From e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Aug 2013 13:44:31 -0700 Subject: [PATCH] BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint. --- .../ExtendedPhysics/ExtendedPhysics.cs | 19 +++ .../Region/Physics/BulletSPlugin/BSLinkset.cs | 11 ++ .../BulletSPlugin/BSLinksetConstraints.cs | 147 +++++++++++++++--- .../Physics/BulletSPlugin/BSPrimLinkable.cs | 11 +- 4 files changed, 164 insertions(+), 24 deletions(-) diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index e0f16d69c5..d035f7b675 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs @@ -64,6 +64,7 @@ public class ExtendedPhysics : INonSharedRegionModule public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType"; + public const string PhysFunctGetLinkType = "BulletSim.GetLinkType"; public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams"; // ============================================================= @@ -320,6 +321,24 @@ public class ExtendedPhysics : INonSharedRegionModule return ret; } + // physGetLinkType(integer linkNum) + [ScriptInvocation] + public int physGetLinkType(UUID hostID, UUID scriptID, int linkNum, int typeCode) + { + int ret = -1; + if (!Enabled) return ret; + + PhysicsActor rootPhysActor; + PhysicsActor childPhysActor; + + if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor)) + { + ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, childPhysActor)); + } + + return ret; + } + // physChangeLinkFixed(integer linkNum) // Change the link between the root and the linkNum into a fixed, static physical connection. [ScriptInvocation] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2058e3aece..77f69a59cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -209,6 +209,17 @@ public abstract class BSLinkset return ret; } + public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo) + { + bool ret = false; + BSLinkInfo found = null; + lock (m_linksetActivityLock) + { + ret = m_children.TryGetValue(child, out found); + } + foundInfo = found; + return ret; + } // Perform an action on each member of the linkset including root prim. // Depends on the action on whether this should be done at taint time. public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b72afc0461..92df84e6c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset LinksetImpl = LinksetImplementation.Constraint; } + private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]"; + // When physical properties are changed the linkset needs to recalculate // its internal properties. // This is queued in the 'post taint' queue so the @@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset RemoveDependencies(child); BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) + if (TryGetLinkInfo(child, out linkInfo)) { BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) @@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; - case ExtendedPhysics.PhysFunctChangeLinkParams: - int setParam = 2; - switch (setParam) + case ExtendedPhysics.PhysFunctGetLinkType: + if (pParams.Length > 0) { - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - case ExtendedPhysics.PHYS_PARAM_CFM: - case ExtendedPhysics.PHYS_PARAM_ERP: - case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - break; + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + if (child != null) + { + BSLinkInfo linkInfo = null; + if (TryGetLinkInfo(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + ret = (object)(int)linkInfoC.constraintType; + } + } + } + } + break; + case ExtendedPhysics.PhysFunctChangeLinkParams: + // There should be two parameters: the childActor and a list of parameters to set + try + { + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + object[] setOps = (object[])pParams[1]; + BSLinkInfo baseLinkInfo = null; + if (TryGetLinkInfo(child, out baseLinkInfo)) + { + BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; + if (linkInfo != null) + { + float valueFloat; + bool valueBool; + OMV.Vector3 valueVector; + OMV.Quaternion valueQuaternion; + + int opIndex = 0; + while (opIndex < setOps.Length) + { + int thisOp = (int)setOps[opIndex]; + switch (thisOp) + { + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInAloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInArot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInBloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInBrot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.useFrameOffset = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.enableTransMotor = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxVel = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxForce = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_CFM: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.cfm = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_ERP: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.erp = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.solverIterations = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springDamping = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springStiffness = valueFloat; + break; + default: + break; + } + } + } + } + } + } + catch (Exception e) + { + // There are many ways to mess up the parameters. If not just right don't fail without some error. + m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); } break; default: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 6136257081..28ea8c0ffa 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -317,14 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: PhysActor linkedPrim, int typeCode case ExtendedPhysics.PhysFunctChangeLinkType: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); + break; + } + // physGetLinkType(linknum); + // Params: PhysActor linkedPrim + case ExtendedPhysics.PhysFunctGetLinkType: + { + ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); // Params: PhysActor linkedPrim, object[] params case ExtendedPhysics.PhysFunctChangeLinkParams: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); break; } default: