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BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters.

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Robert Adams
2013-08-22 09:08:58 -07:00
parent 67195618d5
commit 30b3657a66
4 changed files with 81 additions and 36 deletions
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43
OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs
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@@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
}
public bool SetEnable(int index, bool axisEnable)
public bool SetEnable(int pIndex, bool pAxisEnable)
{
bool ret = false;
return ret;
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable));
return true;
}
public bool SetStiffness(int index, float stiffness)
public bool SetStiffness(int pIndex, float pStiffness)
{
bool ret = false;
return ret;
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
return true;
}
public bool SetDamping(int index, float damping)
public bool SetDamping(int pIndex, float pDamping)
{
bool ret = false;
return ret;
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
return true;
}
public bool SetEquilibriumPoint(int index, float eqPoint)
public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
{
bool ret = false;
return ret;
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
return true;
}
}