opensim-development – Rev 1
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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Region.OptionalModules.Scripting;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSLinksetConstraints : BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
public class BSLinkInfoConstraint : BSLinkInfo
{
public ConstraintType constraintType;
public BSConstraint constraint;
public OMV.Vector3 linearLimitLow;
public OMV.Vector3 linearLimitHigh;
public OMV.Vector3 angularLimitLow;
public OMV.Vector3 angularLimitHigh;
public bool useFrameOffset;
public bool enableTransMotor;
public float transMotorMaxVel;
public float transMotorMaxForce;
public float cfm;
public float erp;
public float solverIterations;
//
public OMV.Vector3 frameInAloc;
public OMV.Quaternion frameInArot;
public OMV.Vector3 frameInBloc;
public OMV.Quaternion frameInBrot;
public bool useLinearReferenceFrameA;
// Spring
public bool[] springAxisEnable;
public float[] springDamping;
public float[] springStiffness;
public OMV.Vector3 springLinearEquilibriumPoint;
public OMV.Vector3 springAngularEquilibriumPoint;
public BSLinkInfoConstraint(BSPrimLinkable pMember)
: base(pMember)
{
constraint = null;
ResetLink();
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
}
// Set all the parameters for this constraint to a fixed, non-movable constraint.
public override void ResetLink()
{
// constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE;
linearLimitLow = OMV.Vector3.Zero;
linearLimitHigh = OMV.Vector3.Zero;
angularLimitLow = OMV.Vector3.Zero;
angularLimitHigh = OMV.Vector3.Zero;
useFrameOffset = BSParam.LinkConstraintUseFrameOffset;
enableTransMotor = BSParam.LinkConstraintEnableTransMotor;
transMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
transMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
cfm = BSParam.LinkConstraintCFM;
erp = BSParam.LinkConstraintERP;
solverIterations = BSParam.LinkConstraintSolverIterations;
frameInAloc = OMV.Vector3.Zero;
frameInArot = OMV.Quaternion.Identity;
frameInBloc = OMV.Vector3.Zero;
frameInBrot = OMV.Quaternion.Identity;
useLinearReferenceFrameA = true;
springAxisEnable = new bool[6];
springDamping = new float[6];
springStiffness = new float[6];
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
springAxisEnable[ii] = false;
springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED;
}
springLinearEquilibriumPoint = OMV.Vector3.Zero;
springAngularEquilibriumPoint = OMV.Vector3.Zero;
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID);
}
// Given a constraint, apply the current constraint parameters to same.
public override void SetLinkParameters(BSConstraint constrain)
{
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType);
switch (constraintType)
{
case ConstraintType.FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
if (constrain6dof != null)
{
// NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code.
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrain6dof.UseFrameOffset(useFrameOffset);
constrain6dof.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrain6dof.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrain6dof.SetSolverIterations(solverIterations);
}
}
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
BSConstraintSpring constrainSpring = constrain as BSConstraintSpring;
if (constrainSpring != null)
{
// zero linear and angular limits makes the objects unable to move in relation to each other
constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrainSpring.UseFrameOffset(useFrameOffset);
constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrainSpring.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrainSpring.SetSolverIterations(solverIterations);
}
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
constrainSpring.SetDamping(ii, springDamping[ii]);
if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
constrainSpring.SetStiffness(ii, springStiffness[ii]);
}
constrainSpring.CalculateTransforms();
if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
else
constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
}
break;
default:
break;
}
}
// Return 'true' if the property updates from the physics engine should be reported
// to the simulator.
// If the constraint is fixed, we don't need to report as the simulator and viewer will
// report the right things.
public override bool ShouldUpdateChildProperties()
{
bool ret = true;
if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE)
ret = false;
return ret;
}
}
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
{
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
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPrimLinkable requestor)
{
ScheduleRebuild(requestor);
base.Refresh(requestor);
}
private void ScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
if (!Rebuilding && HasAnyChildren)
{
// Queue to happen after all the other taint processing
m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
if (HasAnyChildren)
{
// Constraints that have not been changed are not rebuild but make sure
// the constraint of the requestor is rebuilt.
PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor);
// Rebuild the linkset and all its constraints.
RecomputeLinksetConstraints();
}
});
}
}
// 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 override bool MakeDynamic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
Refresh(LinksetRoot);
}
return ret;
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// Return 'true' if any properties updated on the passed object.
// This doesn't normally happen -- OpenSim removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
child.ClearDisplacement();
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
Refresh(LinksetRoot);
}
return ret;
}
// Called at taint-time!!
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
{
// Nothing to do for constraints on property updates
}
// Routine called when rebuilding the body of some member of the linkset.
// Destroy all the constraints have have been made to root and set
// up to rebuild the constraints before the next simulation step.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveDependencies(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
lock (m_linksetActivityLock)
{
// Just undo all the constraints for this linkset. Rebuild at the end of the step.
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
// Cause the constraints, et al to be rebuilt before the next simulation step.
Refresh(LinksetRoot);
}
return ret;
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
m_children.Add(child, new BSLinkInfoConstraint(child));
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
}
return;
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
if (m_children.Remove(child))
{
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
BSPrimLinkable childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.PhysBody.AddrString,
childx.LocalID, childx.PhysBody.AddrString);
m_physicsScene.TaintedObject(inTaintTime, childx.LocalID, "BSLinksetConstraints.RemoveChildFromLinkset", delegate()
{
PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
// See that the linkset parameters are recomputed at the end of the taint time.
Refresh(LinksetRoot);
}
else
{
// Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
// Create a static constraint between the two passed objects
private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li)
{
BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint;
if (linkInfo == null)
return null;
// Zero motion for children so they don't interpolate
li.member.ZeroMotion(true);
BSConstraint constrain = null;
switch (linkInfo.constraintType)
{
case ConstraintType.FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
// Relative position normalized to the root prim
// Essentually a vector pointing from center of rootPrim to center of li.member
OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}",
rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody,
rootPrim.Position, linkInfo.member.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
constrain = new BSConstraint6Dof(
m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, midPoint, true, true );
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left for future programmers.
// ==================================================================================
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
OMV.Vector3 childRelativePosition = (liConstraint.member.Position - rootPrim.Position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * liConstraint.member.Orientation;
OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, liConstraint.member.LocalID);
constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, liConstraint.member.Body,
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(rootPrim.Orientation),
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(liConstraint.member.Orientation),
true,
true
);
// ==================================================================================
*/
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
linkInfo.useLinearReferenceFrameA,
true /*disableCollisionsBetweenLinkedBodies*/);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString,
rootPrim.Position, linkInfo.member.Position);
break;
default:
break;
}
linkInfo.SetLinkParameters(constrain);
m_physicsScene.Constraints.AddConstraint(constrain);
return constrain;
}
// Remove linkage between the linkset root and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were present at unlink time.
// Called at taint time!
private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
childPrim.LocalID, childPrim.PhysBody.AddrString);
// If asked to unlink root from root, just remove all the constraints
if (rootPrim == childPrim || childPrim == LinksetRoot)
{
PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
ret = true;
}
else
{
// Find the constraint for this link and get rid of it from the overall collection and from my list
if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
{
// Make the child refresh its location
m_physicsScene.PE.PushUpdate(childPrim.PhysBody);
ret = true;
}
}
return ret;
}
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Create constraints of not created yet.
// Called before the simulation step to make sure the constraint based linkset
// is all initialized.
// Called at taint time!!
private void RecomputeLinksetConstraints()
{
float linksetMass = LinksetMass;
LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
try
{
Rebuilding = true;
// There is no reason to build all this physical stuff for a non-physical linkset.
if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
{
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
return; // Note the 'finally' clause at the botton which will get executed.
}
ForEachLinkInfo((li) =>
{
// A child in the linkset physically shows the mass of the whole linkset.
// This allows Bullet to apply enough force on the child to move the whole linkset.
// (Also do the mass stuff before recomputing the constraint so mass is not zero.)
li.member.UpdatePhysicalMassProperties(linksetMass, true);
BSConstraint constrain;
if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, li.member.PhysBody, out constrain))
{
// If constraint doesn't exist yet, create it.
constrain = BuildConstraint(LinksetRoot, li);
}
li.SetLinkParameters(constrain);
constrain.RecomputeConstraintVariables(linksetMass);
// PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
return false; // 'false' says to keep processing other members
});
}
finally
{
Rebuilding = false;
}
}
#region Extension
public override object Extension(string pFunct, params object[] pParams)
{
object ret = null;
switch (pFunct)
{
// pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
case ExtendedPhysics.PhysFunctChangeLinkType:
if (pParams.Length > 2)
{
int requestedType = (int)pParams[2];
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType);
if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE
|| requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE
|| requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE
|| requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE
|| requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE
|| requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE)
{
BSPrimLinkable child = pParams[1] as BSPrimLinkable;
if (child != null)
{
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,rootID={1},childID={2},type={3}",
LinksetRoot.LocalID, LinksetRoot.LocalID, child.LocalID, requestedType);
m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate()
{
// Pick up all the constraints currently created.
RemoveDependencies(child);
BSLinkInfo linkInfo = null;
if (TryGetLinkInfo(child, out linkInfo))
{
BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
if (linkInfoC != null)
{
linkInfoC.constraintType = (ConstraintType)requestedType;
ret = (object)true;
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}",
linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType);
}
else
{
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID);
}
}
else
{
DetailLog("{0},BSLinksetConstraint.ChangeLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID);
}
// Cause the whole linkset to be rebuilt in post-taint time.
Refresh(child);
});
}
else
{
DetailLog("{0},BSLinksetConstraint.SetLinkType,childNotBSPrimLinkable", LinksetRoot.LocalID);
}
}
else
{
DetailLog("{0},BSLinksetConstraint.SetLinkType,illegalRequestedType,reqested={1},spring={2}",
LinksetRoot.LocalID, requestedType, ((int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE));
}
}
break;
// pParams = [ BSPhysObject root, BSPhysObject child ]
case ExtendedPhysics.PhysFunctGetLinkType:
if (pParams.Length > 0)
{
BSPrimLinkable child = pParams[1] 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;
DetailLog("{0},BSLinksetConstraint.GetLinkType,link={1},type={2}",
linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType);
}
}
}
}
break;
// pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
case ExtendedPhysics.PhysFunctChangeLinkParams:
// There should be two parameters: the childActor and a list of parameters to set
if (pParams.Length > 2)
{
BSPrimLinkable child = pParams[1] as BSPrimLinkable;
BSLinkInfo baseLinkInfo = null;
if (TryGetLinkInfo(child, out baseLinkInfo))
{
BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint;
if (linkInfo != null)
{
int valueInt;
float valueFloat;
bool valueBool;
OMV.Vector3 valueVector;
OMV.Vector3 valueVector2;
OMV.Quaternion valueQuaternion;
int axisLow, axisHigh;
int opIndex = 2;
while (opIndex < pParams.Length)
{
int thisOp = 0;
string errMsg = "";
try
{
thisOp = (int)pParams[opIndex];
DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}",
linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]);
switch (thisOp)
{
case ExtendedPhysics.PHYS_PARAM_LINK_TYPE:
valueInt = (int)pParams[opIndex + 1];
ConstraintType valueType = (ConstraintType)valueInt;
if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE
|| valueType == ConstraintType.D6_CONSTRAINT_TYPE
|| valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE
|| valueType == ConstraintType.HINGE_CONSTRAINT_TYPE
|| valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE
|| valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE)
{
linkInfo.constraintType = valueType;
}
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC:
errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.frameInAloc = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT:
errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation";
valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
linkInfo.frameInArot = valueQuaternion;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC:
errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.frameInBloc = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT:
errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation";
valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1];
linkInfo.frameInBrot = valueQuaternion;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW:
errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.linearLimitLow = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH:
errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.linearLimitHigh = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW:
errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.angularLimitLow = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH:
errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
linkInfo.angularLimitHigh = valueVector;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET:
errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)";
valueBool = ((int)pParams[opIndex + 1]) != 0;
linkInfo.useFrameOffset = valueBool;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR:
errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)";
valueBool = ((int)pParams[opIndex + 1]) != 0;
linkInfo.enableTransMotor = valueBool;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL:
errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float";
valueFloat = (float)pParams[opIndex + 1];
linkInfo.transMotorMaxVel = valueFloat;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE:
errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float";
valueFloat = (float)pParams[opIndex + 1];
linkInfo.transMotorMaxForce = valueFloat;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_CFM:
errMsg = "PHYS_PARAM_CFM takes one parameter of type float";
valueFloat = (float)pParams[opIndex + 1];
linkInfo.cfm = valueFloat;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_ERP:
errMsg = "PHYS_PARAM_ERP takes one parameter of type float";
valueFloat = (float)pParams[opIndex + 1];
linkInfo.erp = valueFloat;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS:
errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float";
valueFloat = (float)pParams[opIndex + 1];
linkInfo.solverIterations = valueFloat;
opIndex += 2;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE:
errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)";
valueInt = (int)pParams[opIndex + 1];
valueBool = ((int)pParams[opIndex + 2]) != 0;
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springAxisEnable[ii] = valueBool;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING:
errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float";
valueInt = (int)pParams[opIndex + 1];
valueFloat = (float)pParams[opIndex + 2];
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springDamping[ii] = valueFloat;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS:
errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float";
valueInt = (int)pParams[opIndex + 1];
valueFloat = (float)pParams[opIndex + 2];
GetAxisRange(valueInt, out axisLow, out axisHigh);
for (int ii = axisLow; ii <= axisHigh; ii++)
linkInfo.springStiffness[ii] = valueFloat;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT:
errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector";
valueVector = (OMV.Vector3)pParams[opIndex + 1];
valueVector2 = (OMV.Vector3)pParams[opIndex + 2];
linkInfo.springLinearEquilibriumPoint = valueVector;
linkInfo.springAngularEquilibriumPoint = valueVector2;
opIndex += 3;
break;
case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA:
errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)";
valueBool = ((int)pParams[opIndex + 1]) != 0;
linkInfo.useLinearReferenceFrameA = valueBool;
opIndex += 2;
break;
default:
break;
}
}
catch (InvalidCastException e)
{
m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}",
LogHeader, errMsg, e);
}
catch (Exception e)
{
m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e);
}
}
}
// Something changed so a rebuild is in order
Refresh(child);
}
}
break;
default:
ret = base.Extension(pFunct, pParams);
break;
}
return ret;
}
// Bullet constraints keep some limit parameters for each linear and angular axis.
// Setting same is easier if there is an easy way to see all or types.
// This routine returns the array limits for the set of axis.
private void GetAxisRange(int rangeSpec, out int low, out int high)
{
switch (rangeSpec)
{
case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL:
low = 0;
high = 2;
break;
case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL:
low = 3;
high = 5;
break;
case ExtendedPhysics.PHYS_AXIS_ALL:
low = 0;
high = 5;
break;
default:
low = high = rangeSpec;
break;
}
return;
}
#endregion // Extension
}
}