aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
diff options
context:
space:
mode:
authorRobert Adams2013-07-23 08:13:01 -0700
committerRobert Adams2013-07-23 08:13:01 -0700
commitaec8852af793699a4c1093a38b992daf2dbd97f3 (patch)
tree8d628e8e17e0773fc2ee95e500a2ae919fcd6da9 /OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
parentRevert "Revert "Add experimental stubs for an extension function interface on... (diff)
downloadopensim-SC_OLD-aec8852af793699a4c1093a38b992daf2dbd97f3.zip
opensim-SC_OLD-aec8852af793699a4c1093a38b992daf2dbd97f3.tar.gz
opensim-SC_OLD-aec8852af793699a4c1093a38b992daf2dbd97f3.tar.bz2
opensim-SC_OLD-aec8852af793699a4c1093a38b992daf2dbd97f3.tar.xz
Revert "Revert "BulletSim: move collision processing for linksets from BSPrimLinkable""
Found that the vehicle movement problem was not caused by these physics changes. This reverts commit c45659863d8821a48a32e5b687c7b2a6d90b0300.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs75
1 files changed, 74 insertions, 1 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index ad8e10f..78c0af7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -203,6 +203,33 @@ public abstract class BSLinkset
203 return ret; 203 return ret;
204 } 204 }
205 205
206 // Called after a simulation step to post a collision with this object.
207 // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
208 // anything to add for the collision and it should be passed through normal processing.
209 // Default processing for a linkset.
210 public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
211 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
212 {
213 bool ret = false;
214
215 // prims in the same linkset cannot collide with each other
216 BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
217 if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
218 {
219 // By returning 'true', we tell the caller the collision has been 'handled' so it won't
220 // do anything about this collision and thus, effectivily, ignoring the collision.
221 ret = true;
222 }
223 else
224 {
225 // Not a collision between members of the linkset. Must be a real collision.
226 // So the linkset root can know if there is a collision anywhere in the linkset.
227 LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
228 }
229
230 return ret;
231 }
232
206 // I am the root of a linkset and a new child is being added 233 // I am the root of a linkset and a new child is being added
207 // Called while LinkActivity is locked. 234 // Called while LinkActivity is locked.
208 protected abstract void AddChildToLinkset(BSPrimLinkable child); 235 protected abstract void AddChildToLinkset(BSPrimLinkable child);
@@ -251,6 +278,53 @@ public abstract class BSLinkset
251 public abstract bool RemoveDependencies(BSPrimLinkable child); 278 public abstract bool RemoveDependencies(BSPrimLinkable child);
252 279
253 // ================================================================ 280 // ================================================================
281 // Some physical setting happen to all members of the linkset
282 public virtual void SetPhysicalFriction(float friction)
283 {
284 ForEachMember((member) =>
285 {
286 if (member.PhysBody.HasPhysicalBody)
287 m_physicsScene.PE.SetFriction(member.PhysBody, friction);
288 return false; // 'false' says to continue looping
289 }
290 );
291 }
292 public virtual void SetPhysicalRestitution(float restitution)
293 {
294 ForEachMember((member) =>
295 {
296 if (member.PhysBody.HasPhysicalBody)
297 m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
298 return false; // 'false' says to continue looping
299 }
300 );
301 }
302 public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
303 {
304 ForEachMember((member) =>
305 {
306 if (member.PhysBody.HasPhysicalBody)
307 m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
308 return false; // 'false' says to continue looping
309 }
310 );
311 }
312 public virtual void ComputeLocalInertia()
313 {
314 ForEachMember((member) =>
315 {
316 if (member.PhysBody.HasPhysicalBody)
317 {
318 OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
319 member.Inertia = inertia * BSParam.VehicleInertiaFactor;
320 m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
321 m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
322 }
323 return false; // 'false' says to continue looping
324 }
325 );
326 }
327 // ================================================================
254 protected virtual float ComputeLinksetMass() 328 protected virtual float ComputeLinksetMass()
255 { 329 {
256 float mass = LinksetRoot.RawMass; 330 float mass = LinksetRoot.RawMass;
@@ -311,6 +385,5 @@ public abstract class BSLinkset
311 if (m_physicsScene.PhysicsLogging.Enabled) 385 if (m_physicsScene.PhysicsLogging.Enabled)
312 m_physicsScene.DetailLog(msg, args); 386 m_physicsScene.DetailLog(msg, args);
313 } 387 }
314
315} 388}
316} 389}