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BulletSim: extend BSActorLockAxis to allow locking linear movement in 

addition to angular movement. Not enabled by anything yet.
user_profiles
Robert Adams 2013-05-03 15:46:35 -07:00
parent 90f03ccd42
commit f9fb1484aa
3 changed files with 28 additions and 10 deletions
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25
OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
View File

@ -64,9 +64,9 @@ public class BSActorLockAxis : BSActor
public override void Refresh()
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
// If all the axis are free, we don't need to exist
if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree)
{
Enabled = false;
}
@ -123,23 +123,38 @@ public class BSActorLockAxis : BSActor
// Free to move linearly in the region
OMV.Vector3 linearLow = OMV.Vector3.Zero;
OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis)
{
linearLow.X = m_controllingPrim.RawPosition.X;
linearHigh.X = m_controllingPrim.RawPosition.X;
}
if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis)
{
linearLow.Y = m_controllingPrim.RawPosition.Y;
linearHigh.Y = m_controllingPrim.RawPosition.Y;
}
if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis)
{
linearLow.Z = m_controllingPrim.RawPosition.Z;
linearHigh.Z = m_controllingPrim.RawPosition.Z;
}
axisConstrainer.SetLinearLimits(linearLow, linearHigh);
// Angular with some axis locked
float fPI = (float)Math.PI;
OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
if (m_controllingPrim.LockedAxis.X != 1f)
if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis)
{
angularLow.X = 0f;
angularHigh.X = 0f;
}
if (m_controllingPrim.LockedAxis.Y != 1f)
if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis)
{
angularLow.Y = 0f;
angularHigh.Y = 0f;
}
if (m_controllingPrim.LockedAxis.Z != 1f)
if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis)
{
angularLow.Z = 0f;
angularHigh.Z = 0f;

9
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -108,7 +108,8 @@ public abstract class BSPhysObject : PhysicsActor
CollisionScore = 0;
// All axis free.
LockedAxis = LockedAxisFree;
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
// Tell the object to clean up.
@ -265,8 +266,10 @@ public abstract class BSPhysObject : PhysicsActor
// Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
public const float FreeAxis = 1f;
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
// they need waking up when parameters are changed.

4
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -256,9 +256,9 @@ public class BSPrim : BSPhysObject
if (axis.X != 1) locking.X = 0f;
if (axis.Y != 1) locking.Y = 0f;
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
LockedAngularAxis = locking;
EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate()
EnableActor(LockedAngularAxis != LockedAxisFree, LockedAxisActorName, delegate()
{
return new BSActorLockAxis(PhysScene, this, LockedAxisActorName);
});