BulletSim/ScriptFunctions

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OpenSimulator => BulletSim => Script Functions

BulletSim Script Functions

Contents

Physics engines have an extension interface enabling extended functions. BulletSim adds script functions which call the extension interface and add control of physics parameters and new functionality.

This feature requires the mod_invoke feature to be enabled on the region the script is running on.

Information

string physGetEngineType()

string physGetPhysicsParameter(string parameterName)

void physSetPhysicsParameter(string parameterName, string value)

Physics Parameters

void physSetLinksetType(integer linksetTypeCode)

Value Constant Description
0 PHYS_LINKSET_TYPE_CONSTRAINT Links are created with physics constraint objects. Used for flexible objects. Not a good default as it uses more CPU.
1 PHYS_LINKSET_TYPE_COMPOUND Linkset is constructed as a compound object made up of the shapes of all the children. The most efficient linkset implementation and the default.
2 PHYS_LINKSET_TYPE_MANUAL NOT IMPLEMENTED. Linkset is implemented by CPU code that moves each of the object in the linkset independently.

void physSetCenterOfMass(vector centerOfMassDisplacement)

Value Constant Description
1234 PHYS_LINK_TYPE_FIXED Link is fixed and unmovable. Default. Implemented as a 6 degree-of-freedom constraint with no motion in either the linear or angular directions.
4 PHYS_LINK_TYPE_HINGE
9 PHYS_LINK_TYPE_SPRING
6 PHYS_LINK_TYPE_6DOF
7 PHYS_LINK_TYPE_SLIDER


Extended Linksets

void physChangeLinkParams(integer linkNum, list parms)

Flag Description Usage
PHYS_PARAM_LINK_TYPE
PHYS_PARAM_FRAMEINA_LOC
PHYS_PARAM_FRAMEINA_ROT
PHYS_PARAM_FRAMEINB_LOC
PHYS_PARAM_FRAMEINA_ROT
PHYS_PARAM_LINEAR_LIMIT_LOW
PHYS_PARAM_LINEAR_LIMIT_HIGH
PHYS_PARAM_ANGULAR_LIMIT_LOW
PHYS_PARAM_ANGULAR_LIMIT_HIGH
PHYS_PARAM_USE_FRAME_OFFSET
PHYS_PARAM_ENABLE_TRANSMOTOR
PHYS_PARAM_TRANSMOTOR_MAXVEL
PHYS_PARAM_USE_LINEAR_FRAMEA
PHYS_PARAM_TRANSMOTOR_MAXFORCE
PHYS_PARAM_CFM
PHYS_PARAM_ERP
PHYS_PARAM_SOLVER_ITERATIONS
PHYS_PARAM_SPRING_AXIS_ENABLE [PHYS_PARAM_SPRING_AXIS_ENABLE, int axisCode, bool flag]
PHYS_PARAM_SPRING_DAMPING [PHYS_PARAM_SPRING_DAMPING, int axisCode, float damping]
PHYS_PARAM_SPRING_STIFFNESS [PHYS_PARAM_SPRING_STIFFNESS, int axisCode, float stiffness]

Axis Specification

Some of the parameters specify a constraint axis. The axis values mean:

axisCode constant meaning
0 PHYS_AXIS_LINEAR_X X linear axis
1 PHYS_AXIS_LINEAR_Y Y linear axis
2 PHYS_AXIS_LINEAR_Z Z linear axis
3 PHYS_AXIS_ANGULAR_X X angular axis
4 PHYS_AXIS_ANGULAR_Y Y angular axis
5 PHYS_AXIS_ANGULAR_Z Z angular axis
-1 PHYS_AXIS_ALL (-1) make changes to all axis
-2 PHYS_AXIS_LINEAR_ALL all linear axis (X, Y, Z)
-3 PHYS_AXIS_ANGULAR_ALL all angular axis (X, Y, Z)
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