diff options
Diffstat (limited to 'OpenSim/Region/Physics')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 246 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | 356 |
2 files changed, 301 insertions, 301 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ced8565..1966395 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -1,123 +1,123 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyrightD | 9 | * * Redistributions in binary form must reproduce the above copyrightD |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Text; | 29 | using System.Text; |
30 | using OpenMetaverse; | 30 | using OpenMetaverse; |
31 | 31 | ||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | 32 | namespace OpenSim.Region.Physics.BulletSPlugin |
33 | { | 33 | { |
34 | 34 | ||
35 | public class BSConstraint : IDisposable | 35 | public class BSConstraint : IDisposable |
36 | { | 36 | { |
37 | private BulletSim m_world; | 37 | private BulletSim m_world; |
38 | private BulletBody m_body1; | 38 | private BulletBody m_body1; |
39 | private BulletBody m_body2; | 39 | private BulletBody m_body2; |
40 | private BulletConstraint m_constraint; | 40 | private BulletConstraint m_constraint; |
41 | private bool m_enabled = false; | 41 | private bool m_enabled = false; |
42 | 42 | ||
43 | public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 43 | public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, |
44 | Vector3 frame1, Quaternion frame1rot, | 44 | Vector3 frame1, Quaternion frame1rot, |
45 | Vector3 frame2, Quaternion frame2rot | 45 | Vector3 frame2, Quaternion frame2rot |
46 | ) | 46 | ) |
47 | { | 47 | { |
48 | m_world = world; | 48 | m_world = world; |
49 | m_body1 = obj1; | 49 | m_body1 = obj1; |
50 | m_body2 = obj2; | 50 | m_body2 = obj2; |
51 | /* | 51 | /* |
52 | BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, | 52 | BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, |
53 | frame1, frame1rot, | 53 | frame1, frame1rot, |
54 | frame2, frame2rot, | 54 | frame2, frame2rot, |
55 | linearLow, linearHigh, | 55 | linearLow, linearHigh, |
56 | angularLow, angularHigh | 56 | angularLow, angularHigh |
57 | ); | 57 | ); |
58 | */ | 58 | */ |
59 | m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | 59 | m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, |
60 | frame1, frame1rot, | 60 | frame1, frame1rot, |
61 | frame2, frame2rot)); | 61 | frame2, frame2rot)); |
62 | m_enabled = true; | 62 | m_enabled = true; |
63 | } | 63 | } |
64 | 64 | ||
65 | public void Dispose() | 65 | public void Dispose() |
66 | { | 66 | { |
67 | if (m_enabled) | 67 | if (m_enabled) |
68 | { | 68 | { |
69 | // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); | 69 | // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); |
70 | BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); | 70 | BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); |
71 | m_enabled = false; | 71 | m_enabled = false; |
72 | } | 72 | } |
73 | } | 73 | } |
74 | 74 | ||
75 | public BulletBody Body1 { get { return m_body1; } } | 75 | public BulletBody Body1 { get { return m_body1; } } |
76 | public BulletBody Body2 { get { return m_body2; } } | 76 | public BulletBody Body2 { get { return m_body2; } } |
77 | 77 | ||
78 | public bool SetLinearLimits(Vector3 low, Vector3 high) | 78 | public bool SetLinearLimits(Vector3 low, Vector3 high) |
79 | { | 79 | { |
80 | bool ret = false; | 80 | bool ret = false; |
81 | if (m_enabled) | 81 | if (m_enabled) |
82 | ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); | 82 | ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); |
83 | return ret; | 83 | return ret; |
84 | } | 84 | } |
85 | 85 | ||
86 | public bool SetAngularLimits(Vector3 low, Vector3 high) | 86 | public bool SetAngularLimits(Vector3 low, Vector3 high) |
87 | { | 87 | { |
88 | bool ret = false; | 88 | bool ret = false; |
89 | if (m_enabled) | 89 | if (m_enabled) |
90 | ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); | 90 | ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); |
91 | return ret; | 91 | return ret; |
92 | } | 92 | } |
93 | 93 | ||
94 | public bool UseFrameOffset(bool useOffset) | 94 | public bool UseFrameOffset(bool useOffset) |
95 | { | 95 | { |
96 | bool ret = false; | 96 | bool ret = false; |
97 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | 97 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
98 | if (m_enabled) | 98 | if (m_enabled) |
99 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); | 99 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); |
100 | return ret; | 100 | return ret; |
101 | } | 101 | } |
102 | 102 | ||
103 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) | 103 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) |
104 | { | 104 | { |
105 | bool ret = false; | 105 | bool ret = false; |
106 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | 106 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
107 | if (m_enabled) | 107 | if (m_enabled) |
108 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); | 108 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); |
109 | return ret; | 109 | return ret; |
110 | } | 110 | } |
111 | 111 | ||
112 | public bool CalculateTransforms() | 112 | public bool CalculateTransforms() |
113 | { | 113 | { |
114 | bool ret = false; | 114 | bool ret = false; |
115 | if (m_enabled) | 115 | if (m_enabled) |
116 | { | 116 | { |
117 | BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); | 117 | BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); |
118 | ret = true; | 118 | ret = true; |
119 | } | 119 | } |
120 | return ret; | 120 | return ret; |
121 | } | 121 | } |
122 | } | 122 | } |
123 | } | 123 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 6c66c5c..a2650fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | |||
@@ -1,178 +1,178 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyrightD | 9 | * * Redistributions in binary form must reproduce the above copyrightD |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Text; | 29 | using System.Text; |
30 | using log4net; | 30 | using log4net; |
31 | using OpenMetaverse; | 31 | using OpenMetaverse; |
32 | 32 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | 33 | namespace OpenSim.Region.Physics.BulletSPlugin |
34 | { | 34 | { |
35 | 35 | ||
36 | public class BSConstraintCollection : IDisposable | 36 | public class BSConstraintCollection : IDisposable |
37 | { | 37 | { |
38 | // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | 38 | // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); |
39 | // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; | 39 | // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; |
40 | 40 | ||
41 | delegate bool ConstraintAction(BSConstraint constrain); | 41 | delegate bool ConstraintAction(BSConstraint constrain); |
42 | 42 | ||
43 | private List<BSConstraint> m_constraints; | 43 | private List<BSConstraint> m_constraints; |
44 | private BulletSim m_world; | 44 | private BulletSim m_world; |
45 | 45 | ||
46 | public BSConstraintCollection(BulletSim world) | 46 | public BSConstraintCollection(BulletSim world) |
47 | { | 47 | { |
48 | m_world = world; | 48 | m_world = world; |
49 | m_constraints = new List<BSConstraint>(); | 49 | m_constraints = new List<BSConstraint>(); |
50 | } | 50 | } |
51 | 51 | ||
52 | public void Dispose() | 52 | public void Dispose() |
53 | { | 53 | { |
54 | this.Clear(); | 54 | this.Clear(); |
55 | } | 55 | } |
56 | 56 | ||
57 | public void Clear() | 57 | public void Clear() |
58 | { | 58 | { |
59 | foreach (BSConstraint cons in m_constraints) | 59 | foreach (BSConstraint cons in m_constraints) |
60 | { | 60 | { |
61 | cons.Dispose(); | 61 | cons.Dispose(); |
62 | } | 62 | } |
63 | m_constraints.Clear(); | 63 | m_constraints.Clear(); |
64 | } | 64 | } |
65 | 65 | ||
66 | public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 66 | public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, |
67 | Vector3 frame1, Quaternion frame1rot, | 67 | Vector3 frame1, Quaternion frame1rot, |
68 | Vector3 frame2, Quaternion frame2rot) | 68 | Vector3 frame2, Quaternion frame2rot) |
69 | { | 69 | { |
70 | BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); | 70 | BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); |
71 | 71 | ||
72 | this.AddConstraint(constrain); | 72 | this.AddConstraint(constrain); |
73 | return constrain; | 73 | return constrain; |
74 | } | 74 | } |
75 | 75 | ||
76 | public bool AddConstraint(BSConstraint cons) | 76 | public bool AddConstraint(BSConstraint cons) |
77 | { | 77 | { |
78 | // There is only one constraint between any bodies. Remove any old just to make sure. | 78 | // There is only one constraint between any bodies. Remove any old just to make sure. |
79 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); | 79 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); |
80 | 80 | ||
81 | m_constraints.Add(cons); | 81 | m_constraints.Add(cons); |
82 | 82 | ||
83 | return true; | 83 | return true; |
84 | } | 84 | } |
85 | 85 | ||
86 | // Get the constraint between two bodies. There can be only one the way we're using them. | 86 | // Get the constraint between two bodies. There can be only one the way we're using them. |
87 | public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) | 87 | public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) |
88 | { | 88 | { |
89 | bool found = false; | 89 | bool found = false; |
90 | BSConstraint foundConstraint = null; | 90 | BSConstraint foundConstraint = null; |
91 | 91 | ||
92 | uint lookingID1 = body1.ID; | 92 | uint lookingID1 = body1.ID; |
93 | uint lookingID2 = body2.ID; | 93 | uint lookingID2 = body2.ID; |
94 | ForEachConstraint(delegate(BSConstraint constrain) | 94 | ForEachConstraint(delegate(BSConstraint constrain) |
95 | { | 95 | { |
96 | if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) | 96 | if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) |
97 | || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) | 97 | || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) |
98 | { | 98 | { |
99 | foundConstraint = constrain; | 99 | foundConstraint = constrain; |
100 | found = true; | 100 | found = true; |
101 | } | 101 | } |
102 | return found; | 102 | return found; |
103 | }); | 103 | }); |
104 | returnConstraint = foundConstraint; | 104 | returnConstraint = foundConstraint; |
105 | return found; | 105 | return found; |
106 | } | 106 | } |
107 | 107 | ||
108 | public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) | 108 | public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) |
109 | { | 109 | { |
110 | // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); | 110 | // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); |
111 | 111 | ||
112 | bool ret = false; | 112 | bool ret = false; |
113 | BSConstraint constrain; | 113 | BSConstraint constrain; |
114 | 114 | ||
115 | if (this.TryGetConstraint(body1, body2, out constrain)) | 115 | if (this.TryGetConstraint(body1, body2, out constrain)) |
116 | { | 116 | { |
117 | // remove the constraint from our collection | 117 | // remove the constraint from our collection |
118 | m_constraints.Remove(constrain); | 118 | m_constraints.Remove(constrain); |
119 | // tell the engine that all its structures need to be freed | 119 | // tell the engine that all its structures need to be freed |
120 | constrain.Dispose(); | 120 | constrain.Dispose(); |
121 | // we destroyed something | 121 | // we destroyed something |
122 | ret = true; | 122 | ret = true; |
123 | } | 123 | } |
124 | 124 | ||
125 | return ret; | 125 | return ret; |
126 | } | 126 | } |
127 | 127 | ||
128 | public bool RemoveAndDestroyConstraint(BulletBody body1) | 128 | public bool RemoveAndDestroyConstraint(BulletBody body1) |
129 | { | 129 | { |
130 | // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); | 130 | // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); |
131 | 131 | ||
132 | List<BSConstraint> toRemove = new List<BSConstraint>(); | 132 | List<BSConstraint> toRemove = new List<BSConstraint>(); |
133 | uint lookingID = body1.ID; | 133 | uint lookingID = body1.ID; |
134 | ForEachConstraint(delegate(BSConstraint constrain) | 134 | ForEachConstraint(delegate(BSConstraint constrain) |
135 | { | 135 | { |
136 | if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) | 136 | if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) |
137 | { | 137 | { |
138 | toRemove.Add(constrain); | 138 | toRemove.Add(constrain); |
139 | } | 139 | } |
140 | return false; | 140 | return false; |
141 | }); | 141 | }); |
142 | lock (m_constraints) | 142 | lock (m_constraints) |
143 | { | 143 | { |
144 | foreach (BSConstraint constrain in toRemove) | 144 | foreach (BSConstraint constrain in toRemove) |
145 | { | 145 | { |
146 | m_constraints.Remove(constrain); | 146 | m_constraints.Remove(constrain); |
147 | constrain.Dispose(); | 147 | constrain.Dispose(); |
148 | } | 148 | } |
149 | } | 149 | } |
150 | return (toRemove.Count > 0); | 150 | return (toRemove.Count > 0); |
151 | } | 151 | } |
152 | 152 | ||
153 | public bool RecalculateAllConstraints() | 153 | public bool RecalculateAllConstraints() |
154 | { | 154 | { |
155 | foreach (BSConstraint constrain in m_constraints) | 155 | foreach (BSConstraint constrain in m_constraints) |
156 | { | 156 | { |
157 | constrain.CalculateTransforms(); | 157 | constrain.CalculateTransforms(); |
158 | } | 158 | } |
159 | return true; | 159 | return true; |
160 | } | 160 | } |
161 | 161 | ||
162 | // Lock the constraint list and loop through it. | 162 | // Lock the constraint list and loop through it. |
163 | // The constraint action returns 'true' if it wants the loop aborted. | 163 | // The constraint action returns 'true' if it wants the loop aborted. |
164 | private void ForEachConstraint(ConstraintAction action) | 164 | private void ForEachConstraint(ConstraintAction action) |
165 | { | 165 | { |
166 | lock (m_constraints) | 166 | lock (m_constraints) |
167 | { | 167 | { |
168 | foreach (BSConstraint constrain in m_constraints) | 168 | foreach (BSConstraint constrain in m_constraints) |
169 | { | 169 | { |
170 | if (action(constrain)) | 170 | if (action(constrain)) |
171 | break; | 171 | break; |
172 | } | 172 | } |
173 | } | 173 | } |
174 | } | 174 | } |
175 | 175 | ||
176 | 176 | ||
177 | } | 177 | } |
178 | } | 178 | } |