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BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint.

0.7.6-extended
Robert Adams 2013-08-16 13:44:31 -07:00 committed by Justin Clark-Casey (justincc)
parent 73a62788a5
commit fd3e267ec6
4 changed files with 164 additions and 24 deletions
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19
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@ -64,6 +64,7 @@ public class ExtendedPhysics : INonSharedRegionModule
public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType"; public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType";
public const string PhysFunctGetLinkType = "BulletSim.GetLinkType";
public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams"; public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
// ============================================================= // =============================================================
@ -320,6 +321,24 @@ public class ExtendedPhysics : INonSharedRegionModule
return ret; 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) // physChangeLinkFixed(integer linkNum)
// Change the link between the root and the linkNum into a fixed, static physical connection. // Change the link between the root and the linkNum into a fixed, static physical connection.
[ScriptInvocation] [ScriptInvocation]

11
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -209,6 +209,17 @@ public abstract class BSLinkset
return ret; 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. // 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. // Depends on the action on whether this should be done at taint time.
public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); public delegate bool ForEachLinkInfoAction(BSLinkInfo obj);

147
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset
LinksetImpl = LinksetImplementation.Constraint; LinksetImpl = LinksetImplementation.Constraint;
} }
private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]";
// When physical properties are changed the linkset needs to recalculate // When physical properties are changed the linkset needs to recalculate
// its internal properties. // its internal properties.
// This is queued in the 'post taint' queue so the // This is queued in the 'post taint' queue so the
@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset
RemoveDependencies(child); RemoveDependencies(child);
BSLinkInfo linkInfo = null; BSLinkInfo linkInfo = null;
if (m_children.TryGetValue(child, out linkInfo)) if (TryGetLinkInfo(child, out linkInfo))
{ {
BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
if (linkInfoC != null) if (linkInfoC != null)
@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset
} }
} }
break; break;
case ExtendedPhysics.PhysFunctChangeLinkParams: case ExtendedPhysics.PhysFunctGetLinkType:
int setParam = 2; if (pParams.Length > 0)
switch (setParam)
{ {
case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: BSPrimLinkable child = pParams[0] as BSPrimLinkable;
case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: if (child != null)
case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: {
case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: BSLinkInfo linkInfo = null;
case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: if (TryGetLinkInfo(child, out linkInfo))
case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: {
case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: if (linkInfoC != null)
case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: {
case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: ret = (object)(int)linkInfoC.constraintType;
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: break;
case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: case ExtendedPhysics.PhysFunctChangeLinkParams:
case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: // There should be two parameters: the childActor and a list of parameters to set
break; 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; break;
default: default:

11
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
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@ -317,14 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced
// Params: PhysActor linkedPrim, int typeCode // Params: PhysActor linkedPrim, int typeCode
case ExtendedPhysics.PhysFunctChangeLinkType: 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; break;
} }
// physChangeLinkParams(linknum, [code, value, code, value, ...]); // physChangeLinkParams(linknum, [code, value, code, value, ...]);
// Params: PhysActor linkedPrim, object[] params // Params: PhysActor linkedPrim, object[] params
case ExtendedPhysics.PhysFunctChangeLinkParams: case ExtendedPhysics.PhysFunctChangeLinkParams:
{ {
Linkset.Extension(pFunct, pParams); ret = Linkset.Extension(pFunct, pParams);
break; break;
} }
default: default: