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BulletSim: add LSL function and plumbing for setting a spring 

equilibrium point in the physics engine constraint.
0.7.6-extended
Robert Adams 2013-09-09 14:53:16 -07:00 committed by Justin Clark-Casey (justincc)
parent bde8ac6a5c
commit 4179d8f651
4 changed files with 40 additions and 3 deletions
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4
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@ -408,8 +408,10 @@ public class ExtendedPhysics : INonSharedRegionModule
public const int PHYS_PARAM_LINK_TYPE = 14419; public const int PHYS_PARAM_LINK_TYPE = 14419;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420; public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420;
[ScriptConstant]
public const int PHYS_PARAM_SPRING_EQUILIBRIUM_POINT = 14421;
public const int PHYS_PARAM_MAX = 14420; public const int PHYS_PARAM_MAX = 14421;
// Used when specifying a parameter that has settings for the three linear and three angular axis // Used when specifying a parameter that has settings for the three linear and three angular axis
[ScriptConstant] [ScriptConstant]

6
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
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@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable
{ {
bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
BSScene.DetailLogZero, m_body1.ID,
m_body1.ID, m_body1.AddrString, m_body1.ID, m_body1.AddrString,
m_body2.ID, m_body2.AddrString, m_body2.ID, m_body2.AddrString,
success); success);
@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable
{ {
bool ret = false; bool ret = false;
if (m_enabled) if (m_enabled)
{
m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
}
return ret; return ret;
} }
@ -86,6 +89,7 @@ public abstract class BSConstraint : IDisposable
bool ret = false; bool ret = false;
if (m_enabled) if (m_enabled)
{ {
m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
} }
return ret; return ret;

13
OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
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@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
return true; return true;
} }
public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
return true;
}
} }
} }

18
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -63,6 +63,8 @@ public sealed class BSLinksetConstraints : BSLinkset
public bool[] springAxisEnable; public bool[] springAxisEnable;
public float[] springDamping; public float[] springDamping;
public float[] springStiffness; public float[] springStiffness;
public OMV.Vector3 springLinearEquilibriumPoint;
public OMV.Vector3 springAngularEquilibriumPoint;
public BSLinkInfoConstraint(BSPrimLinkable pMember) public BSLinkInfoConstraint(BSPrimLinkable pMember)
: base(pMember) : base(pMember)
@ -102,6 +104,8 @@ public sealed class BSLinksetConstraints : BSLinkset
springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
} }
springLinearEquilibriumPoint = OMV.Vector3.Zero;
springAngularEquilibriumPoint = OMV.Vector3.Zero;
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
} }
@ -155,6 +159,11 @@ public sealed class BSLinksetConstraints : BSLinkset
if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
constrainSpring.SetStiffness(ii, springStiffness[ii]); constrainSpring.SetStiffness(ii, springStiffness[ii]);
} }
constrainSpring.CalculateTransforms();
if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
else
constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
} }
break; break;
@ -618,6 +627,7 @@ public sealed class BSLinksetConstraints : BSLinkset
float valueFloat; float valueFloat;
bool valueBool; bool valueBool;
OMV.Vector3 valueVector; OMV.Vector3 valueVector;
OMV.Vector3 valueVector2;
OMV.Quaternion valueQuaternion; OMV.Quaternion valueQuaternion;
int axisLow, axisHigh; int axisLow, axisHigh;
@ -764,6 +774,14 @@ public sealed class BSLinksetConstraints : BSLinkset
linkInfo.springStiffness[ii] = valueFloat; linkInfo.springStiffness[ii] = valueFloat;
opIndex += 3; opIndex += 3;
break; break;
case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT:
errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
valueVector2 = (OMV.Vector3)pParams[opIndex + 2];
linkInfo.springLinearEquilibriumPoint = valueVector;
linkInfo.springAngularEquilibriumPoint = valueVector2;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
valueBool = ((int)pParams[opIndex + 1]) != 0; valueBool = ((int)pParams[opIndex + 1]) != 0;