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BulletSim: add user setting of friction, density and restitution.

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This commit is contained in:
Robert Adams
2013-02-07 11:53:49 -08:00
parent 528f23beab
commit ebb63b55aa
3 changed files with 94 additions and 27 deletions
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17
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Initialize variables kept in base.
GravityModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
@@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor
LastAssetBuildFailed = false;
// Default material type
Material = MaterialAttributes.Material.Wood;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
@@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor
// 'inWorld' true if the object has already been added to the dynamic world.
public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
// The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
public virtual OMV.Vector3 Gravity { get; set; }
// The last value calculated for the prim's inertia
public OMV.Vector3 Inertia { get; set; }
@@ -164,15 +170,16 @@ public abstract class BSPhysObject : PhysicsActor
public override void SetMaterial(int material)
{
Material = (MaterialAttributes.Material)material;
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
Friction = matAttrib.friction;
Restitution = matAttrib.restitution;
Density = matAttrib.density;
}
// Stop all physical motion.
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);
// Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
public virtual void StepVehicle(float timeStep) { }
// Update the physical location and motion of the object. Called with data from Bullet.
public abstract void UpdateProperties(EntityProperties entprop);