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BulletSim: add parameters for setting linkset constraint factors

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This commit is contained in:
Robert Adams
2012-07-25 14:52:17 -07:00
parent 75f7721b0c
commit d7add2940a
3 changed files with 38 additions and 17 deletions
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25
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@@ -1025,6 +1025,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].numberOfSolverIterations; },
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
(s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),
new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].linkConstraintEnableTransMotor; },
(s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
5.0f,
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
0.1f,
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
0f,
(s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
@@ -1039,13 +1060,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
};
// Convert a boolean to our numeric true and false values
protected float NumericBool(bool b)
public float NumericBool(bool b)
{
return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
}
// Convert numeric true and false values to a boolean
protected bool BoolNumeric(float b)
public bool BoolNumeric(float b)
{
return (b == ConfigurationParameters.numericTrue ? true : false);
}