From 725751fd6c0101b8610e84716d28b6af91e20b61 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Aug 2013 10:32:56 -0700 Subject: BulletSim: fixes for change linkset implementation of physical linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3afd52e..a051002 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -148,7 +148,7 @@ public abstract class BSLinkset // Returns a new linkset for the child which is a linkset of one (just the // orphened child). // Called at runtime. - public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child) + public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime) { lock (m_linksetActivityLock) { @@ -157,7 +157,7 @@ public abstract class BSLinkset // Cannot remove the root from a linkset. return this; } - RemoveChildFromLinkset(child); + RemoveChildFromLinkset(child, inTaintTime); LinksetMass = ComputeLinksetMass(); } @@ -255,7 +255,7 @@ public abstract class BSLinkset // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); + protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime); // When physical properties are changed the linkset needs to recalculate // its internal properties. -- cgit v1.1 From 0971c7ae77cae3d238be31f46994b4692af949e3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:56:37 -0700 Subject: BulletSim: complete linkage of spring constraint into linkset constraint. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a051002..d4b1c1e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -77,6 +77,8 @@ public abstract class BSLinkset { member = pMember; } + public virtual void ResetLink() { } + public virtual void SetLinkParameters(BSConstraint constrain) { } } public LinksetImplementation LinksetImpl { get; protected set; } -- 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/BSLinkset.cs | 24 +++++++++++++++++++++++ 1 file changed, 24 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d4b1c1e..2058e3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } public virtual void ResetLink() { } public virtual void SetLinkParameters(BSConstraint constrain) { } + // Returns 'true' if physical property updates from the child should be reported to the simulator + public virtual bool ShouldUpdateChildProperties() { return false; } } public LinksetImplementation LinksetImpl { get; protected set; } @@ -224,6 +226,21 @@ public abstract class BSLinkset return ret; } + // Check the type of the link and return 'true' if the link is flexible and the + // updates from the child should be sent to the simulator so things change. + public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child) + { + bool ret = false; + + BSLinkInfo linkInfo; + if (m_children.TryGetValue(child, out linkInfo)) + { + ret = linkInfo.ShouldUpdateChildProperties(); + } + + return ret; + } + // Called after a simulation step to post a collision with this object. // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have // anything to add for the collision and it should be passed through normal processing. @@ -432,6 +449,13 @@ public abstract class BSLinkset return com; } + #region Extension + public virtual object Extension(string pFunct, params object[] pParams) + { + return null; + } + #endregion // Extension + // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { -- cgit v1.1 From e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Aug 2013 13:44:31 -0700 Subject: BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2058e3a..77f69a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -209,6 +209,17 @@ public abstract class BSLinkset return ret; } + public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo) + { + bool ret = false; + BSLinkInfo found = null; + lock (m_linksetActivityLock) + { + ret = m_children.TryGetValue(child, out found); + } + foundInfo = found; + return ret; + } // Perform an action on each member of the linkset including root prim. // Depends on the action on whether this should be done at taint time. public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); -- cgit v1.1