Revert "Revert "BulletSim: Add logic to linksets to change physical properties for""
Found that the vehicle movement problem was not caused by these physics changes.
This reverts commit 84d0699761
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TeleportWork
parent
75686e0e49
commit
f499b328c4
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@ -69,7 +69,7 @@ public class BSActorCollection
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{
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lock (m_actors)
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{
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Release();
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ForEachActor(a => a.Dispose());
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m_actors.Clear();
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}
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}
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@ -98,10 +98,6 @@ public class BSActorCollection
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{
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ForEachActor(a => a.SetEnabled(enabl));
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}
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public void Release()
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{
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ForEachActor(a => a.Dispose());
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}
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public void Refresh()
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{
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ForEachActor(a => a.Refresh());
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@ -309,14 +309,14 @@ public abstract class BSLinkset
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}
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);
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}
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public virtual void ComputeLocalInertia()
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public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
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{
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ForEachMember((member) =>
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{
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if (member.PhysBody.HasPhysicalBody)
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{
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OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
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member.Inertia = inertia * BSParam.VehicleInertiaFactor;
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member.Inertia = inertia * inertiaFactor;
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m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
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m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
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}
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@ -324,6 +324,26 @@ public abstract class BSLinkset
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}
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);
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}
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public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
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{
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ForEachMember((member) =>
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{
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if (member.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
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return false; // 'false' says to continue looping
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}
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);
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}
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public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
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{
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ForEachMember((member) =>
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{
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if (member.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
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return false; // 'false' says to continue looping
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}
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);
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}
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// ================================================================
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protected virtual float ComputeLinksetMass()
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{
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@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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}
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// ================================================================
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// Changing the physical property of the linkset only needs to change the root
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public override void SetPhysicalFriction(float friction)
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{
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if (LinksetRoot.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
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}
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public override void SetPhysicalRestitution(float restitution)
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{
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if (LinksetRoot.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
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}
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public override void SetPhysicalGravity(OMV.Vector3 gravity)
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{
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if (LinksetRoot.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
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}
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public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
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{
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OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
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LinksetRoot.Inertia = inertia * inertiaFactor;
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m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
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m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
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}
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public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
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{
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if (LinksetRoot.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
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}
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public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
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{
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if (LinksetRoot.PhysBody.HasPhysicalBody)
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m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
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}
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// ================================================================
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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public override void Refresh(BSPrimLinkable requestor)
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