1 files changed, 123 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
new file mode 100755
index 0000000..ced8565
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -0,0 +1,123 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSConstraint : IDisposable
+{
+    private BulletSim m_world;
+    private BulletBody m_body1;
+    private BulletBody m_body2;
+    private BulletConstraint m_constraint;
+    private bool m_enabled = false;
+    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame2, Quaternion frame2rot
+        )
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        /*
+        BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 
+                            frame1, frame1rot,
+                            frame2, frame2rot,
+                            linearLow, linearHigh,
+                            angularLow, angularHigh
+        );
+        */
+        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+                            frame1, frame1rot,
+                            frame2, frame2rot));
+        m_enabled = true;
+    }
+    public void Dispose()
+    {
+        if (m_enabled)
+        {
+            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
+            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
+            m_enabled = false;
+        }
+    }
+    public BulletBody Body1 { get { return m_body1; } }
+    public BulletBody Body2 { get { return m_body2; } }
+    public bool SetLinearLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
+        return ret;
+    }
+    public bool SetAngularLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
+        return ret;
+    }
+    public bool UseFrameOffset(bool useOffset)
+    {
+        bool ret = false;
+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
+        return ret;
+    }
+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
+    {
+        bool ret = false;
+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
+        return ret;
+    }
+    public bool CalculateTransforms()
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
+            ret = true;
+        }
+        return ret;
+    }
+}
+}

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs new file mode 100755 index 0000000..ced8565 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -0,0 +1,123 @@
	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	using System;
	28	using System.Collections.Generic;
	29	using System.Text;
	30	using OpenMetaverse;
	31
	32	namespace OpenSim.Region.Physics.BulletSPlugin
	33	{
	34
	35	public class BSConstraint : IDisposable
	36	{
	37	private BulletSim m_world;
	38	private BulletBody m_body1;
	39	private BulletBody m_body2;
	40	private BulletConstraint m_constraint;
	41	private bool m_enabled = false;
	42
	43	public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
	44	Vector3 frame1, Quaternion frame1rot,
	45	Vector3 frame2, Quaternion frame2rot
	46	)
	47	{
	48	m_world = world;
	49	m_body1 = obj1;
	50	m_body2 = obj2;
	51	/*
	52	BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID,
	53	frame1, frame1rot,
	54	frame2, frame2rot,
	55	linearLow, linearHigh,
	56	angularLow, angularHigh
	57	);
	58	*/
	59	m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
	60	frame1, frame1rot,
	61	frame2, frame2rot));
	62	m_enabled = true;
	63	}
	64
	65	public void Dispose()
	66	{
	67	if (m_enabled)
	68	{
	69	// BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
	70	BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
	71	m_enabled = false;
	72	}
	73	}
	74
	75	public BulletBody Body1 { get { return m_body1; } }
	76	public BulletBody Body2 { get { return m_body2; } }
	77
	78	public bool SetLinearLimits(Vector3 low, Vector3 high)
	79	{
	80	bool ret = false;
	81	if (m_enabled)
	82	ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
	83	return ret;
	84	}
	85
	86	public bool SetAngularLimits(Vector3 low, Vector3 high)
	87	{
	88	bool ret = false;
	89	if (m_enabled)
	90	ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
	91	return ret;
	92	}
	93
	94	public bool UseFrameOffset(bool useOffset)
	95	{
	96	bool ret = false;
	97	float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
	98	if (m_enabled)
	99	ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
	100	return ret;
	101	}
	102
	103	public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
	104	{
	105	bool ret = false;
	106	float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
	107	if (m_enabled)
	108	ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
	109	return ret;
	110	}
	111
	112	public bool CalculateTransforms()
	113	{
	114	bool ret = false;
	115	if (m_enabled)
	116	{
	117	BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
	118	ret = true;
	119	}
	120	return ret;
	121	}
	122	}
	123	}