12:12 -0700
commit30b3657a66e5a4012b96baae2c0424ec13409f83 (patch)
tree3892adaa1534d3f36ecbc6ab6807ad0040736b75 /OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
parentBulletSim: add requestor's ID to post taint detail log message. (diff)
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BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs16
1 files changed, 11 insertions, 5 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index 5008ff7..7fcb75c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -59,9 +59,11 @@ public class BSConstraint6Dof : BSConstraint
59 frame2, frame2rot, 59 frame2, frame2rot,
60 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); 60 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
61 m_enabled = true; 61 m_enabled = true;
62 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", 62 PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
63 BSScene.DetailLogZero, world.worldID, 63 m_body1.ID, world.worldID,
64 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); 64 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
65 PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
66 m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
65 } 67 }
66 68
67 // 6 Dof constraint based on a midpoint between the two constrained bodies 69 // 6 Dof constraint based on a midpoint between the two constrained bodies
@@ -86,9 +88,11 @@ public class BSConstraint6Dof : BSConstraint
86 m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, 88 m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
87 joinPoint, 89 joinPoint,
88 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); 90 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
91
89 PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", 92 PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
90 BSScene.DetailLogZero, world.worldID, m_constraint.AddrString, 93 m_body1.ID, world.worldID, m_constraint.AddrString,
91 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); 94 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
95
92 if (!m_constraint.HasPhysicalConstraint) 96 if (!m_constraint.HasPhysicalConstraint)
93 { 97 {
94 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", 98 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
@@ -113,8 +117,10 @@ public class BSConstraint6Dof : BSConstraint
113 frameInBloc, frameInBrot, 117 frameInBloc, frameInBrot,
114 useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); 118 useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
115 m_enabled = true; 119 m_enabled = true;
116 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", 120 PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
117 BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); 121 m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
122 PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}",
123 m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
118 } 124 }
119 125
120 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) 126 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)