From 6a75949323dedce1e141190cc90175f04afdad0a Mon Sep 17 00:00:00 2001 From: teravus Date: Sun, 20 Jan 2013 08:07:49 -0500 Subject: * Dumping BulletSimNPlugin in favor of combining the API --- .../Physics/BulletSNPlugin/BSConstraint6Dof.cs | 153 --------------------- 1 file changed, 153 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs deleted file mode 100644 index d1e3f55..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs +++ /dev/null @@ -1,153 +0,0 @@ -/* - * 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.BulletSNPlugin -{ - -public sealed class BSConstraint6Dof : BSConstraint -{ - private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; - - public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } - - // Create a btGeneric6DofConstraint - public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - frame1, frame1rot, - frame2, frame2rot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - } - - public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) - { - world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - m_enabled = false; - } - else - { - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(), - obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); - if (!m_constraint.HasPhysicalConstraint) - { - world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", - LogHeader, obj1.ID, obj2.ID); - m_enabled = false; - } - else - { - m_enabled = true; - } - } - } - - public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - ret = true; - } - return ret; - } - - public bool SetCFMAndERP(float cfm, float erp) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - ret = true; - } - 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); - m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", - BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); - } - return ret; - } - - public bool SetBreakingImpulseThreshold(float threshold) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - return ret; - } -} -} -- cgit v1.1