+ renamed pad3 to m_contactProcessingThreshold (thanks Campbell Barton/ideasman for confirming it is ok to rename it)

+ fixed Python method, PyArg_ParseTuple already checks for errors, no returning of NULL, thanks Campbell too)
+ added linear/angular spring for each of the 6DOFs of a generic 6dof constraint.  This makes the generic 6dof constraint very versatile.

7 files changed, 37 insertions, 20 deletions

diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c
index 9739668c7c7..ec068c35c11 100644
--- a/source/blender/blenkernel/intern/object.c
+++ b/source/blender/blenkernel/intern/object.c
@@ -985,7 +985,7 @@ Object *add_only_object(int type, char *name)
 	ob->gameflag= OB_PROP|OB_COLLISION;
 	ob->margin = 0.0;
 	/* ob->pad3 == Contact Processing Threshold */
-	ob->pad3 = 1.;
+	ob->m_contactProcessingThreshold = 1.;
 	
 	/* NT fluid sim defaults */
 	ob->fluidsimFlag = 0;
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index 0b0a97b7ec0..d8566e06ed7 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -8110,7 +8110,7 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 		Object *ob;
 		World *wrld;
 		for(ob = main->object.first; ob; ob= ob->id.next) {
-			ob->pad3 = 1.; //pad3 is used for m_contactProcessingThreshold
+			ob->m_contactProcessingThreshold = 1.; //pad3 is used for m_contactProcessingThreshold
 			if(ob->parent) {
 				/* check if top parent has compound shape set and if yes, set this object
 				   to compound shaper as well (was the behaviour before, now it's optional) */
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h
index 11fa44fe488..741822b5a98 100644
--- a/source/blender/makesdna/DNA_object_types.h
+++ b/source/blender/makesdna/DNA_object_types.h
@@ -159,7 +159,7 @@ typedef struct Object {
 	float margin;
 	float max_vel; /* clamp the maximum velocity 0.0 is disabled */
 	float min_vel; /* clamp the maximum velocity 0.0 is disabled */
-	float pad3; /* pad3 is now used for m_contactProcessingThreshold, can we still rename it? */
+	float m_contactProcessingThreshold;
 
 	char dt, dtx;
 	char totcol;	/* copy of mesh or curve or meta */
diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c
index b0ce3c8a95b..c283cd18ca2 100644
--- a/source/blender/src/buttons_logic.c
+++ b/source/blender/src/buttons_logic.c
@@ -3204,7 +3204,7 @@ static uiBlock *advanced_bullet_menu(void *arg_ob)
 			if (ob->gameflag & OB_RIGID_BODY)
 			{
 				uiDefButF(block, NUM, 0, "CPT",
-					xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1, 0, 
+					xco+180, yco, 180, 19, &ob->m_contactProcessingThreshold, 0.00, 1., 1, 0, 
 					"Contact Processing Threshold");
 			
 				yco -= 20;
@@ -3287,7 +3287,7 @@ static uiBlock *advanced_bullet_menu(void *arg_ob)
 					xco, yco, 180, 19, &ob->margin, 0.0, 1.0, 1, 0, 
 					"Collision margin");
 			uiDefButF(block, NUM, 0, "CPT",
-				xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1, 0, 
+				xco+180, yco, 180, 19, &ob->m_contactProcessingThreshold, 0.00, 1., 1, 0, 
 				"Contact Processing Threshold");
 
 		}
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index a9c839595c2..d9e93d41f34 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1422,7 +1422,7 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
 	///contact processing threshold is only for rigid bodies and static geometry, not 'dynamic'
 	if (objprop.m_angular_rigidbody || !objprop.m_dyna )
 	{
-		objprop.m_contactProcessingThreshold = blenderobject->pad3;
+		objprop.m_contactProcessingThreshold = blenderobject->m_contactProcessingThreshold;
 	} else
 	{
 		objprop.m_contactProcessingThreshold = 0.f;
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index b0576424a47..b40100db2f7 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -59,22 +59,17 @@ PyObject* KX_ConstraintWrapper::PySetParam(PyObject* args, PyObject* kwds)
 	int len = PyTuple_Size(args);
 	int success = 1;
 	
-	if (len == 3)
+	int dof;
+	float minLimit,maxLimit;
+	success = PyArg_ParseTuple(args,"iff:setParam",&dof,&minLimit,&maxLimit);
+	if (success)
 	{
-		int dof;
-		float minLimit,maxLimit;
-		success = PyArg_ParseTuple(args,"iff",&dof,&minLimit,&maxLimit);
-		if (success)
-		{
-			m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
-			Py_RETURN_NONE;
-		}
+		m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
 	}
-	return NULL;
+	Py_RETURN_NONE;
 }
 
 
-
 //python specific stuff
 PyTypeObject KX_ConstraintWrapper::Type = {
 #if (PY_VERSION_HEX >= 0x02060000)
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 561c370854f..58720c8cc30 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -922,7 +922,7 @@ int			CcdPhysicsEnvironment::createUniversalD6Constraint(
 		
 
 		bool useReferenceFrameA = true;
-		genericConstraint = new btGeneric6DofConstraint(
+		genericConstraint = new btGeneric6DofSpringConstraint(
 			*rb0,*rb1,
 			frameInA,frameInB,useReferenceFrameA);
 		genericConstraint->setLinearLowerLimit(linearMinLimits);
@@ -1831,6 +1831,28 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 					break;
 				}
 
+			case 12: case 13: case 14: case 15: case 16: case 17:
+			{
+				//param 13-17 are for motorized springs on each of the degrees of freedom
+					btGeneric6DofSpringConstraint* genCons = (btGeneric6DofSpringConstraint*)typedConstraint;
+					int springIndex = param-12;
+					if (value0!=0.f)
+					{
+						bool springEnabled = true;
+						genCons->setStiffness(springIndex,value0);
+						genCons->enableSpring(springIndex,springEnabled);
+						if (value1>0.5f)
+						{
+							genCons->setEquilibriumPoint(springIndex);
+						}
+					} else
+					{
+						bool springEnabled = false;
+						genCons->enableSpring(springIndex,springEnabled);
+					}
+					break;
+			}
+
 			default:
 				{
 				}
@@ -2351,7 +2373,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				frameInB = inv  * globalFrameA;
 				bool useReferenceFrameA = true;
 
-				genericConstraint = new btGeneric6DofConstraint(
+				genericConstraint = new btGeneric6DofSpringConstraint(
 					*rb0,*rb1,
 					frameInA,frameInB,useReferenceFrameA);
 
@@ -2375,7 +2397,7 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 				frameInB = rb0->getCenterOfMassTransform() * frameInA;
 
 				bool useReferenceFrameA = true;
-				genericConstraint = new btGeneric6DofConstraint(
+				genericConstraint = new btGeneric6DofSpringConstraint(
 					*rb0,s_fixedObject2,
 					frameInA,frameInB,useReferenceFrameA);
 			}