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BulletSim: add physChangeLinkParams to set individual parameters on link constraints. Not fully functional. Remove double definition of ExtendedPhysics parameters by having BulletSim reference the optional module (addition to prebuild.xml and usings).

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This commit is contained in:
Robert Adams
2013-08-09 10:59:10 -07:00
parent b2a1348adc
commit 455d36c4c7
7 changed files with 334 additions and 176 deletions
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283
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
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@@ -36,6 +36,7 @@ using OpenSim.Region.CoreModules;
using OpenSim.Region.Framework;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.Physics.Manager;
using Mono.Addins;
using Nini.Config;
@@ -62,9 +63,8 @@ public class ExtendedPhysics : INonSharedRegionModule
public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge";
public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring";
public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider";
public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType";
public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
// =============================================================
@@ -200,7 +200,7 @@ public class ExtendedPhysics : INonSharedRegionModule
if (rootPart != null)
{
Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
if (rootPhysActor.IsPhysical)
@@ -219,7 +219,7 @@ public class ExtendedPhysics : INonSharedRegionModule
containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
Thread.Sleep(150); // longer than one heartbeat tick
containingGroup.ScriptSetPhysicsStatus(true);
@@ -228,7 +228,7 @@ public class ExtendedPhysics : INonSharedRegionModule
{
// Non-physical linksets don't have a physical instantiation so there is no state to
// worry about being updated.
ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
}
}
else
@@ -267,10 +267,10 @@ public class ExtendedPhysics : INonSharedRegionModule
if (rootPart != null)
{
Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
ret = (int)rootPhysActor.Extension(PhysFunctGetLinksetType);
ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType));
}
else
{
@@ -291,148 +291,225 @@ public class ExtendedPhysics : INonSharedRegionModule
return ret;
}
[ScriptConstant]
public static int PHYS_LINK_TYPE_FIXED = 1234;
[ScriptConstant]
public static int PHYS_LINK_TYPE_HINGE = 4;
[ScriptConstant]
public static int PHYS_LINK_TYPE_SPRING = 9;
[ScriptConstant]
public static int PHYS_LINK_TYPE_6DOF = 6;
[ScriptConstant]
public static int PHYS_LINK_TYPE_SLIDER = 7;
// physChangeLinkType(integer linkNum, integer typeCode)
[ScriptInvocation]
public int physChangeLinkType(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(PhysFunctChangeLinkType, childPhysActor, typeCode));
}
return ret;
}
// physChangeLinkFixed(integer linkNum)
// Change the link between the root and the linkNum into a fixed, static physical connection.
// This needs to change 'linkNum' into the physical object because lower level code has
// no access to the link numbers.
[ScriptInvocation]
public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum)
{
int ret = -1;
if (!Enabled) return ret;
// The part that is requesting the change.
SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (requestingPart != null)
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
// The type is is always on the root of a linkset.
SceneObjectGroup containingGroup = requestingPart.ParentGroup;
SceneObjectPart rootPart = containingGroup.RootPart;
ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, childPhysActor, PHYS_LINK_TYPE_FIXED));
}
if (rootPart != null)
{
Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
if (linkPart != null)
{
Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor;
if (linkPhysActor != null)
{
ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkFixed, linkNum, linkPhysActor);
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return ret;
}
[ScriptInvocation]
public int physChangeLinkHinge(UUID hostID, UUID scriptID, int linkNum)
{
return -1;
}
// Code for specifying params.
// The choice if 14400 is arbitrary and only serves to catch parameter code misuse.
public static int PHYS_PARAM_MIN = 14401;
[ScriptConstant]
public static int PHYS_PARAM_FRAMEINA_LOC = 14401;
[ScriptConstant]
public static int PHYS_PARAM_FRAMEINA_ROT = 14402;
[ScriptConstant]
public static int PHYS_PARAM_FRAMEINB_LOC = 14403;
[ScriptConstant]
public static int PHYS_PARAM_FRAMEINB_ROT = 14404;
[ScriptConstant]
public static int PHYS_PARAM_LINEAR_LIMIT_LOW = 14405;
[ScriptConstant]
public static int PHYS_PARAM_LINEAR_LIMIT_HIGH = 14406;
[ScriptConstant]
public static int PHYS_PARAM_ANGULAR_LIMIT_LOW = 14407;
[ScriptConstant]
public static int PHYS_PARAM_ANGULAR_LIMIT_HIGH = 14408;
[ScriptConstant]
public static int PHYS_PARAM_USE_FRAME_OFFSET = 14409;
[ScriptConstant]
public static int PHYS_PARAM_ENABLE_TRANSMOTOR = 14410;
[ScriptConstant]
public static int PHYS_PARAM_TRANSMOTOR_MAXVEL = 14411;
[ScriptConstant]
public static int PHYS_PARAM_TRANSMOTOR_MAXFORCE = 14412;
[ScriptConstant]
public static int PHYS_PARAM_CFM = 14413;
[ScriptConstant]
public static int PHYS_PARAM_ERP = 14414;
[ScriptConstant]
public static int PHYS_PARAM_SOLVER_ITERATIONS = 14415;
[ScriptConstant]
public static int PHYS_PARAM_SPRING_DAMPING = 14416;
[ScriptConstant]
public static int PHYS_PARAM_SPRING_STIFFNESS = 14417;
public static int PHYS_PARAM_MAX = 14417;
// physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
[ScriptInvocation]
public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
Vector3 linearLimitLow, Vector3 linearLimitHigh,
Vector3 angularLimitLow, Vector3 angularLimitHigh
)
public int physChangeLinkParams(UUID hostID, UUID scriptID, int linkNum, object[] parms)
{
int ret = -1;
if (!Enabled) return ret;
// The part that is requesting the change.
SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
PhysicsActor rootPhysActor;
PhysicsActor childPhysActor;
if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
{
ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, childPhysActor, parms));
}
return ret;
}
private bool GetRootPhysActor(UUID hostID, out PhysicsActor rootPhysActor)
{
SceneObjectGroup containingGroup;
SceneObjectPart rootPart;
return GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor);
}
private bool GetRootPhysActor(UUID hostID, out SceneObjectGroup containingGroup, out SceneObjectPart rootPart, out PhysicsActor rootPhysActor)
{
bool ret = false;
rootPhysActor = null;
containingGroup = null;
rootPart = null;
SceneObjectPart requestingPart;
requestingPart = BaseScene.GetSceneObjectPart(hostID);
if (requestingPart != null)
{
// The type is is always on the root of a linkset.
SceneObjectGroup containingGroup = requestingPart.ParentGroup;
SceneObjectPart rootPart = containingGroup.RootPart;
if (rootPart != null)
containingGroup = requestingPart.ParentGroup;
if (containingGroup != null && !containingGroup.IsDeleted)
{
Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
rootPart = containingGroup.RootPart;
if (rootPart != null)
{
SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
if (linkPart != null)
rootPhysActor = rootPart.PhysActor;
if (rootPhysActor != null)
{
Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor;
if (linkPhysActor != null)
{
ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkSpring, linkNum, linkPhysActor,
frameInAloc, frameInArot,
frameInBloc, frameInBrot,
linearLimitLow, linearLimitHigh,
angularLimitLow, angularLimitHigh
);
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
ret = true;
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
}
}
else
{
m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}",
LogHeader, requestingPart.Name, hostID);
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Containing group missing or deleted. hostID={1}", LogHeader, hostID);
}
}
else
{
m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
m_log.WarnFormat("{0} GetRootAndChildPhysActors: cannot find script object in scene. hostID={1}", LogHeader, hostID);
}
return ret;
}
[ScriptInvocation]
public int physChangeLinkSlider(UUID hostID, UUID scriptID, int linkNum)
// Find the root and child PhysActors based on the linkNum.
// Return 'true' if both are found and returned.
private bool GetRootAndChildPhysActors(UUID hostID, int linkNum, out PhysicsActor rootPhysActor, out PhysicsActor childPhysActor)
{
return 0;
bool ret = false;
rootPhysActor = null;
childPhysActor = null;
SceneObjectGroup containingGroup;
SceneObjectPart rootPart;
if (GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor))
{
SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
if (linkPart != null)
{
childPhysActor = linkPart.PhysActor;
if (childPhysActor != null)
{
ret = true;
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
LogHeader, rootPart.Name, hostID, linkNum);
}
}
else
{
m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
LogHeader, rootPart.Name, hostID);
}
return ret;
}
// Extension() returns an object. Convert that object into the integer error we expect to return.
private int MakeIntError(object extensionRet)
{
int ret = -1;
if (extensionRet != null)
{
try
{
ret = (int)extensionRet;
}
catch
{
ret = -1;
}
}
return ret;
}
}
}