diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index decb61adaf..278e9e7c2f 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs @@ -291,6 +291,10 @@ public class ExtendedPhysics : INonSharedRegionModule return ret; } + // physChangeLinkFixed(integer linkNum) + // Change the link between the root and the linkNum into a fixed, static physical connection. + // This needs to change 'linkNum' into the physical object because lower level code has + // no access to the link numbers. [ScriptInvocation] public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum) { @@ -353,13 +357,76 @@ public class ExtendedPhysics : INonSharedRegionModule [ScriptInvocation] public int physChangeLinkHinge(UUID hostID, UUID scriptID, int linkNum) { - return 0; + return -1; } [ScriptInvocation] - public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum) + public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + Vector3 linearLimitLow, Vector3 linearLimitHigh, + Vector3 angularLimitLow, Vector3 angularLimitHigh + ) { - return 0; + int ret = -1; + if (!Enabled) return ret; + + // The part that is requesting the change. + SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID); + + if (requestingPart != null) + { + // The type is is always on the root of a linkset. + SceneObjectGroup containingGroup = requestingPart.ParentGroup; + SceneObjectPart rootPart = containingGroup.RootPart; + + if (rootPart != null) + { + Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor; + if (rootPhysActor != null) + { + SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum); + if (linkPart != null) + { + Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor; + if (linkPhysActor != null) + { + ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkSpring, linkNum, linkPhysActor, + frameInAloc, frameInArot, + frameInBloc, frameInBrot, + linearLimitLow, linearLimitHigh, + angularLimitLow, angularLimitHigh + ); + } + else + { + m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}", + LogHeader, rootPart.Name, hostID, linkNum); + } + } + else + { + m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}", + LogHeader, rootPart.Name, hostID, linkNum); + } + } + else + { + m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}", + LogHeader, rootPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}", + LogHeader, requestingPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID); + } + return ret; } [ScriptInvocation] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b2410593ee..9d8838bd1d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -43,7 +43,9 @@ public enum ConstraintType : int SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE + MAX_CONSTRAINT_TYPE, // last type defined by Bullet + // + FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving } // =============================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d4b1c1e8f8..2058e3aece 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } public virtual void ResetLink() { } public virtual void SetLinkParameters(BSConstraint constrain) { } + // Returns 'true' if physical property updates from the child should be reported to the simulator + public virtual bool ShouldUpdateChildProperties() { return false; } } public LinksetImplementation LinksetImpl { get; protected set; } @@ -224,6 +226,21 @@ public abstract class BSLinkset return ret; } + // Check the type of the link and return 'true' if the link is flexible and the + // updates from the child should be sent to the simulator so things change. + public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child) + { + bool ret = false; + + BSLinkInfo linkInfo; + if (m_children.TryGetValue(child, out linkInfo)) + { + ret = linkInfo.ShouldUpdateChildProperties(); + } + + return ret; + } + // Called after a simulation step to post a collision with this object. // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have // anything to add for the collision and it should be passed through normal processing. @@ -432,6 +449,13 @@ public abstract class BSLinkset return com; } + #region Extension + public virtual object Extension(string pFunct, params object[] pParams) + { + return null; + } + #endregion // Extension + // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index db323c2e15..17fec9d96c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -60,8 +60,6 @@ public sealed class BSLinksetConstraints : BSLinkset public float springDamping; public float springStiffness; - - public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) { @@ -72,7 +70,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Set all the parameters for this constraint to a fixed, non-movable constraint. public override void ResetLink() { - constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + // constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; linearLimitHigh = OMV.Vector3.Zero; angularLimitLow = OMV.Vector3.Zero; @@ -97,6 +96,7 @@ public sealed class BSLinksetConstraints : BSLinkset { switch (constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) @@ -145,6 +145,20 @@ public sealed class BSLinksetConstraints : BSLinkset break; } } + + // Return 'true' if the property updates from the physics engine should be reported + // to the simulator. + // If the constraint is fixed, we don't need to report as the simulator and viewer will + // report the right things. + public override bool ShouldUpdateChildProperties() + { + bool ret = true; + + if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) + ret = false; + + return ret; + } } public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) @@ -316,6 +330,7 @@ public sealed class BSLinksetConstraints : BSLinkset switch (linkInfo.constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member @@ -466,5 +481,86 @@ public sealed class BSLinksetConstraints : BSLinkset Rebuilding = false; } } + + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + // pParams = (int linkNUm, PhysActor linkChild) + case BSScene.PhysFunctChangeLinkFixed: + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Setting to fixed is easy. The reset state is the fixed link configuration. + linkInfoC.ResetLink(); + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + case BSScene.PhysFunctChangeLinkSpring: + if (pParams.Length > 11) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Start with a reset link definition + linkInfoC.ResetLink(); + linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE; + linkInfoC.frameInAloc = (OMV.Vector3)pParams[2]; + linkInfoC.frameInArot = (OMV.Quaternion)pParams[3]; + linkInfoC.frameInBloc = (OMV.Vector3)pParams[4]; + linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5]; + linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6]; + linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7]; + linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8]; + linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9]; + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 77d8246a16..4c384a6274 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -179,7 +179,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Do any filtering/modification needed for linksets. public override void UpdateProperties(EntityProperties entprop) { - if (Linkset.IsRoot(this)) + if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this)) { // Properties are only updated for the roots of a linkset. // TODO: this will have to change when linksets are articulated. @@ -316,12 +316,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: int linkNum, PhysActor linkedPrim case BSScene.PhysFunctChangeLinkFixed: { - if (pParams.Length > 1) - { - int linkNum = (int)pParams[0]; - Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1]; - Linkset.Refresh(this); - } + Linkset.Extension(pFunct, pParams); break; } default: