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BulletSim: Add axis locking enabled through the ExtendedPhysics module.

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Allows locking of prim/linkset relative moving in each of the linear
and angular axis. Limits on movement or rotation can be set.
This commit is contained in:
Robert Adams
2014-12-31 12:43:26 -08:00
parent b40935837c
commit 291c7cdbcc
5 changed files with 474 additions and 97 deletions
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13
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@@ -309,11 +309,20 @@ 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 LockedLinearAxis { get; set; } // zero means locked. one means free.
public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
public OMV.Vector3 LockedLinearAxis; // zero means locked. one means free.
public OMV.Vector3 LockedAngularAxis; // zero means locked. one means free.
public const float FreeAxis = 1f;
public const float LockedAxis = 0f;
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free
// If an axis is locked (flagged above) then the limits of that axis are specified here.
// Linear axis limits are relative to the object's starting coordinates.
// Angular limits are limited to -PI to +PI
public OMV.Vector3 LockedLinearAxisLow;
public OMV.Vector3 LockedLinearAxisHigh;
public OMV.Vector3 LockedAngularAxisLow;
public OMV.Vector3 LockedAngularAxisHigh;
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
// they need waking up when parameters are changed.
// Called in taint-time!!