diff options
author | Robert Adams | 2013-09-09 14:53:16 -0700 |
---|---|---|
committer | Justin Clark-Casey (justincc) | 2013-09-20 21:03:50 +0100 |
commit | 4179d8f6512e0a69ab5c9b687ef54184f8a04b46 (patch) | |
tree | 9ec95fa531957ea7cc3149340198f63b3774b38c /OpenSim | |
parent | BulletSim: add extended physics LSL constants for axis specification. (diff) | |
download | opensim-SC_OLD-4179d8f6512e0a69ab5c9b687ef54184f8a04b46.zip opensim-SC_OLD-4179d8f6512e0a69ab5c9b687ef54184f8a04b46.tar.gz opensim-SC_OLD-4179d8f6512e0a69ab5c9b687ef54184f8a04b46.tar.bz2 opensim-SC_OLD-4179d8f6512e0a69ab5c9b687ef54184f8a04b46.tar.xz |
BulletSim: add LSL function and plumbing for setting a spring
equilibrium point in the physics engine constraint.
Diffstat (limited to 'OpenSim')
4 files changed, 40 insertions, 3 deletions
diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index b0b0bc6..9daf9d7 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs | |||
@@ -408,8 +408,10 @@ public class ExtendedPhysics : INonSharedRegionModule | |||
408 | public const int PHYS_PARAM_LINK_TYPE = 14419; | 408 | public const int PHYS_PARAM_LINK_TYPE = 14419; |
409 | [ScriptConstant] | 409 | [ScriptConstant] |
410 | public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420; | 410 | public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420; |
411 | [ScriptConstant] | ||
412 | public const int PHYS_PARAM_SPRING_EQUILIBRIUM_POINT = 14421; | ||
411 | 413 | ||
412 | public const int PHYS_PARAM_MAX = 14420; | 414 | public const int PHYS_PARAM_MAX = 14421; |
413 | 415 | ||
414 | // Used when specifying a parameter that has settings for the three linear and three angular axis | 416 | // Used when specifying a parameter that has settings for the three linear and three angular axis |
415 | [ScriptConstant] | 417 | [ScriptConstant] |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 42b5c49..b47e9a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable | |||
64 | { | 64 | { |
65 | bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); | 65 | bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); |
66 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", | 66 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", |
67 | BSScene.DetailLogZero, | 67 | m_body1.ID, |
68 | m_body1.ID, m_body1.AddrString, | 68 | m_body1.ID, m_body1.AddrString, |
69 | m_body2.ID, m_body2.AddrString, | 69 | m_body2.ID, m_body2.AddrString, |
70 | success); | 70 | success); |
@@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable | |||
77 | { | 77 | { |
78 | bool ret = false; | 78 | bool ret = false; |
79 | if (m_enabled) | 79 | if (m_enabled) |
80 | { | ||
81 | m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high); | ||
80 | ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); | 82 | ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); |
83 | } | ||
81 | return ret; | 84 | return ret; |
82 | } | 85 | } |
83 | 86 | ||
@@ -86,6 +89,7 @@ public abstract class BSConstraint : IDisposable | |||
86 | bool ret = false; | 89 | bool ret = false; |
87 | if (m_enabled) | 90 | if (m_enabled) |
88 | { | 91 | { |
92 | m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high); | ||
89 | ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); | 93 | ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); |
90 | } | 94 | } |
91 | return ret; | 95 | return ret; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 652c94a..8e7ddff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs | |||
@@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof | |||
85 | return true; | 85 | return true; |
86 | } | 86 | } |
87 | 87 | ||
88 | public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq) | ||
89 | { | ||
90 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}", | ||
91 | m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq); | ||
92 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X); | ||
93 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y); | ||
94 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z); | ||
95 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X); | ||
96 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y); | ||
97 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z); | ||
98 | return true; | ||
99 | } | ||
100 | |||
88 | } | 101 | } |
89 | 102 | ||
90 | } \ No newline at end of file | 103 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b3347bf..aaf92c8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
@@ -63,6 +63,8 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
63 | public bool[] springAxisEnable; | 63 | public bool[] springAxisEnable; |
64 | public float[] springDamping; | 64 | public float[] springDamping; |
65 | public float[] springStiffness; | 65 | public float[] springStiffness; |
66 | public OMV.Vector3 springLinearEquilibriumPoint; | ||
67 | public OMV.Vector3 springAngularEquilibriumPoint; | ||
66 | 68 | ||
67 | public BSLinkInfoConstraint(BSPrimLinkable pMember) | 69 | public BSLinkInfoConstraint(BSPrimLinkable pMember) |
68 | : base(pMember) | 70 | : base(pMember) |
@@ -102,6 +104,8 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
102 | springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; | 104 | springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; |
103 | springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; | 105 | springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; |
104 | } | 106 | } |
107 | springLinearEquilibriumPoint = OMV.Vector3.Zero; | ||
108 | springAngularEquilibriumPoint = OMV.Vector3.Zero; | ||
105 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); | 109 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); |
106 | } | 110 | } |
107 | 111 | ||
@@ -155,7 +159,12 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
155 | if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) | 159 | if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) |
156 | constrainSpring.SetStiffness(ii, springStiffness[ii]); | 160 | constrainSpring.SetStiffness(ii, springStiffness[ii]); |
157 | } | 161 | } |
158 | constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); | 162 | constrainSpring.CalculateTransforms(); |
163 | |||
164 | if (springLinearEquilibriumPoint != OMV.Vector3.Zero) | ||
165 | constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint); | ||
166 | else | ||
167 | constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); | ||
159 | } | 168 | } |
160 | break; | 169 | break; |
161 | default: | 170 | default: |
@@ -618,6 +627,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
618 | float valueFloat; | 627 | float valueFloat; |
619 | bool valueBool; | 628 | bool valueBool; |
620 | OMV.Vector3 valueVector; | 629 | OMV.Vector3 valueVector; |
630 | OMV.Vector3 valueVector2; | ||
621 | OMV.Quaternion valueQuaternion; | 631 | OMV.Quaternion valueQuaternion; |
622 | int axisLow, axisHigh; | 632 | int axisLow, axisHigh; |
623 | 633 | ||
@@ -764,6 +774,14 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
764 | linkInfo.springStiffness[ii] = valueFloat; | 774 | linkInfo.springStiffness[ii] = valueFloat; |
765 | opIndex += 3; | 775 | opIndex += 3; |
766 | break; | 776 | break; |
777 | case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT: | ||
778 | errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector"; | ||
779 | valueVector = (OMV.Vector3)pParams[opIndex + 1]; | ||
780 | valueVector2 = (OMV.Vector3)pParams[opIndex + 2]; | ||
781 | linkInfo.springLinearEquilibriumPoint = valueVector; | ||
782 | linkInfo.springAngularEquilibriumPoint = valueVector2; | ||
783 | opIndex += 3; | ||
784 | break; | ||
767 | case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: | 785 | case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: |
768 | errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; | 786 | errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; |
769 | valueBool = ((int)pParams[opIndex + 1]) != 0; | 787 | valueBool = ((int)pParams[opIndex + 1]) != 0; |