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BulletSim: separate out the constraints by type. The linksets use

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6dof constraint but eventually others will be exposed so future
features can use all the Bullet capabilities.
Force children to generate a position update when unlinked.
This commit is contained in:
Robert Adams
2012-08-09 15:01:05 -07:00
parent 5ab151c2d6
commit 38e79b80a8
6 changed files with 146 additions and 94 deletions
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10
OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
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@@ -63,16 +63,6 @@ public class BSConstraintCollection : IDisposable
m_constraints.Clear();
}
public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot)
{
BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
this.AddConstraint(constrain);
return constrain;
}
public bool AddConstraint(BSConstraint cons)
{
// There is only one constraint between any bodies. Remove any old just to make sure.