From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 23 Jan 2013 09:09:17 -0800
Subject: BulletSim: center-of-gravity linkset changes. Not working yet.
Conflicts:
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
---
.../Physics/BulletSPlugin/BSLinksetCompound.cs | 5 ++++-
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 7 ++-----
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +---------------------
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++--
4 files changed, 9 insertions(+), 29 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index d8e4028..2c8dd23 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -407,6 +407,9 @@ public sealed class BSLinksetCompound : BSLinkset
// Since we're displacing the center of the shape, we need to move the body in the world
LinksetRoot.PositionDisplacement = centerDisplacement;
+ // This causes the root prim position to be set properly based on the new PositionDisplacement
+ LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
+ // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
@@ -438,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset
if (cPrim.PhysShape.isNativeShape)
{
- // A native shape is turning into a hull collision shape because native
+ // A native shape is turned into a hull collision shape because native
// shapes are not shared so we have to hullify it so it will be tracked
// and freed at the correct time. This also solves the scaling problem
// (native shapes scaled but hull/meshes are assumed to not be).
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index da7438a..9460daf 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -645,11 +645,8 @@ public static class BSParam
entries.Add(new PhysParameterEntry(pd.name, pd.desc));
}
- // make the list in alphabetical order for estetic reasons
- entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
- {
- return ppe1.name.CompareTo(ppe2.name);
- });
+ // make the list alphabetical for estetic reasons
+ entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
SettableParameters = entries.ToArray();
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index dad7250..ee2bfa0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject
});
}
}
+
public override OMV.Vector3 ForcePosition {
get {
_position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject
}
}
}
- /* Disable. Presume whoever is setting displacement is already adjusting position, etc.
- // Override to have position displacement immediately update the physical position.
- // A feeble attempt to keep the sim and physical positions in sync
- // Must be called at taint time.
- public override OMV.Vector3 PositionDisplacement
- {
- get
- {
- return base.PositionDisplacement;
- }
- set
- {
- base.PositionDisplacement = value;
- PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
- });
- }
- }
- */
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 8075b73..34fd2a0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -708,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// TriggerPreStepEvent
// DoOneTimeTaints
// Step()
- // ProcessAndForwardCollisions
- // ProcessAndForwardPropertyUpdates
+ // ProcessAndSendToSimulatorCollisions
+ // ProcessAndSendToSimulatorPropertyUpdates
// TriggerPostStepEvent
// Calls to the PhysicsActors can't directly call into the physics engine
--
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