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BulletSim: create axis lock constraint with proper orientation and

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enable axis lock functionality.
This commit is contained in:
Robert Adams
2013-04-02 06:40:12 -07:00
parent 17aef1c883
commit 68c8633ba1
1 changed files with 2 additions and 4 deletions
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6
OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
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@@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSActorLockAxis : BSActor
{
bool TryExperimentalLockAxisCode = false;
bool TryExperimentalLockAxisCode = true;
BSConstraint LockAxisConstraint = null;
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
@@ -117,9 +117,7 @@ public class BSActorLockAxis : BSActor
RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
// OMV.Vector3.Zero, OMV.Quaternion.Identity,
OMV.Vector3.Zero, OMV.Quaternion.Inverse(m_controllingPrim.RawOrientation),
// OMV.Vector3.Zero, m_controllingPrim.RawOrientation,
OMV.Vector3.Zero, OMV.Quaternion.Identity,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);