BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint.

author: Robert Adams 2013-08-16 13:44:31 -0700
committer: Robert Adams 2013-09-11 09:11:58 -0700
commit: e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a (patch)
tree: 033512ed6bb67408767671a7538000dafc205fb7 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
parent: BulletSim: update DLLs and SOs with Bullet svn version 2644 (no major fixes) ... (diff)
download: opensim-SC_OLD-e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a.zip
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1 files changed, 124 insertions, 21 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index b72afc0..92df84e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset
        LinksetImpl = LinksetImplementation.Constraint;
    }
+    private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]";
    // When physical properties are changed the linkset needs to recalculate
    //   its internal properties.
    // This is queued in the 'post taint' queue so the
@@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                                RemoveDependencies(child);
                                BSLinkInfo linkInfo = null;
-                                if (m_children.TryGetValue(child, out linkInfo))
+                                if (TryGetLinkInfo(child, out linkInfo))
                                {
                                    BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
                                    if (linkInfoC != null)
@@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset
                    }
                }
                break;
+            case ExtendedPhysics.PhysFunctGetLinkType:
+                if (pParams.Length > 0)
+                {
+                    BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                    if (child != null)
+                    {
+                        BSLinkInfo linkInfo = null;
+                        if (TryGetLinkInfo(child, out linkInfo))
+                        {
+                            BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                            if (linkInfoC != null)
+                            {
+                                ret = (object)(int)linkInfoC.constraintType;
+                            }
+                        }
+                    }
+                }
+                break;
            case ExtendedPhysics.PhysFunctChangeLinkParams:
-                int setParam = 2;
+                // There should be two parameters: the childActor and a list of parameters to set
-                switch (setParam)
+                try
+                {
+                    if (pParams.Length > 1)
+                    {
+                        BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                        object[] setOps = (object[])pParams[1];
+                        BSLinkInfo baseLinkInfo = null;
+                        if (TryGetLinkInfo(child, out baseLinkInfo))
+                        {
+                            BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
+                            if (linkInfo != null)
+                            {
+                                float valueFloat;
+                                bool valueBool;
+                                OMV.Vector3 valueVector;
+                                OMV.Quaternion valueQuaternion;
+                                int opIndex = 0;
+                                while (opIndex < setOps.Length)
+                                {
+                                    int thisOp = (int)setOps[opIndex];
+                                    switch (thisOp)
+                                    {
+                                        case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.frameInAloc = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
+                                            valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1];
+                                            linkInfo.frameInArot = valueQuaternion;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.frameInBloc = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
+                                            valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1];
+                                            linkInfo.frameInBrot = valueQuaternion;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.linearLimitLow = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.linearLimitHigh = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.angularLimitLow = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
+                                            valueVector = (OMV.Vector3)setOps[opIndex + 1];
+                                            linkInfo.angularLimitHigh = valueVector;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
+                                            valueBool = (bool)setOps[opIndex + 1];
+                                            linkInfo.useFrameOffset = valueBool;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
+                                            valueBool = (bool)setOps[opIndex + 1];
+                                            linkInfo.enableTransMotor = valueBool;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.transMotorMaxVel = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.transMotorMaxForce = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_CFM:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.cfm = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_ERP:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.erp = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.solverIterations = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.springDamping = valueFloat;
+                                            break;
+                                        case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
+                                            valueFloat = (float)setOps[opIndex + 1];
+                                            linkInfo.springStiffness = valueFloat;
+                                            break;
+                                        default:
+                                            break;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+                catch (Exception e)
                {
-                    case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
+                    // There are many ways to mess up the parameters. If not just right don't fail without some error.
-                    case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
+                    m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
-                    case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
-                    case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
-                    case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
-                    case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
-                    case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
-                    case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
-                    case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
-                    case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
-                    case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
-                    case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
-                    case ExtendedPhysics.PHYS_PARAM_CFM:
-                    case ExtendedPhysics.PHYS_PARAM_ERP:
-                    case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
-                    case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
-                    case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
-                        break;
                }
                break;
            default:
author	Robert Adams	2013-08-16 13:44:31 -0700
committer	Robert Adams	2013-09-11 09:11:58 -0700
commit	e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a (patch)
tree	033512ed6bb67408767671a7538000dafc205fb7 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
parent	BulletSim: update DLLs and SOs with Bullet svn version 2644 (no major fixes) ... (diff)
download	opensim-SC_OLD-e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a.zip opensim-SC_OLD-e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a.tar.gz opensim-SC_OLD-e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a.tar.bz2 opensim-SC_OLD-e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a.tar.xz

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b72afc0..92df84e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset
168	LinksetImpl = LinksetImplementation.Constraint;	168	LinksetImpl = LinksetImplementation.Constraint;
169	}	169	}
170		170
		171	private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]";
		172
171	// When physical properties are changed the linkset needs to recalculate	173	// When physical properties are changed the linkset needs to recalculate
172	// its internal properties.	174	// its internal properties.
173	// This is queued in the 'post taint' queue so the	175	// This is queued in the 'post taint' queue so the
@@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset
511	RemoveDependencies(child);	513	RemoveDependencies(child);
512		514
513	BSLinkInfo linkInfo = null;	515	BSLinkInfo linkInfo = null;
514	if (m_children.TryGetValue(child, out linkInfo))	516	if (TryGetLinkInfo(child, out linkInfo))
515	{	517	{
516	BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;	518	BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
517	if (linkInfoC != null)	519	if (linkInfoC != null)
@@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset
529	}	531	}
530	}	532	}
531	break;	533	break;
		534	case ExtendedPhysics.PhysFunctGetLinkType:
		535	if (pParams.Length > 0)
		536	{
		537	BSPrimLinkable child = pParams[0] as BSPrimLinkable;
		538	if (child != null)
		539	{
		540	BSLinkInfo linkInfo = null;
		541	if (TryGetLinkInfo(child, out linkInfo))
		542	{
		543	BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
		544	if (linkInfoC != null)
		545	{
		546	ret = (object)(int)linkInfoC.constraintType;
		547	}
		548	}
		549	}
		550	}
		551	break;
532	case ExtendedPhysics.PhysFunctChangeLinkParams:	552	case ExtendedPhysics.PhysFunctChangeLinkParams:
533	int setParam = 2;	553	// There should be two parameters: the childActor and a list of parameters to set
534	switch (setParam)	554	try
		555	{
		556	if (pParams.Length > 1)
		557	{
		558	BSPrimLinkable child = pParams[0] as BSPrimLinkable;
		559	object[] setOps = (object[])pParams[1];
		560	BSLinkInfo baseLinkInfo = null;
		561	if (TryGetLinkInfo(child, out baseLinkInfo))
		562	{
		563	BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
		564	if (linkInfo != null)
		565	{
		566	float valueFloat;
		567	bool valueBool;
		568	OMV.Vector3 valueVector;
		569	OMV.Quaternion valueQuaternion;
		570
		571	int opIndex = 0;
		572	while (opIndex < setOps.Length)
		573	{
		574	int thisOp = (int)setOps[opIndex];
		575	switch (thisOp)
		576	{
		577	case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
		578	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		579	linkInfo.frameInAloc = valueVector;
		580	break;
		581	case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
		582	valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1];
		583	linkInfo.frameInArot = valueQuaternion;
		584	break;
		585	case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
		586	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		587	linkInfo.frameInBloc = valueVector;
		588	break;
		589	case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
		590	valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1];
		591	linkInfo.frameInBrot = valueQuaternion;
		592	break;
		593	case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
		594	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		595	linkInfo.linearLimitLow = valueVector;
		596	break;
		597	case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
		598	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		599	linkInfo.linearLimitHigh = valueVector;
		600	break;
		601	case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
		602	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		603	linkInfo.angularLimitLow = valueVector;
		604	break;
		605	case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
		606	valueVector = (OMV.Vector3)setOps[opIndex + 1];
		607	linkInfo.angularLimitHigh = valueVector;
		608	break;
		609	case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
		610	valueBool = (bool)setOps[opIndex + 1];
		611	linkInfo.useFrameOffset = valueBool;
		612	break;
		613	case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
		614	valueBool = (bool)setOps[opIndex + 1];
		615	linkInfo.enableTransMotor = valueBool;
		616	break;
		617	case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
		618	valueFloat = (float)setOps[opIndex + 1];
		619	linkInfo.transMotorMaxVel = valueFloat;
		620	break;
		621	case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
		622	valueFloat = (float)setOps[opIndex + 1];
		623	linkInfo.transMotorMaxForce = valueFloat;
		624	break;
		625	case ExtendedPhysics.PHYS_PARAM_CFM:
		626	valueFloat = (float)setOps[opIndex + 1];
		627	linkInfo.cfm = valueFloat;
		628	break;
		629	case ExtendedPhysics.PHYS_PARAM_ERP:
		630	valueFloat = (float)setOps[opIndex + 1];
		631	linkInfo.erp = valueFloat;
		632	break;
		633	case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
		634	valueFloat = (float)setOps[opIndex + 1];
		635	linkInfo.solverIterations = valueFloat;
		636	break;
		637	case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
		638	valueFloat = (float)setOps[opIndex + 1];
		639	linkInfo.springDamping = valueFloat;
		640	break;
		641	case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
		642	valueFloat = (float)setOps[opIndex + 1];
		643	linkInfo.springStiffness = valueFloat;
		644	break;
		645	default:
		646	break;
		647	}
		648	}
		649	}
		650	}
		651	}
		652	}
		653	catch (Exception e)
535	{	654	{
536	case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:	655	// There are many ways to mess up the parameters. If not just right don't fail without some error.
537	case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:	656	m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
538	case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
539	case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
540	case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
541	case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
542	case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
543	case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
544	case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
545	case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
546	case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
547	case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
548	case ExtendedPhysics.PHYS_PARAM_CFM:
549	case ExtendedPhysics.PHYS_PARAM_ERP:
550	case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
551	case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
552	case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
553	break;
554	}	657	}
555	break;	658	break;
556	default:	659	default: