1 files changed, 184 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
new file mode 100755
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+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
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+/*
+ * 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 log4net;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public class BSConstraintCollection : IDisposable
+{
+    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
+
+    delegate bool ConstraintAction(BSConstraint constrain);
+
+    private List<BSConstraint> m_constraints;
+    private BulletSim m_world;
+
+    public BSConstraintCollection(BulletSim world)
+    {
+        m_world = world;
+        m_constraints = new List<BSConstraint>();
+    }
+
+    public void Dispose()
+    {
+        this.Clear();
+    }
+
+    public void Clear()
+    {
+        foreach (BSConstraint cons in m_constraints)
+        {
+            cons.Dispose();
+        }
+        m_constraints.Clear();
+    }
+
+    public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame2, Quaternion frame2rot)
+    {
+        BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
+
+        this.AddConstraint(constrain);
+        return constrain;
+    }
+
+    public bool AddConstraint(BSConstraint cons)
+    {
+        // There is only one constraint between any bodies. Remove any old just to make sure.
+        RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
+
+        m_constraints.Add(cons);
+
+        return true;
+    }
+
+    // Get the constraint between two bodies. There can be only one.
+    // Return 'true' if a constraint was found.
+    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
+    {
+        bool found = false;
+        BSConstraint foundConstraint = null;
+
+        uint lookingID1 = body1.ID;
+        uint lookingID2 = body2.ID;
+        ForEachConstraint(delegate(BSConstraint constrain)
+        {
+            if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
+                || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
+            {
+                foundConstraint = constrain;
+                found = true;
+            }
+            return found;
+        });
+        returnConstraint = foundConstraint;
+        return found;
+    }
+
+    // Remove any constraint between the passed bodies.
+    // Presumed there is only one such constraint possible.
+    // Return 'true' if a constraint was found and destroyed.
+    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
+    {
+        // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
+
+        bool ret = false;
+        BSConstraint constrain;
+
+        if (this.TryGetConstraint(body1, body2, out constrain))
+        {
+            // remove the constraint from our collection
+            m_constraints.Remove(constrain);
+            // tell the engine that all its structures need to be freed
+            constrain.Dispose();
+            // we destroyed something
+            ret = true;
+        }
+
+        return ret;
+    }
+
+    // Remove all constraints that reference the passed body.
+    // Return 'true' if any constraints were destroyed.
+    public bool RemoveAndDestroyConstraint(BulletBody body1)
+    {
+        // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
+
+        List<BSConstraint> toRemove = new List<BSConstraint>();
+        uint lookingID = body1.ID;
+        ForEachConstraint(delegate(BSConstraint constrain)
+        {
+            if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
+            {
+                toRemove.Add(constrain);
+            }
+            return false;
+        });
+        lock (m_constraints)
+        {
+            foreach (BSConstraint constrain in toRemove)
+            {
+                m_constraints.Remove(constrain);
+                constrain.Dispose();
+            }
+        }
+        return (toRemove.Count > 0);
+    }
+
+    public bool RecalculateAllConstraints()
+    {
+        foreach (BSConstraint constrain in m_constraints)
+        {
+            constrain.CalculateTransforms();
+        }
+        return true;
+    }
+
+    // Lock the constraint list and loop through it.
+    // The constraint action returns 'true' if it wants the loop aborted.
+    private void ForEachConstraint(ConstraintAction action)
+    {
+        lock (m_constraints)
+        {
+            foreach (BSConstraint constrain in m_constraints)
+            {
+                if (action(constrain))
+                    break;
+            }
+        }
+    }
+
+
+}
+}