ogb912/opensim
1
0
Fork 0
mirror of https://github.com/opensim/opensim.git synced 2026-08-09 18:55:58 +08:00
Code Issues Packages Projects Releases Wiki Activity

BulletSim: Add logic to linksets to change physical properties for

Browse Source 
whole linkset.
Override physical property setting for BSLinksetCompound as there are
not children to the compound spape.
This commit is contained in:
Robert Adams
2013-07-16 10:02:14 -07:00
parent d0d654e218
commit b44f0e1a00
3 changed files with 59 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
View File

@@ -69,7 +69,7 @@ public class BSActorCollection
{
lock (m_actors)
{
Release();
ForEachActor(a => a.Dispose());
m_actors.Clear();
}
}
@@ -98,10 +98,6 @@ public class BSActorCollection
{
ForEachActor(a => a.SetEnabled(enabl));
}
public void Release()
{
ForEachActor(a => a.Dispose());
}
public void Refresh()
{
ForEachActor(a => a.Refresh());

24
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@@ -309,14 +309,14 @@ public abstract class BSLinkset
}
);
}
public virtual void ComputeLocalInertia()
public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
member.Inertia = inertia * BSParam.VehicleInertiaFactor;
member.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
}
@@ -324,6 +324,26 @@ public abstract class BSLinkset
}
);
}
public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
return false; // 'false' says to continue looping
}
);
}
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
return false; // 'false' says to continue looping
}
);
}
// ================================================================
protected virtual float ComputeLinksetMass()
{

36
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
{
}
// ================================================================
// Changing the physical property of the linkset only needs to change the root
public override void SetPhysicalFriction(float friction)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
}
public override void SetPhysicalRestitution(float restitution)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
}
public override void SetPhysicalGravity(OMV.Vector3 gravity)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
}
public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
LinksetRoot.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
}
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
// ================================================================
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public override void Refresh(BSPrimLinkable requestor)