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BulletSim: set all linkset objects center of mass to the whole linkset's center of mass

connector_plugin
Robert Adams 2012-09-13 13:51:28 -07:00
parent 7c347f4c5c
commit f0a098924e
1 changed files with 15 additions and 2 deletions
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17
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -204,11 +204,14 @@ public class BSLinkset
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
return false;
bool ret = false;
return ret;
}
// The object is going static (non-physical). Do any setup necessary
@ -217,6 +220,7 @@ public class BSLinkset
// Called at taint-time!
public bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
@ -269,15 +273,24 @@ public class BSLinkset
}
}
// If the whole linkset is not here, doesn't make sense to recompute the root prim now.
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (!somethingMissing)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
foreach (BSPhysObject child in m_children)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
}
/*
// The root prim takes on the weight of the whole linkset
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
*/
}
}
return;