BulletSim: add LSL function and plumbing for setting a spring
equilibrium point in the physics engine constraint.0.7.6-extended
parent
bde8ac6a5c
commit
4179d8f651
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@ -408,8 +408,10 @@ public class ExtendedPhysics : INonSharedRegionModule
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public const int PHYS_PARAM_LINK_TYPE = 14419;
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[ScriptConstant]
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public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420;
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[ScriptConstant]
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public const int PHYS_PARAM_SPRING_EQUILIBRIUM_POINT = 14421;
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public const int PHYS_PARAM_MAX = 14420;
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public const int PHYS_PARAM_MAX = 14421;
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// Used when specifying a parameter that has settings for the three linear and three angular axis
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[ScriptConstant]
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@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable
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{
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bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
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m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
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BSScene.DetailLogZero,
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m_body1.ID,
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m_body1.ID, m_body1.AddrString,
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m_body2.ID, m_body2.AddrString,
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success);
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@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable
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{
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bool ret = false;
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if (m_enabled)
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{
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m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
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ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
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}
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return ret;
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}
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@ -86,6 +89,7 @@ public abstract class BSConstraint : IDisposable
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bool ret = false;
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if (m_enabled)
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{
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m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
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ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
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}
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return ret;
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@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
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return true;
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}
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public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
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return true;
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}
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}
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}
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@ -63,6 +63,8 @@ public sealed class BSLinksetConstraints : BSLinkset
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public bool[] springAxisEnable;
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public float[] springDamping;
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public float[] springStiffness;
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public OMV.Vector3 springLinearEquilibriumPoint;
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public OMV.Vector3 springAngularEquilibriumPoint;
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public BSLinkInfoConstraint(BSPrimLinkable pMember)
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: base(pMember)
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@ -102,6 +104,8 @@ public sealed class BSLinksetConstraints : BSLinkset
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springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
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springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
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}
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springLinearEquilibriumPoint = OMV.Vector3.Zero;
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springAngularEquilibriumPoint = OMV.Vector3.Zero;
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member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
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}
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@ -155,7 +159,12 @@ public sealed class BSLinksetConstraints : BSLinkset
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if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
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constrainSpring.SetStiffness(ii, springStiffness[ii]);
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}
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constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
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constrainSpring.CalculateTransforms();
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if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
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constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
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else
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constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
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}
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break;
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default:
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@ -618,6 +627,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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float valueFloat;
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bool valueBool;
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OMV.Vector3 valueVector;
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OMV.Vector3 valueVector2;
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OMV.Quaternion valueQuaternion;
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int axisLow, axisHigh;
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@ -764,6 +774,14 @@ public sealed class BSLinksetConstraints : BSLinkset
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linkInfo.springStiffness[ii] = valueFloat;
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opIndex += 3;
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break;
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case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT:
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errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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valueVector2 = (OMV.Vector3)pParams[opIndex + 2];
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linkInfo.springLinearEquilibriumPoint = valueVector;
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linkInfo.springAngularEquilibriumPoint = valueVector2;
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opIndex += 3;
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break;
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case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
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errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
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valueBool = ((int)pParams[opIndex + 1]) != 0;
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