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BulletSim: Add calls to linkset class when object going static or dynamic. 

Reset center of mass on an object when going dynamic.
connector_plugin
Robert Adams 2012-09-13 10:11:39 -07:00
parent d86cbe6379
commit 7c347f4c5c
2 changed files with 32 additions and 8 deletions
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20
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -202,6 +202,24 @@ public class BSLinkset
return com;
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
return false;
}
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeStatic(BSPhysObject child)
{
return false;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public void Refresh(BSPhysObject requestor)
@ -255,13 +273,11 @@ public class BSLinkset
if (!somethingMissing)
{
// The root prim takes on the weight of the whole linkset
/*
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
*/
}
}
return;

20
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -530,10 +530,14 @@ public sealed class BSPrim : BSPhysObject
m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
// Stop all movement
BulletSimAPI.ClearAllForces2(BSBody.Ptr);
// Center of mass is at the center of the object
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation);
// Mass is zero which disables a bunch of physics stuff in Bullet
BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
// There is no inertia in a static object
BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
// The activation state is 'sleeping' so Bullet will not try to act on it
BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
}
@ -543,10 +547,12 @@ public sealed class BSPrim : BSPhysObject
m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
// A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
// Inertia is based on our new mass
BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
// There can be special things needed for implementing linksets
Linkset.MakeDynamic(this);
// Force activation of the object so Bullet will act on it.
BulletSimAPI.Activate2(BSBody.Ptr, true);
}
@ -1055,11 +1061,12 @@ public sealed class BSPrim : BSPhysObject
}// end CalculateMass
#endregion Mass Calculation
// Create the geometry information in Bullet for later use
// The objects needs a hull if it's physical otherwise a mesh is enough
// No locking here because this is done when we know physics is not simulating
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used
// Returns 'true' if the geometry was rebuilt
// Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough.
// No locking here because this is done when we know physics is not simulating.
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild)
{
bool ret = false;
@ -1128,6 +1135,7 @@ public sealed class BSPrim : BSPhysObject
// No locking here because this is done when we know physics is not simulating
// Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
// Called at taint-time!
private bool CreateGeomMesh()
{
// level of detail based on size and type of the object