BulletSim: Add axis locking enabled through the ExtendedPhysics module.

Allows locking of prim/linkset relative moving in each of the linear
and angular axis. Limits on movement or rotation can be set.

1 files changed, 11 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 2b744a0..d20d094 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -309,11 +309,20 @@ public abstract class BSPhysObject : PhysicsActor
     // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
     public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
-    public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
-    public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
+    public OMV.Vector3 LockedLinearAxis;   // zero means locked. one means free.
+    public OMV.Vector3 LockedAngularAxis;  // zero means locked. one means free.
     public const float FreeAxis = 1f;
+    public const float LockedAxis = 0f;
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis);  // All axis are free
 
+    // If an axis is locked (flagged above) then the limits of that axis are specified here.
+    // Linear axis limits are relative to the object's starting coordinates.
+    // Angular limits are limited to -PI to +PI
+    public OMV.Vector3 LockedLinearAxisLow;
+    public OMV.Vector3 LockedLinearAxisHigh;
+    public OMV.Vector3 LockedAngularAxisLow;
+    public OMV.Vector3 LockedAngularAxisHigh;
+
     // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
     //     they need waking up when parameters are changed.
     // Called in taint-time!!