// 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(); } }