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BulletSim: create axis lock constraint with proper orientation and 

enable axis lock functionality.
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Robert Adams 2013-04-02 06:40:12 -07:00
parent 17aef1c883
commit 68c8633ba1
1 changed files with 2 additions and 4 deletions
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6
OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
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@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
public class BSActorLockAxis : BSActor public class BSActorLockAxis : BSActor
{ {
bool TryExperimentalLockAxisCode = false; bool TryExperimentalLockAxisCode = true;
BSConstraint LockAxisConstraint = null; BSConstraint LockAxisConstraint = null;
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
@ -117,9 +117,7 @@ public class BSActorLockAxis : BSActor
RemoveAxisLockConstraint(); RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
// OMV.Vector3.Zero, OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Quaternion.Identity,
OMV.Vector3.Zero, OMV.Quaternion.Inverse(m_controllingPrim.RawOrientation),
// OMV.Vector3.Zero, m_controllingPrim.RawOrientation,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer; LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);