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BulletSim: add axis parameter for specifying enable, damping, and stiffness for spring constraints. Renumber parameter ops since I can as no one is using them yet.

varregion
Robert Adams 2013-08-22 16:31:17 -07:00
parent 30b3657a66
commit 7c54630a2d
4 changed files with 44 additions and 21 deletions
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10
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@ -399,13 +399,15 @@ public class ExtendedPhysics : INonSharedRegionModule
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_SOLVER_ITERATIONS = 14415; public const int PHYS_PARAM_SOLVER_ITERATIONS = 14415;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_SPRING_DAMPING = 14416; public const int PHYS_PARAM_SPRING_AXIS_ENABLE = 14416;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_SPRING_STIFFNESS = 14417; public const int PHYS_PARAM_SPRING_DAMPING = 14417;
[ScriptConstant] [ScriptConstant]
public const int PHYS_PARAM_LINK_TYPE = 14418; public const int PHYS_PARAM_SPRING_STIFFNESS = 14418;
[ScriptConstant]
public const int PHYS_PARAM_LINK_TYPE = 14419;
public const int PHYS_PARAM_MAX = 14418; public const int PHYS_PARAM_MAX = 14419;
// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...]) // physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
[ScriptInvocation] [ScriptInvocation]

2
OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
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@ -292,7 +292,7 @@ public enum ConstraintParamAxis : int
AXIS_ANGULAR_X, AXIS_ANGULAR_X,
AXIS_ANGULAR_Y, AXIS_ANGULAR_Y,
AXIS_ANGULAR_Z, AXIS_ANGULAR_Z,
AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls AXIS_LINEAR_ALL = 20, // added by BulletSim so we don't have to do zillions of calls
AXIS_ANGULAR_ALL, AXIS_ANGULAR_ALL,
AXIS_ALL AXIS_ALL
}; };

2
OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
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@ -53,7 +53,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
} }
public bool SetEnable(int pIndex, bool pAxisEnable) public bool SetAxisEnable(int pIndex, bool pAxisEnable)
{ {
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);

51
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -1,4 +1,4 @@
/* /*
* Copyright (c) Contributors, http://opensimulator.org/ * Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders. * See CONTRIBUTORS.TXT for a full list of copyright holders.
* *
@ -59,8 +59,9 @@ public sealed class BSLinksetConstraints : BSLinkset
public OMV.Vector3 frameInBloc; public OMV.Vector3 frameInBloc;
public OMV.Quaternion frameInBrot; public OMV.Quaternion frameInBrot;
// Spring // Spring
public float springDamping; public bool[] springAxisEnable;
public float springStiffness; public float[] springDamping;
public float[] springStiffness;
public BSLinkInfoConstraint(BSPrimLinkable pMember) public BSLinkInfoConstraint(BSPrimLinkable pMember)
: base(pMember) : base(pMember)
@ -90,8 +91,15 @@ public sealed class BSLinksetConstraints : BSLinkset
frameInArot = OMV.Quaternion.Identity; frameInArot = OMV.Quaternion.Identity;
frameInBloc = OMV.Vector3.Zero; frameInBloc = OMV.Vector3.Zero;
frameInBrot = OMV.Quaternion.Identity; frameInBrot = OMV.Quaternion.Identity;
springDamping = -1f; springAxisEnable = new bool[6];
springStiffness = -1f; springDamping = new float[6];
springStiffness = new float[6];
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
springAxisEnable[ii] = false;
springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
}
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
} }
@ -139,11 +147,13 @@ public sealed class BSLinksetConstraints : BSLinkset
} }
for (int ii = 0; ii < 6; ii++) for (int ii = 0; ii < 6; ii++)
{ {
if (springDamping != -1) constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
constrainSpring.SetDamping(ii, springDamping); if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
if (springStiffness != -1) constrainSpring.SetDamping(ii, springDamping[ii]);
constrainSpring.SetStiffness(ii, springStiffness); if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
constrainSpring.SetStiffness(ii, springStiffness[ii]);
} }
constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
} }
break; break;
default: default:
@ -707,15 +717,26 @@ public sealed class BSLinksetConstraints : BSLinkset
linkInfo.solverIterations = valueFloat; linkInfo.solverIterations = valueFloat;
opIndex += 2; opIndex += 2;
break; break;
case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
valueInt = (int)pParams[opIndex + 1];
valueBool = ((int)pParams[opIndex + 2] != 0);
if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length)
linkInfo.springAxisEnable[valueInt] = valueBool;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
valueFloat = (float)pParams[opIndex + 1]; valueInt = (int)pParams[opIndex + 1];
linkInfo.springDamping = valueFloat; valueFloat = (float)pParams[opIndex + 2];
opIndex += 2; if (valueInt >=0 && valueInt < linkInfo.springDamping.Length)
linkInfo.springDamping[valueInt] = valueFloat;
opIndex += 3;
break; break;
case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
valueFloat = (float)pParams[opIndex + 1]; valueInt = (int)pParams[opIndex + 1];
linkInfo.springStiffness = valueFloat; valueFloat = (float)pParams[opIndex + 2];
opIndex += 2; if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length)
linkInfo.springStiffness[valueInt] = valueFloat;
opIndex += 3;
break; break;
default: default:
break; break;