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BulletSim: rename some constraint variables to be consistant with other name use.

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Added callbacks for shape and body changes in GetBodyAndShape() so the linkset
    constraints can be picked up and restored. A better design might be to have
    a "prim shape changed" event. Think about that.
Added constraint types to general constraint class.
This commit is contained in:
Robert Adams
2012-09-27 19:57:35 -07:00
parent 7b65985047
commit 74dea4cfd5
7 changed files with 232 additions and 117 deletions
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21
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
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@@ -49,20 +49,23 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
m_enabled = false;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.Ptr);
m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.Ptr = System.IntPtr.Zero;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.ptr = System.IntPtr.Zero;
}
}
public BulletBody Body1 { get { return m_body1; } }
public BulletBody Body2 { get { return m_body2; } }
public BulletConstraint Constraint { get { return m_constraint; } }
public abstract ConstraintType Type { get; }
public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
return ret;
}
@@ -70,7 +73,7 @@ public abstract class BSConstraint : IDisposable
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
return ret;
}
@@ -79,7 +82,7 @@ public abstract class BSConstraint : IDisposable
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt);
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
ret = true;
}
return ret;
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
// Recompute the internal transforms
BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
ret = true;
}
return ret;
@@ -110,11 +113,11 @@ public abstract class BSConstraint : IDisposable
// Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints.
// If the link is enabled, be sure to set the constraint itself to enabled.
BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
}
else
{
m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
}
}
return ret;