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author | Robert Adams | 2013-08-22 09:08:58 -0700 |
---|---|---|
committer | Justin Clark-Casey (justincc) | 2013-09-20 21:03:31 +0100 |
commit | 2e32b2aacbd5b3ab1b5ed0f5e34ef263e086683f (patch) | |
tree | 7d0e0f6774d133773a6f5274b265e2b808dd39f5 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: 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')
3 files changed, 76 insertions, 35 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) |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 01d67d4..410584d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs | |||
@@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof | |||
47 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); | 47 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
48 | m_enabled = true; | 48 | m_enabled = true; |
49 | 49 | ||
50 | world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | 50 | PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
51 | BSScene.DetailLogZero, world.worldID, | 51 | obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
52 | obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); | 52 | PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", |
53 | m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); | ||
53 | } | 54 | } |
54 | 55 | ||
55 | public bool SetEnable(int index, bool axisEnable) | 56 | public bool SetEnable(int pIndex, bool pAxisEnable) |
56 | { | 57 | { |
57 | bool ret = false; | 58 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", |
58 | 59 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); | |
59 | return ret; | 60 | PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable)); |
61 | return true; | ||
60 | } | 62 | } |
61 | 63 | ||
62 | public bool SetStiffness(int index, float stiffness) | 64 | public bool SetStiffness(int pIndex, float pStiffness) |
63 | { | 65 | { |
64 | bool ret = false; | 66 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", |
65 | 67 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); | |
66 | return ret; | 68 | PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); |
69 | return true; | ||
67 | } | 70 | } |
68 | 71 | ||
69 | public bool SetDamping(int index, float damping) | 72 | public bool SetDamping(int pIndex, float pDamping) |
70 | { | 73 | { |
71 | bool ret = false; | 74 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", |
72 | 75 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); | |
73 | return ret; | 76 | PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); |
77 | return true; | ||
74 | } | 78 | } |
75 | 79 | ||
76 | public bool SetEquilibriumPoint(int index, float eqPoint) | 80 | public bool SetEquilibriumPoint(int pIndex, float pEqPoint) |
77 | { | 81 | { |
78 | bool ret = false; | 82 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", |
79 | 83 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); | |
80 | return ret; | 84 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); |
85 | return true; | ||
81 | } | 86 | } |
82 | 87 | ||
83 | } | 88 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a9ae89d..be97c29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
@@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
67 | { | 67 | { |
68 | constraint = null; | 68 | constraint = null; |
69 | ResetLink(); | 69 | ResetLink(); |
70 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID); | ||
70 | } | 71 | } |
71 | 72 | ||
72 | // Set all the parameters for this constraint to a fixed, non-movable constraint. | 73 | // Set all the parameters for this constraint to a fixed, non-movable constraint. |
@@ -91,11 +92,13 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
91 | frameInBrot = OMV.Quaternion.Identity; | 92 | frameInBrot = OMV.Quaternion.Identity; |
92 | springDamping = -1f; | 93 | springDamping = -1f; |
93 | springStiffness = -1f; | 94 | springStiffness = -1f; |
95 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); | ||
94 | } | 96 | } |
95 | 97 | ||
96 | // Given a constraint, apply the current constraint parameters to same. | 98 | // Given a constraint, apply the current constraint parameters to same. |
97 | public override void SetLinkParameters(BSConstraint constrain) | 99 | public override void SetLinkParameters(BSConstraint constrain) |
98 | { | 100 | { |
101 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); | ||
99 | switch (constraintType) | 102 | switch (constraintType) |
100 | { | 103 | { |
101 | case ConstraintType.FIXED_CONSTRAINT_TYPE: | 104 | case ConstraintType.FIXED_CONSTRAINT_TYPE: |
@@ -139,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
139 | if (springDamping != -1) | 142 | if (springDamping != -1) |
140 | constrainSpring.SetDamping(ii, springDamping); | 143 | constrainSpring.SetDamping(ii, springDamping); |
141 | if (springStiffness != -1) | 144 | if (springStiffness != -1) |
142 | constrainSpring.SetStiffness(ii, springStiffness); | 145 | constrainSpring.SetStiffness(ii, springStiffness); |
143 | } | 146 | } |
144 | } | 147 | } |
145 | break; | 148 | break; |
@@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
155 | public override bool ShouldUpdateChildProperties() | 158 | public override bool ShouldUpdateChildProperties() |
156 | { | 159 | { |
157 | bool ret = true; | 160 | bool ret = true; |
158 | |||
159 | if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) | 161 | if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) |
160 | ret = false; | 162 | ret = false; |
161 | 163 | ||
@@ -193,10 +195,16 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
193 | { | 195 | { |
194 | // Queue to happen after all the other taint processing | 196 | // Queue to happen after all the other taint processing |
195 | m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() | 197 | m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() |
198 | { | ||
199 | if (HasAnyChildren) | ||
196 | { | 200 | { |
197 | if (HasAnyChildren) | 201 | // Constraints that have not been changed are not rebuild but make sure |
198 | RecomputeLinksetConstraints(); | 202 | // the constraint of the requestor is rebuilt. |
199 | }); | 203 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); |
204 | // Rebuild the linkset and all its constraints. | ||
205 | RecomputeLinksetConstraints(); | ||
206 | } | ||
207 | }); | ||
200 | } | 208 | } |
201 | } | 209 | } |
202 | 210 | ||
@@ -415,13 +423,22 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
415 | rootPrim.LocalID, rootPrim.PhysBody.AddrString, | 423 | rootPrim.LocalID, rootPrim.PhysBody.AddrString, |
416 | childPrim.LocalID, childPrim.PhysBody.AddrString); | 424 | childPrim.LocalID, childPrim.PhysBody.AddrString); |
417 | 425 | ||
418 | // Find the constraint for this link and get rid of it from the overall collection and from my list | 426 | // If asked to unlink root from root, just remove all the constraints |
419 | if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | 427 | if (rootPrim == childPrim || childPrim == LinksetRoot) |
420 | { | 428 | { |
421 | // Make the child refresh its location | 429 | PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); |
422 | m_physicsScene.PE.PushUpdate(childPrim.PhysBody); | ||
423 | ret = true; | 430 | ret = true; |
424 | } | 431 | } |
432 | else | ||
433 | { | ||
434 | // Find the constraint for this link and get rid of it from the overall collection and from my list | ||
435 | if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | ||
436 | { | ||
437 | // Make the child refresh its location | ||
438 | m_physicsScene.PE.PushUpdate(childPrim.PhysBody); | ||
439 | ret = true; | ||
440 | } | ||
441 | } | ||
425 | 442 | ||
426 | return ret; | 443 | return ret; |
427 | } | 444 | } |
@@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
521 | BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; | 538 | BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; |
522 | if (linkInfoC != null) | 539 | if (linkInfoC != null) |
523 | { | 540 | { |
524 | // Setting to fixed is easy. The reset state is the fixed link configuration. | ||
525 | linkInfoC.ResetLink(); | ||
526 | linkInfoC.constraintType = (ConstraintType)requestedType; | 541 | linkInfoC.constraintType = (ConstraintType)requestedType; |
527 | ret = (object)true; | 542 | ret = (object)true; |
528 | DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", | 543 | DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", |
@@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
589 | BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; | 604 | BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; |
590 | if (linkInfo != null) | 605 | if (linkInfo != null) |
591 | { | 606 | { |
607 | int valueInt; | ||
592 | float valueFloat; | 608 | float valueFloat; |
593 | bool valueBool; | 609 | bool valueBool; |
594 | OMV.Vector3 valueVector; | 610 | OMV.Vector3 valueVector; |
@@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
602 | linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); | 618 | linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); |
603 | switch (thisOp) | 619 | switch (thisOp) |
604 | { | 620 | { |
621 | case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: | ||
622 | valueInt = (int)pParams[opIndex + 1]; | ||
623 | ConstraintType valueType = (ConstraintType)valueInt; | ||
624 | if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE | ||
625 | || valueType == ConstraintType.D6_CONSTRAINT_TYPE | ||
626 | || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE | ||
627 | || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE | ||
628 | || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE | ||
629 | || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE) | ||
630 | { | ||
631 | linkInfo.constraintType = valueType; | ||
632 | } | ||
633 | opIndex += 2; | ||
634 | break; | ||
605 | case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: | 635 | case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: |
606 | valueVector = (OMV.Vector3)pParams[opIndex + 1]; | 636 | valueVector = (OMV.Vector3)pParams[opIndex + 1]; |
607 | linkInfo.frameInAloc = valueVector; | 637 | linkInfo.frameInAloc = valueVector; |