BulletSim: add calls for creating all the different Bullet constraint types.

Updated the DLLs and SOs and code for BulletXNA to create the types.
All the detailed control calls are not all in place yet.

1 files changed, 16 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index ecb1b32..476a0e5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -57,6 +57,7 @@ public sealed class BSConstraint6Dof : BSConstraint
                             obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
     }
 
+    // 6 Dof constraint based on a midpoint between the two constrained bodies
     public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@@ -94,6 +95,21 @@ public sealed class BSConstraint6Dof : BSConstraint
         }
     }
 
+    // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
+    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj1; // Look out for confusion down the road
+        m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
+                                frameInBloc, frameInBrot,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
+                            BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString);
+    }
+
     public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
     {
         bool ret = false;