BulletSim: add extended physics LSL constants for axis specification.
Add specific error warnings for mis-matched parameter types in extended physics functions.0.7.6-extended
Robert Adams
Justin Clark-Casey (justincc)
parent
9d04c6a828
commit
bde8ac6a5c
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@ -415,9 +415,21 @@ public class ExtendedPhysics : INonSharedRegionModule
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[ScriptConstant]
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public const int PHYS_AXIS_ALL = -1;
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[ScriptConstant]
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public const int PHYS_AXIS_ALL_LINEAR = -2;
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public const int PHYS_AXIS_LINEAR_ALL = -2;
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[ScriptConstant]
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public const int PHYS_AXIS_ALL_ANGULAR = -3;
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public const int PHYS_AXIS_ANGULAR_ALL = -3;
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[ScriptConstant]
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public const int PHYS_AXIS_LINEAR_X = 0;
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[ScriptConstant]
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public const int PHYS_AXIS_LINEAR_Y = 1;
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[ScriptConstant]
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public const int PHYS_AXIS_LINEAR_Z = 2;
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[ScriptConstant]
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public const int PHYS_AXIS_ANGULAR_X = 3;
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[ScriptConstant]
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public const int PHYS_AXIS_ANGULAR_Y = 4;
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[ScriptConstant]
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public const int PHYS_AXIS_ANGULAR_Z = 5;
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// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
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[ScriptInvocation]
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@ -63,7 +63,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
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public bool SetStiffness(int pIndex, float pStiffness)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}",
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
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PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
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return true;
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@ -71,7 +71,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
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public bool SetDamping(int pIndex, float pDamping)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}",
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
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PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
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return true;
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@ -79,7 +79,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
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public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}",
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
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return true;
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@ -605,8 +605,6 @@ public sealed class BSLinksetConstraints : BSLinkset
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// pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
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case ExtendedPhysics.PhysFunctChangeLinkParams:
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// There should be two parameters: the childActor and a list of parameters to set
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try
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{
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if (pParams.Length > 2)
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{
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BSPrimLinkable child = pParams[1] as BSPrimLinkable;
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@ -626,9 +624,13 @@ public sealed class BSLinksetConstraints : BSLinkset
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int opIndex = 2;
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while (opIndex < pParams.Length)
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{
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int thisOp = (int)pParams[opIndex];
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int thisOp = 0;
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string errMsg = "";
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try
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{
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thisOp = (int)pParams[opIndex];
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DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}",
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linkInfo.member.LocalID, thisOp, pParams[opIndex+1]);
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linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]);
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switch (thisOp)
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{
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case ExtendedPhysics.PHYS_PARAM_LINK_TYPE:
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@ -646,89 +648,106 @@ public sealed class BSLinksetConstraints : BSLinkset
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
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errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.frameInAloc = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
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errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation";
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valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
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linkInfo.frameInArot = valueQuaternion;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
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errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.frameInBloc = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
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errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation";
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valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
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linkInfo.frameInBrot = valueQuaternion;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
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errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.linearLimitLow = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
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errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.linearLimitHigh = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
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errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.angularLimitLow = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
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errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector";
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valueVector = (OMV.Vector3)pParams[opIndex + 1];
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linkInfo.angularLimitHigh = valueVector;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
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valueBool = (bool)pParams[opIndex + 1];
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errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)";
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valueBool = ((int)pParams[opIndex + 1]) != 0;
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linkInfo.useFrameOffset = valueBool;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
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valueBool = (bool)pParams[opIndex + 1];
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errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)";
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valueBool = ((int)pParams[opIndex + 1]) != 0;
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linkInfo.enableTransMotor = valueBool;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
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errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float";
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valueFloat = (float)pParams[opIndex + 1];
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linkInfo.transMotorMaxVel = valueFloat;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
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errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float";
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valueFloat = (float)pParams[opIndex + 1];
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linkInfo.transMotorMaxForce = valueFloat;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_CFM:
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errMsg = "PHYS_PARAM_CFM takes one parameter of type float";
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valueFloat = (float)pParams[opIndex + 1];
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linkInfo.cfm = valueFloat;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_ERP:
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errMsg = "PHYS_PARAM_ERP takes one parameter of type float";
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valueFloat = (float)pParams[opIndex + 1];
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linkInfo.erp = valueFloat;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
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errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float";
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valueFloat = (float)pParams[opIndex + 1];
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linkInfo.solverIterations = valueFloat;
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opIndex += 2;
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break;
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case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
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errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)";
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valueInt = (int)pParams[opIndex + 1];
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valueBool = ((int)pParams[opIndex + 2] != 0);
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valueBool = ((int)pParams[opIndex + 2]) != 0;
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GetAxisRange(valueInt, out axisLow, out axisHigh);
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for (int ii = axisLow; ii <= axisHigh; ii++)
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linkInfo.springAxisEnable[ii] = valueBool;
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opIndex += 3;
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break;
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case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
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errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float";
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valueInt = (int)pParams[opIndex + 1];
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valueFloat = (float)pParams[opIndex + 2];
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GetAxisRange(valueInt, out axisLow, out axisHigh);
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@ -737,6 +756,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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opIndex += 3;
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break;
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case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
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errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float";
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valueInt = (int)pParams[opIndex + 1];
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valueFloat = (float)pParams[opIndex + 2];
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GetAxisRange(valueInt, out axisLow, out axisHigh);
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@ -745,7 +765,8 @@ public sealed class BSLinksetConstraints : BSLinkset
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opIndex += 3;
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break;
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case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
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valueBool = (bool)pParams[opIndex + 1];
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errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
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valueBool = ((int)pParams[opIndex + 1]) != 0;
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linkInfo.useLinearReferenceFrameA = valueBool;
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opIndex += 2;
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break;
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@ -753,17 +774,21 @@ public sealed class BSLinksetConstraints : BSLinkset
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break;
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}
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}
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catch (InvalidCastException e)
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{
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m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}",
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LogHeader, errMsg, e);
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}
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catch (Exception e)
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{
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m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
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}
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}
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}
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// Something changed so a rebuild is in order
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Refresh(child);
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}
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}
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}
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catch (Exception e)
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{
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// There are many ways to mess up the parameters. If not just right don't fail without some error.
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m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
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}
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break;
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default:
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ret = base.Extension(pFunct, pParams);
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@ -779,11 +804,11 @@ public sealed class BSLinksetConstraints : BSLinkset
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{
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switch (rangeSpec)
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{
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case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR:
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case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL:
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low = 0;
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high = 2;
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break;
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case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR:
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case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL:
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low = 3;
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high = 5;
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break;
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