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BulletSim: ability to specify groups of axis to modify in constraint parameters that control multiple axis. Add useLinearReferenceFrameA constraint parameter.

varregion
Robert Adams 2013-08-24 08:33:28 -07:00
parent 7c54630a2d
commit cf2cdc191d
2 changed files with 56 additions and 9 deletions
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12
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@ -406,8 +406,18 @@ public class ExtendedPhysics : INonSharedRegionModule
public const int PHYS_PARAM_SPRING_STIFFNESS = 14418;
[ScriptConstant]
public const int PHYS_PARAM_LINK_TYPE = 14419;
[ScriptConstant]
public const int PHYS_PARAM_USE_LINEAR_FRAMEA = 14420;
public const int PHYS_PARAM_MAX = 14419;
public const int PHYS_PARAM_MAX = 14420;
// Used when specifying a parameter that has settings for the three linear and three angular axis
[ScriptConstant]
public const int PHYS_AXIS_ALL = -1;
[ScriptConstant]
public const int PHYS_AXIS_ALL_LINEAR = -2;
[ScriptConstant]
public const int PHYS_AXIS_ALL_ANGULAR = -3;
// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
[ScriptInvocation]

53
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -58,6 +58,7 @@ public sealed class BSLinksetConstraints : BSLinkset
public OMV.Quaternion frameInArot;
public OMV.Vector3 frameInBloc;
public OMV.Quaternion frameInBrot;
public bool useLinearReferenceFrameA;
// Spring
public bool[] springAxisEnable;
public float[] springDamping;
@ -91,6 +92,7 @@ public sealed class BSLinksetConstraints : BSLinkset
frameInArot = OMV.Quaternion.Identity;
frameInBloc = OMV.Vector3.Zero;
frameInBrot = OMV.Quaternion.Identity;
useLinearReferenceFrameA = true;
springAxisEnable = new bool[6];
springDamping = new float[6];
springStiffness = new float[6];
@ -145,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
{
constrainSpring.SetSolverIterations(solverIterations);
}
for (int ii = 0; ii < 6; ii++)
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
@ -401,7 +403,7 @@ public sealed class BSLinksetConstraints : BSLinkset
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
true /*useLinearReferenceFrameA*/,
linkInfo.useLinearReferenceFrameA,
true /*disableCollisionsBetweenLinkedBodies*/);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
rootPrim.LocalID,
@ -619,6 +621,7 @@ public sealed class BSLinksetConstraints : BSLinkset
bool valueBool;
OMV.Vector3 valueVector;
OMV.Quaternion valueQuaternion;
int axisLow, axisHigh;
int opIndex = 2;
while (opIndex < pParams.Length)
@ -720,24 +723,32 @@ public sealed class BSLinksetConstraints : BSLinkset
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;
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springAxisEnable[ii] = valueBool;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
valueInt = (int)pParams[opIndex + 1];
valueFloat = (float)pParams[opIndex + 2];
if (valueInt >=0 && valueInt < linkInfo.springDamping.Length)
linkInfo.springDamping[valueInt] = valueFloat;
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springDamping[ii] = valueFloat;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
valueInt = (int)pParams[opIndex + 1];
valueFloat = (float)pParams[opIndex + 2];
if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length)
linkInfo.springStiffness[valueInt] = valueFloat;
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springStiffness[ii] = valueFloat;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
valueBool = (bool)pParams[opIndex + 1];
linkInfo.useLinearReferenceFrameA = valueBool;
opIndex += 2;
break;
default:
break;
}
@ -760,6 +771,32 @@ public sealed class BSLinksetConstraints : BSLinkset
}
return ret;
}
// Bullet constraints keep some limit parameters for each linear and angular axis.
// Setting same is easier if there is an easy way to see all or types.
// This routine returns the array limits for the set of axis.
private void GetAxisRange(int rangeSpec, out int low, out int high)
{
switch (rangeSpec)
{
case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR:
low = 0;
high = 2;
break;
case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR:
low = 3;
high = 5;
break;
case ExtendedPhysics.PHYS_AXIS_ALL:
low = 0;
high = 5;
break;
default:
low = high = rangeSpec;
break;
}
return;
}
#endregion // Extension
}