From 48ee73bfa771de64685a694417b34188f0a3350e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:54:47 -0700 Subject: BulletSim: add API and calls for spring constraint parameters. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 6cdc112..8cca29f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,6 +441,14 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); + +public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); + +public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); + +public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From 993bcec088ce5c3ec2f76f61842f19cbdcc89384 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 10:15:28 -0700 Subject: BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 24 ++++++++++++++++++++++ 1 file changed, 24 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 8cca29f..b241059 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,14 +441,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public const int HINGE_NOT_SPECIFIED = -1; +public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation); + public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); +public const int SPRING_NOT_SPECIFIED = -1; public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); +public const int SLIDER_LOWER_LIMIT = 0; +public const int SLIDER_UPPER_LIMIT = 1; +public const int SLIDER_LINEAR = 2; +public const int SLIDER_ANGULAR = 3; +public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val); + +public const int SLIDER_SET_SOFTNESS = 4; +public const int SLIDER_SET_RESTITUTION = 5; +public const int SLIDER_SET_DAMPING = 6; +public const int SLIDER_SET_DIRECTION = 7; +public const int SLIDER_SET_LIMIT = 8; +public const int SLIDER_SET_ORTHO = 9; +public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse); + +public const int SLIDER_MOTOR_VELOCITY = 10; +public const int SLIDER_MAX_MOTOR_FORCE = 11; +public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From 6aee08ac3c48b55ebd8e945c8b11f17dc1ab3151 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 08:36:36 -0700 Subject: BulletSim: add physChangeLinkSpring to change linkset link to be a spring constraint. Add implementation to create spring constraint. Send up property updates for linkset children at the end of flexible linkset links. The simulator probably doesn't do the right thing yet. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b241059..9d8838b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -43,7 +43,9 @@ public enum ConstraintType : int SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE + MAX_CONSTRAINT_TYPE, // last type defined by Bullet + // + FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving } // =============================================================================== -- cgit v1.1 From 7c54630a2dde768e92b3034d76314cb1e061c348 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 16:31:17 -0700 Subject: 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. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs') 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 }; -- cgit v1.1 From 6e39cc316f502855a89c51775e7394b73135ab86 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 10 Sep 2013 17:32:01 -0700 Subject: BulletSim: add ClearCollisionProxyCache function to API. Add proxy cache clearing when some properties are changed. This fixes a problem where objects would stop colliding of they were moved with setPosition mulitple times. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 0b3f467..f7dd158 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -498,6 +498,8 @@ public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); +public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj); + public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); -- cgit v1.1