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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.

0.7.6-extended
Robert Adams 2013-08-22 09:08:58 -07:00 committed by Justin Clark-Casey (justincc)
parent 6ade1c6c76
commit 2e32b2aacb
4 changed files with 81 additions and 36 deletions
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6
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@ -367,6 +367,7 @@ public class ExtendedPhysics : INonSharedRegionModule
// Code for specifying params. // Code for specifying params.
// The choice if 14400 is arbitrary and only serves to catch parameter code misuse. // The choice if 14400 is arbitrary and only serves to catch parameter code misuse.
public const int PHYS_PARAM_MIN = 14401; public const int PHYS_PARAM_MIN = 14401;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_FRAMEINA_LOC = 14401; public const int PHYS_PARAM_FRAMEINA_LOC = 14401;
[ScriptConstant] [ScriptConstant]
@ -401,7 +402,10 @@ public class ExtendedPhysics : INonSharedRegionModule
public const int PHYS_PARAM_SPRING_DAMPING = 14416; public const int PHYS_PARAM_SPRING_DAMPING = 14416;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_SPRING_STIFFNESS = 14417; public const int PHYS_PARAM_SPRING_STIFFNESS = 14417;
public const int PHYS_PARAM_MAX = 14417; [ScriptConstant]
public const int PHYS_PARAM_LINK_TYPE = 14418;
public const int PHYS_PARAM_MAX = 14418;
// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...]) // physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
[ScriptInvocation] [ScriptInvocation]

16
OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
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@ -59,9 +59,11 @@ public class BSConstraint6Dof : BSConstraint
frame2, frame2rot, frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true; m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID, m_body1.ID, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); 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 // 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, m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
joinPoint, joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", 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); obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
if (!m_constraint.HasPhysicalConstraint) if (!m_constraint.HasPhysicalConstraint)
{ {
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
@ -113,8 +117,10 @@ public class BSConstraint6Dof : BSConstraint
frameInBloc, frameInBrot, frameInBloc, frameInBrot,
useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
m_enabled = true; m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); 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) public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)

43
OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
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@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true; m_enabled = true;
world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID, obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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; PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
return ret; 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; PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
return ret; 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; PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
return ret; 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; PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
return ret; PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
return true;
} }
} }

36
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset
{ {
constraint = null; constraint = null;
ResetLink(); ResetLink();
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
} }
// Set all the parameters for this constraint to a fixed, non-movable constraint. // 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; frameInBrot = OMV.Quaternion.Identity;
springDamping = -1f; springDamping = -1f;
springStiffness = -1f; springStiffness = -1f;
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
} }
// Given a constraint, apply the current constraint parameters to same. // Given a constraint, apply the current constraint parameters to same.
public override void SetLinkParameters(BSConstraint constrain) public override void SetLinkParameters(BSConstraint constrain)
{ {
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType);
switch (constraintType) switch (constraintType)
{ {
case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.FIXED_CONSTRAINT_TYPE:
@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset
public override bool ShouldUpdateChildProperties() public override bool ShouldUpdateChildProperties()
{ {
bool ret = true; bool ret = true;
if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE)
ret = false; ret = false;
@ -195,7 +197,13 @@ public sealed class BSLinksetConstraints : BSLinkset
m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{ {
if (HasAnyChildren) if (HasAnyChildren)
{
// 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(); RecomputeLinksetConstraints();
}
}); });
} }
} }
@ -415,6 +423,14 @@ public sealed class BSLinksetConstraints : BSLinkset
rootPrim.LocalID, rootPrim.PhysBody.AddrString, rootPrim.LocalID, rootPrim.PhysBody.AddrString,
childPrim.LocalID, childPrim.PhysBody.AddrString); childPrim.LocalID, childPrim.PhysBody.AddrString);
// If asked to unlink root from root, just remove all the constraints
if (rootPrim == childPrim || childPrim == LinksetRoot)
{
PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
ret = true;
}
else
{
// Find the constraint for this link and get rid of it from the overall collection and from my list // 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 (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
{ {
@ -422,6 +438,7 @@ public sealed class BSLinksetConstraints : BSLinkset
m_physicsScene.PE.PushUpdate(childPrim.PhysBody); m_physicsScene.PE.PushUpdate(childPrim.PhysBody);
ret = true; ret = true;
} }
}
return ret; return ret;
} }
@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset
BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
if (linkInfoC != null) if (linkInfoC != null)
{ {
// Setting to fixed is easy. The reset state is the fixed link configuration.
linkInfoC.ResetLink();
linkInfoC.constraintType = (ConstraintType)requestedType; linkInfoC.constraintType = (ConstraintType)requestedType;
ret = (object)true; ret = (object)true;
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}",
@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset
BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
if (linkInfo != null) if (linkInfo != null)
{ {
int valueInt;
float valueFloat; float valueFloat;
bool valueBool; bool valueBool;
OMV.Vector3 valueVector; OMV.Vector3 valueVector;
@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset
linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); linkInfo.member.LocalID, thisOp, pParams[opIndex+1]);
switch (thisOp) 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: case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
valueVector = (OMV.Vector3)pParams[opIndex + 1]; valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.frameInAloc = valueVector; linkInfo.frameInAloc = valueVector;