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BulletSim: not quite functional axis lock code.

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Robert Adams 2013-03-31 22:06:02 -07:00
parent 7d50015a74
commit 933ac60746
5 changed files with 43 additions and 35 deletions
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62
OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
View File

@ -42,14 +42,14 @@ public class BSActorLockAxis : BSActor
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj,actorName)
{
PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID);
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
}
// BSActor.isActive
public override bool isActive
{
get { return Enabled && Prim.IsPhysicallyActive; }
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
}
// Release any connections and resources used by the actor.
@ -64,21 +64,22 @@ public class BSActorLockAxis : BSActor
// BSActor.Refresh()
public override void Refresh()
{
PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive);
m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
// If all the axis are free, we don't need to exist
if (Prim.LockedAxis == Prim.LockedAxisFree)
if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
{
Prim.PhysicalActors.RemoveAndRelease(ActorName);
m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
}
// If the object is physically active, add the axis locking constraint
if (Enabled
&& Prim.IsPhysicallyActive
&& m_controllingPrim.IsPhysicallyActive
&& TryExperimentalLockAxisCode
&& Prim.LockedAxis != Prim.LockedAxisFree)
&& m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree)
{
if (LockAxisConstraint != null)
if (LockAxisConstraint == null)
AddAxisLockConstraint();
}
else
@ -98,7 +99,7 @@ public class BSActorLockAxis : BSActor
// If a constraint is set up, remove it from the physical scene
RemoveAxisLockConstraint();
// Schedule a call before the next simulation step to restore the constraint.
PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate()
{
Refresh();
});
@ -115,56 +116,61 @@ public class BSActorLockAxis : BSActor
// Remove any existing axis constraint (just to be sure)
RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
// 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 */);
LockAxisConstraint = axisConstrainer;
PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
// The constraint is tied to the world and oriented to the prim.
// Free to move linearly
// Free to move linearly in the region
OMV.Vector3 linearLow = OMV.Vector3.Zero;
OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
axisConstrainer.SetLinearLimits(linearLow, linearHigh);
// Angular with some axis locked
float f2PI = (float)Math.PI * 2f;
OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
if (Prim.LockedAxis.X != 1f)
float fPI = (float)Math.PI;
OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
if (m_controllingPrim.LockedAxis.X != 1f)
{
angularLow.X = 0f;
angularHigh.X = 0f;
}
if (Prim.LockedAxis.Y != 1f)
if (m_controllingPrim.LockedAxis.Y != 1f)
{
angularLow.Y = 0f;
angularHigh.Y = 0f;
}
if (Prim.LockedAxis.Z != 1f)
if (m_controllingPrim.LockedAxis.Z != 1f)
{
angularLow.Z = 0f;
angularHigh.Z = 0f;
}
axisConstrainer.SetAngularLimits(angularLow, angularHigh);
if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
}
PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
}
private void RemoveAxisLockConstraint()
{
if (LockAxisConstraint != null)
{
PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
LockAxisConstraint = null;
PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
}
}
}

8
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
View File

@ -96,15 +96,15 @@ public class BSActorCollection
/// </summary>
public abstract class BSActor
{
protected BSScene PhysicsScene { get; private set; }
protected BSPhysObject Prim { get; private set; }
protected BSScene m_physicsScene { get; private set; }
protected BSPhysObject m_controllingPrim { get; private set; }
protected bool Enabled { get; set; }
public string ActorName { get; private set; }
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
{
PhysicsScene = physicsScene;
Prim = pObj;
m_physicsScene = physicsScene;
m_controllingPrim = pObj;
ActorName = actorName;
Enabled = true;
}

2
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -85,7 +85,9 @@ public abstract class BSConstraint : IDisposable
{
bool ret = false;
if (m_enabled)
{
ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
}
return ret;
}

4
OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
View File

@ -97,14 +97,14 @@ public sealed class BSConstraint6Dof : BSConstraint
// A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj1; // Look out for confusion down the road
m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
frameInBloc, frameInBrot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString);

2
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -274,10 +274,10 @@ public class BSPrim : BSPhysObject
{
PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
{
DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
// If there is not already an axis locker, make one
if (!PhysicalActors.HasActor(LockedAxisActorName))
{
DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
}
UpdatePhysicalParameters();