BulletSim: add axis parameter for specifying enable, damping, and stiffness for spring constraints. Renumber parameter ops since I can as no one is using them yet.

3 files changed, 38 insertions, 17 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 9d8838b..0b3f467 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -292,7 +292,7 @@ public enum ConstraintParamAxis : int
     AXIS_ANGULAR_X,
     AXIS_ANGULAR_Y,
     AXIS_ANGULAR_Z,
-    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
+    AXIS_LINEAR_ALL = 20,    // added by BulletSim so we don't have to do zillions of calls
     AXIS_ANGULAR_ALL,
     AXIS_ALL
 };
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
index 410584d..432e5b2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
@@ -53,7 +53,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
                     m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     }
 
-    public bool SetEnable(int pIndex, bool pAxisEnable)
+    public bool SetAxisEnable(int pIndex, bool pAxisEnable)
     {
         PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
                                         m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index be97c29..f623231 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -59,8 +59,9 @@ public sealed class BSLinksetConstraints : BSLinkset
         public OMV.Vector3 frameInBloc;
         public OMV.Quaternion frameInBrot;
         // Spring
-        public float springDamping;
-        public float springStiffness;
+        public bool[] springAxisEnable;
+        public float[] springDamping;
+        public float[] springStiffness;
 
         public BSLinkInfoConstraint(BSPrimLinkable pMember)
             : base(pMember)
@@ -90,8 +91,15 @@ public sealed class BSLinksetConstraints : BSLinkset
             frameInArot = OMV.Quaternion.Identity;
             frameInBloc = OMV.Vector3.Zero;
             frameInBrot = OMV.Quaternion.Identity;
-            springDamping = -1f;
-            springStiffness = -1f;
+            springAxisEnable = new bool[6];
+            springDamping = new float[6];
+            springStiffness = new float[6];
+            for (int ii = 0; ii < springAxisEnable.Length; ii++)
+            {
+                springAxisEnable[ii] = false;
+                springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
+                springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
+            }
             member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
         }
 
@@ -139,11 +147,13 @@ public sealed class BSLinksetConstraints : BSLinkset
                         }
                         for (int ii = 0; ii < 6; ii++)
                         {
-                            if (springDamping != -1)
-                                constrainSpring.SetDamping(ii, springDamping);
-                            if (springStiffness != -1)
-                                constrainSpring.SetStiffness(ii, springStiffness);
+                            constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
+                            if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
+                                constrainSpring.SetDamping(ii, springDamping[ii]);
+                            if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
+                                constrainSpring.SetStiffness(ii, springStiffness[ii]);
                         }
+                        constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
                     }
                     break;
                 default:
@@ -707,15 +717,26 @@ public sealed class BSLinksetConstraints : BSLinkset
                                             linkInfo.solverIterations = valueFloat;
                                             opIndex += 2;
                                             break;
+                                        case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
+                                            valueInt = (int)pParams[opIndex + 1];
+                                            valueBool = ((int)pParams[opIndex + 2] != 0);
+                                            if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length)
+                                                linkInfo.springAxisEnable[valueInt] = valueBool;
+                                            opIndex += 3;
+                                            break;
                                         case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
-                                            valueFloat = (float)pParams[opIndex + 1];
-                                            linkInfo.springDamping = valueFloat;
-                                            opIndex += 2;
+                                            valueInt = (int)pParams[opIndex + 1];
+                                            valueFloat = (float)pParams[opIndex + 2];
+                                            if (valueInt >=0 && valueInt < linkInfo.springDamping.Length)
+                                                linkInfo.springDamping[valueInt] = valueFloat;
+                                            opIndex += 3;
                                             break;
                                         case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
-                                            valueFloat = (float)pParams[opIndex + 1];
-                                            linkInfo.springStiffness = valueFloat;
-                                            opIndex += 2;
+                                            valueInt = (int)pParams[opIndex + 1];
+                                            valueFloat = (float)pParams[opIndex + 2];
+                                            if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length)
+                                                linkInfo.springStiffness[valueInt] = valueFloat;
+                                            opIndex += 3;
                                             break;
                                         default:
                                             break;