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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs14
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs10
3 files changed, 14 insertions, 12 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 07f5a21..ea3093a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -86,7 +86,7 @@ public class BSConstraint : IDisposable
86 86
87 public bool SetCFMAndERP(float cfm, float erp) 87 public bool SetCFMAndERP(float cfm, float erp)
88 { 88 {
89 bool ret = false; 89 bool ret = true;
90 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 90 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
91 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); 91 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
92 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 92 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 50d11e6..a4ab702 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -187,6 +187,7 @@ public sealed class BSPrim : PhysicsActor
187 { 187 {
188 _mass = CalculateMass(); // changing size changes the mass 188 _mass = CalculateMass(); // changing size changes the mass
189 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); 189 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
190 DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
190 RecreateGeomAndObject(); 191 RecreateGeomAndObject();
191 }); 192 });
192 } 193 }
@@ -972,7 +973,7 @@ public sealed class BSPrim : PhysicsActor
972 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) 973 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
973 { 974 {
974 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); 975 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
975 if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE) 976 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
976 { 977 {
977 DetailLog("{0},CreateGeom,sphere", LocalID); 978 DetailLog("{0},CreateGeom,sphere", LocalID);
978 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; 979 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
@@ -986,7 +987,7 @@ public sealed class BSPrim : PhysicsActor
986 else 987 else
987 { 988 {
988 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); 989 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
989 if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) 990 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
990 { 991 {
991 DetailLog("{0},CreateGeom,box", LocalID); 992 DetailLog("{0},CreateGeom,box", LocalID);
992 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; 993 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
@@ -1201,7 +1202,8 @@ public sealed class BSPrim : PhysicsActor
1201 1202
1202 // Create an object in Bullet if it has not already been created 1203 // Create an object in Bullet if it has not already been created
1203 // No locking here because this is done when the physics engine is not simulating 1204 // No locking here because this is done when the physics engine is not simulating
1204 private void CreateObject() 1205 // Returns 'true' if an object was actually created.
1206 private bool CreateObject()
1205 { 1207 {
1206 // this routine is called when objects are rebuilt. 1208 // this routine is called when objects are rebuilt.
1207 1209
@@ -1209,10 +1211,12 @@ public sealed class BSPrim : PhysicsActor
1209 ShapeData shape; 1211 ShapeData shape;
1210 FillShapeInfo(out shape); 1212 FillShapeInfo(out shape);
1211 // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); 1213 // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
1212 BulletSimAPI.CreateObject(_scene.WorldID, shape); 1214 bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
1213 1215
1214 // the CreateObject() may have recreated the rigid body. Make sure we have the latest. 1216 // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
1215 m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); 1217 m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
1218
1219 return ret;
1216 } 1220 }
1217 1221
1218 // Copy prim's info into the BulletSim shape description structure 1222 // Copy prim's info into the BulletSim shape description structure
@@ -1327,7 +1331,6 @@ public sealed class BSPrim : PhysicsActor
1327 1331
1328 base.RequestPhysicsterseUpdate(); 1332 base.RequestPhysicsterseUpdate();
1329 } 1333 }
1330 /*
1331 else 1334 else
1332 { 1335 {
1333 // For debugging, we can also report the movement of children 1336 // For debugging, we can also report the movement of children
@@ -1335,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor
1335 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 1338 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
1336 entprop.Acceleration, entprop.RotationalVelocity); 1339 entprop.Acceleration, entprop.RotationalVelocity);
1337 } 1340 }
1338 */
1339 } 1341 }
1340 1342
1341 // I've collided with something 1343 // I've collided with something
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index fe705cc..0ffbc94 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -87,12 +87,12 @@ public struct ShapeData
87 public System.UInt64 MeshKey; 87 public System.UInt64 MeshKey;
88 public float Friction; 88 public float Friction;
89 public float Restitution; 89 public float Restitution;
90 public int Collidable; 90 public float Collidable; // true of things bump into this
91 public int Static; // true if a static object. Otherwise gravity, etc. 91 public float Static; // true if a static object. Otherwise gravity, etc.
92 92
93 // note that bools are passed as ints since bool size changes by language and architecture 93 // note that bools are passed as floats since bool size changes by language and architecture
94 public const int numericTrue = 1; 94 public const float numericTrue = 1f;
95 public const int numericFalse = 0; 95 public const float numericFalse = 0f;
96} 96}
97[StructLayout(LayoutKind.Sequential)] 97[StructLayout(LayoutKind.Sequential)]
98public struct SweepHit 98public struct SweepHit