// Note that this relies on being called at TaintTime
private void AddAxisLockConstraint()
{
if (LockAxisConstraint == null)
{
// Lock that axis by creating a 6DOF constraint that has one end in the world and
// the other in the object.
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
// Remove any existing axis constraint (just to be sure)
RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Identity,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
// Remember the clocking being inforced so we can notice if they have changed
LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
// The constraint is tied to the world and oriented to the prim.
if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
m_controllingPrim.LocalID);
}
if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
m_controllingPrim.LocalID);
}
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
m_controllingPrim.LocalID,
m_controllingPrim.LockedLinearAxisLow,
m_controllingPrim.LockedLinearAxisHigh,
m_controllingPrim.LockedAngularAxisLow,
m_controllingPrim.LockedAngularAxisHigh);
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
RegisterForBeforeStepCallback();
}
}
// Given a constraint, apply the current constraint parameters to same.
public override void SetLinkParameters(BSConstraint constrain)
{
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType);
switch (constraintType)
{
case ConstraintType.BS_FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
if (constrain6dof != null)
{
// NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code.
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrain6dof.UseFrameOffset(useFrameOffset);
constrain6dof.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrain6dof.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrain6dof.SetSolverIterations(solverIterations);
}
}
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
BSConstraintSpring constrainSpring = constrain as BSConstraintSpring;
if (constrainSpring != null)
{
// zero linear and angular limits makes the objects unable to move in relation to each other
constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrainSpring.UseFrameOffset(useFrameOffset);
constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrainSpring.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrainSpring.SetSolverIterations(solverIterations);
}
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
{
constrainSpring.SetDamping(ii, springDamping[ii]);
}
if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
{
constrainSpring.SetStiffness(ii, springStiffness[ii]);
}
}
constrainSpring.CalculateTransforms();
if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
{
constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
}
else
{
constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
}
}
break;
default:
break;
}
}
// Note that this relies on being called at TaintTime
private void AddAxisLockConstraint()
{
if (LockAxisConstraint == null)
{
// Lock that axis by creating a 6DOF constraint that has one end in the world and
// the other in the object.
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
// Remove any existing axis constraint (just to be sure)
RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Identity,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
// Remember the clocking being inforced so we can notice if they have changed
LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
// The constraint is tied to the world and oriented to the prim.
if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
m_controllingPrim.LocalID);
}
if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
m_controllingPrim.LocalID);
}
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
m_controllingPrim.LocalID,
m_controllingPrim.LockedLinearAxisLow,
m_controllingPrim.LockedLinearAxisHigh,
m_controllingPrim.LockedAngularAxisLow,
m_controllingPrim.LockedAngularAxisHigh);
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
RegisterForBeforeStepCallback();
}
}
