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BulletSim: Add logic to linksets to change physical properties for 

whole linkset.
Override physical property setting for BSLinksetCompound as there are
not children to the compound spape.
TeleportWork
Robert Adams 2013-07-16 10:02:14 -07:00
parent d0d654e218
commit b44f0e1a00
3 changed files with 59 additions and 7 deletions
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6
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
View File

@ -69,7 +69,7 @@ public class BSActorCollection
{
lock (m_actors)
{
Release();
ForEachActor(a => a.Dispose());
m_actors.Clear();
}
}
@ -98,10 +98,6 @@ public class BSActorCollection
{
ForEachActor(a => a.SetEnabled(enabl));
}
public void Release()
{
ForEachActor(a => a.Dispose());
}
public void Refresh()
{
ForEachActor(a => a.Refresh());

24
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -309,14 +309,14 @@ public abstract class BSLinkset
}
);
}
public virtual void ComputeLocalInertia()
public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
member.Inertia = inertia * BSParam.VehicleInertiaFactor;
member.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
}
@ -324,6 +324,26 @@ public abstract class BSLinkset
}
);
}
public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
return false; // 'false' says to continue looping
}
);
}
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
return false; // 'false' says to continue looping
}
);
}
// ================================================================
protected virtual float ComputeLinksetMass()
{

36
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
{
}
// ================================================================
// Changing the physical property of the linkset only needs to change the root
public override void SetPhysicalFriction(float friction)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
}
public override void SetPhysicalRestitution(float restitution)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
}
public override void SetPhysicalGravity(OMV.Vector3 gravity)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
}
public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
LinksetRoot.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
}
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
// ================================================================
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public override void Refresh(BSPrimLinkable requestor)