From 2e32b2aacbd5b3ab1b5ed0f5e34ef263e086683f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 09:08:58 -0700 Subject: BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 16 ++++--- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 43 ++++++++++-------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 52 +++++++++++++++++----- 3 files changed, 76 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 5008ff7..7fcb75c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -59,9 +59,11 @@ public class BSConstraint6Dof : BSConstraint frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, + PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } // 6 Dof constraint based on a midpoint between the two constrained bodies @@ -86,9 +88,11 @@ public class BSConstraint6Dof : BSConstraint m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.AddrString, + m_body1.ID, world.worldID, m_constraint.AddrString, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", @@ -113,8 +117,10 @@ public class BSConstraint6Dof : BSConstraint frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", - BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}", + m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); } public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 01d67d4..410584d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } - public bool SetEnable(int index, bool axisEnable) + public bool SetEnable(int pIndex, bool pAxisEnable) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); + PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable)); + return true; } - public bool SetStiffness(int index, float stiffness) + public bool SetStiffness(int pIndex, float pStiffness) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); + PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); + return true; } - public bool SetDamping(int index, float damping) + public bool SetDamping(int pIndex, float pDamping) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); + PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); + return true; } - public bool SetEquilibriumPoint(int index, float eqPoint) + public bool SetEquilibriumPoint(int pIndex, float pEqPoint) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); + return true; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a9ae89d..be97c29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constraint = null; ResetLink(); + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID); } // Set all the parameters for this constraint to a fixed, non-movable constraint. @@ -91,11 +92,13 @@ public sealed class BSLinksetConstraints : BSLinkset frameInBrot = OMV.Quaternion.Identity; springDamping = -1f; springStiffness = -1f; + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } // Given a constraint, apply the current constraint parameters to same. public override void SetLinkParameters(BSConstraint constrain) { + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); switch (constraintType) { case ConstraintType.FIXED_CONSTRAINT_TYPE: @@ -139,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (springDamping != -1) constrainSpring.SetDamping(ii, springDamping); if (springStiffness != -1) - constrainSpring.SetStiffness(ii, springStiffness); + constrainSpring.SetStiffness(ii, springStiffness); } } break; @@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset public override bool ShouldUpdateChildProperties() { bool ret = true; - if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) ret = false; @@ -193,10 +195,16 @@ public sealed class BSLinksetConstraints : BSLinkset { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren) { - if (HasAnyChildren) - RecomputeLinksetConstraints(); - }); + // Constraints that have not been changed are not rebuild but make sure + // the constraint of the requestor is rebuilt. + PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); + // Rebuild the linkset and all its constraints. + RecomputeLinksetConstraints(); + } + }); } } @@ -415,13 +423,22 @@ public sealed class BSLinksetConstraints : BSLinkset rootPrim.LocalID, rootPrim.PhysBody.AddrString, childPrim.LocalID, childPrim.PhysBody.AddrString); - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + // If asked to unlink root from root, just remove all the constraints + if (rootPrim == childPrim || childPrim == LinksetRoot) { - // Make the child refresh its location - m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); ret = true; } + else + { + // Find the constraint for this link and get rid of it from the overall collection and from my list + if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + { + // Make the child refresh its location + m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + ret = true; + } + } return ret; } @@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) { - // Setting to fixed is easy. The reset state is the fixed link configuration. - linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", @@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; if (linkInfo != null) { + int valueInt; float valueFloat; bool valueBool; OMV.Vector3 valueVector; @@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { + case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: + valueInt = (int)pParams[opIndex + 1]; + ConstraintType valueType = (ConstraintType)valueInt; + if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE + || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE + || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE + || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE) + { + linkInfo.constraintType = valueType; + } + opIndex += 2; + break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; -- cgit v1.1