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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs219
1 files changed, 0 insertions, 219 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
deleted file mode 100755
index 3b3c161..0000000
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
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@@ -1,219 +0,0 @@
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 */
27
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33using OMV = OpenMetaverse;
34
35namespace OpenSim.Region.Physics.BulletSPlugin
36{
37public class BSActorLockAxis : BSActor
38{
39 private BSConstraint LockAxisConstraint = null;
40 private bool HaveRegisteredForBeforeStepCallback = false;
41
42 // The lock access flags (which axises were locked) when the contraint was built.
43 // Used to see if locking has changed since when the constraint was built.
44 OMV.Vector3 LockAxisLinearFlags;
45 OMV.Vector3 LockAxisAngularFlags;
46
47 public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
48 : base(physicsScene, pObj, actorName)
49 {
50 m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
51 LockAxisConstraint = null;
52 HaveRegisteredForBeforeStepCallback = false;
53 }
54
55 // BSActor.isActive
56 public override bool isActive
57 {
58 get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
59 }
60
61 // Release any connections and resources used by the actor.
62 // BSActor.Dispose()
63 public override void Dispose()
64 {
65 Enabled = false;
66 UnRegisterForBeforeStepCallback();
67 RemoveAxisLockConstraint();
68 }
69
70 // Called when physical parameters (properties set in Bullet) need to be re-applied.
71 // Called at taint-time.
72 // BSActor.Refresh()
73 public override void Refresh()
74 {
75 // Since the axis logging is done with a constraint, Refresh() time is good for
76 // changing parameters but this needs to wait until the prim/linkset is physically
77 // constructed. Therefore, the constraint itself is placed at pre-step time.
78
79 // If all the axis are free, we don't need to exist
80 // Refresh() only turns off. Enabling is done by InitializeAxisActor()
81 // whenever parameters are changed.
82 // This leaves 'enable' free to turn off an actor when it is not wanted to run.
83 if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
84 && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
85 {
86 Enabled = false;
87 }
88
89 if (isActive)
90 {
91 RegisterForBeforeStepCallback();
92 }
93 else
94 {
95 RemoveDependencies();
96 UnRegisterForBeforeStepCallback();
97 }
98 }
99
100 // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
101 // Register a prestep action to restore physical requirements before the next simulation step.
102 // Called at taint-time.
103 // BSActor.RemoveDependencies()
104 public override void RemoveDependencies()
105 {
106 RemoveAxisLockConstraint();
107 }
108
109 private void RegisterForBeforeStepCallback()
110 {
111 if (!HaveRegisteredForBeforeStepCallback)
112 {
113 m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
114 HaveRegisteredForBeforeStepCallback = true;
115 }
116 }
117
118 private void UnRegisterForBeforeStepCallback()
119 {
120 if (HaveRegisteredForBeforeStepCallback)
121 {
122 m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep;
123 HaveRegisteredForBeforeStepCallback = false;
124 }
125 }
126
127 private void PhysicsScene_BeforeStep(float timestep)
128 {
129 // If all the axis are free, we don't need to exist
130 if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
131 && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
132 {
133 Enabled = false;
134 }
135
136 // If the object is physically active, add the axis locking constraint
137 if (isActive)
138 {
139 // Check to see if the locking parameters have changed
140 if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
141 || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
142 {
143 // The locking has changed. Remove the old constraint and build a new one
144 RemoveAxisLockConstraint();
145 }
146
147 AddAxisLockConstraint();
148 }
149 else
150 {
151 RemoveAxisLockConstraint();
152 }
153 }
154
155 // Note that this relies on being called at TaintTime
156 private void AddAxisLockConstraint()
157 {
158 if (LockAxisConstraint == null)
159 {
160 // Lock that axis by creating a 6DOF constraint that has one end in the world and
161 // the other in the object.
162 // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
163 // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
164
165 // Remove any existing axis constraint (just to be sure)
166 RemoveAxisLockConstraint();
167
168 BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
169 OMV.Vector3.Zero, OMV.Quaternion.Identity,
170 false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
171 LockAxisConstraint = axisConstrainer;
172 m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
173
174 // Remember the clocking being inforced so we can notice if they have changed
175 LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
176 LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
177
178 // The constraint is tied to the world and oriented to the prim.
179
180 if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
181 {
182 m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
183 m_controllingPrim.LocalID);
184 }
185
186 if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
187 {
188 m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
189 m_controllingPrim.LocalID);
190 }
191
192 m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
193 m_controllingPrim.LocalID,
194 m_controllingPrim.LockedLinearAxisLow,
195 m_controllingPrim.LockedLinearAxisHigh,
196 m_controllingPrim.LockedAngularAxisLow,
197 m_controllingPrim.LockedAngularAxisHigh);
198
199 // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
200 axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
201
202 axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
203
204 RegisterForBeforeStepCallback();
205 }
206 }
207
208 private void RemoveAxisLockConstraint()
209 {
210 UnRegisterForBeforeStepCallback();
211 if (LockAxisConstraint != null)
212 {
213 m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
214 LockAxisConstraint = null;
215 m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
216 }
217 }
218}
219}
generated by cgit v1.1 at 2024-12-14 07:42:33 +0000