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authorteravus2012-12-23 15:21:25 -0500
committerteravus2012-12-23 15:21:25 -0500
commit92e4f9f412046f8f7926c99c9e56c3a8b6b2edbf (patch)
treeeabcbb758a7512222e84cb51b51b6822cdbf561b /OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
parentRevert "Whitespace change to trigger bot" (diff)
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* Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.
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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using log4net;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35
36public sealed class BSConstraintCollection : IDisposable
37{
38 // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
39 // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
40
41 delegate bool ConstraintAction(BSConstraint constrain);
42
43 private List<BSConstraint> m_constraints;
44 private BulletSim m_world;
45
46 public BSConstraintCollection(BulletSim world)
47 {
48 m_world = world;
49 m_constraints = new List<BSConstraint>();
50 }
51
52 public void Dispose()
53 {
54 this.Clear();
55 }
56
57 public void Clear()
58 {
59 lock (m_constraints)
60 {
61 foreach (BSConstraint cons in m_constraints)
62 {
63 cons.Dispose();
64 }
65 m_constraints.Clear();
66 }
67 }
68
69 public bool AddConstraint(BSConstraint cons)
70 {
71 lock (m_constraints)
72 {
73 // There is only one constraint between any bodies. Remove any old just to make sure.
74 RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
75
76 m_constraints.Add(cons);
77 }
78
79 return true;
80 }
81
82 // Get the constraint between two bodies. There can be only one.
83 // Return 'true' if a constraint was found.
84 public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
85 {
86 bool found = false;
87 BSConstraint foundConstraint = null;
88
89 uint lookingID1 = body1.ID;
90 uint lookingID2 = body2.ID;
91 lock (m_constraints)
92 {
93 foreach (BSConstraint constrain in m_constraints)
94 {
95 if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
96 || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
97 {
98 foundConstraint = constrain;
99 found = true;
100 break;
101 }
102 }
103 }
104 returnConstraint = foundConstraint;
105 return found;
106 }
107
108 // Remove any constraint between the passed bodies.
109 // Presumed there is only one such constraint possible.
110 // Return 'true' if a constraint was found and destroyed.
111 public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
112 {
113 bool ret = false;
114 lock (m_constraints)
115 {
116 BSConstraint constrain;
117 if (this.TryGetConstraint(body1, body2, out constrain))
118 {
119 // remove the constraint from our collection
120 RemoveAndDestroyConstraint(constrain);
121 ret = true;
122 }
123 }
124
125 return ret;
126 }
127
128 // The constraint MUST exist in the collection
129 public bool RemoveAndDestroyConstraint(BSConstraint constrain)
130 {
131 lock (m_constraints)
132 {
133 // remove the constraint from our collection
134 m_constraints.Remove(constrain);
135 }
136 // tell the engine that all its structures need to be freed
137 constrain.Dispose();
138 // we destroyed something
139 return true;
140 }
141
142 // Remove all constraints that reference the passed body.
143 // Return 'true' if any constraints were destroyed.
144 public bool RemoveAndDestroyConstraint(BulletBody body1)
145 {
146 List<BSConstraint> toRemove = new List<BSConstraint>();
147 uint lookingID = body1.ID;
148 lock (m_constraints)
149 {
150 foreach (BSConstraint constrain in m_constraints)
151 {
152 if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
153 {
154 toRemove.Add(constrain);
155 }
156 }
157 foreach (BSConstraint constrain in toRemove)
158 {
159 m_constraints.Remove(constrain);
160 constrain.Dispose();
161 }
162 }
163 return (toRemove.Count > 0);
164 }
165
166 public bool RecalculateAllConstraints()
167 {
168 bool ret = false;
169 lock (m_constraints)
170 {
171 foreach (BSConstraint constrain in m_constraints)
172 {
173 constrain.CalculateTransforms();
174 ret = true;
175 }
176 }
177 return ret;
178 }
179}
180}