From 50dbb9ffe480b08f13f7bebb8259193dc00f88dd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 31 Jul 2012 09:23:05 -0700
Subject: BulletSim: add parameters and API calls for setting ERP and CFM. Set
 ERP and CFM in linkset constraints. Reorder rebuilding of object bodies so
 they are not rebuilt everytime    something is linked and unlinked.

---
 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index fbb9e21..07f5a21 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -50,7 +50,8 @@ public class BSConstraint : IDisposable
         m_body2 = obj2;
         m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
                             frame1, frame1rot,
-                            frame2, frame2rot));
+                            frame2, frame2rot,
+                            true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
         m_enabled = true;
     }
 
@@ -83,6 +84,15 @@ public class BSConstraint : IDisposable
         return ret;
     }
 
+    public bool SetCFMAndERP(float cfm, float erp)
+    {
+        bool ret = false;
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        return ret;
+    }
+
     public bool UseFrameOffset(bool useOffset)
     {
         bool ret = false;
-- 
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