From 75b8cf428e352b8939bb5e49f583d45dd226cf66 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 17:38:13 -0700 Subject: BulletSim: fix line endings in BSActor* --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 339 +++++++++++---------- 1 file changed, 171 insertions(+), 168 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index b4af126..5f74a14 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -1,168 +1,171 @@ -/* - * 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.Linq; -using System.Text; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public class BSActorLockAxis : BSActor -{ - bool TryExperimentalLockAxisCode = false; - BSConstraint LockAxisConstraint = null; - - public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) - : base(physicsScene, pObj,actorName) - { - LockAxisConstraint = null; - } - - // BSActor.isActive - public override bool isActive - { - get { return Enabled && Prim.IsPhysicallyActive; } - } - - // Release any connections and resources used by the actor. - // BSActor.Release() - public override void Release() - { - RemoveAxisLockConstraint(); - } - - // Called when physical parameters (properties set in Bullet) need to be re-applied. - // Called at taint-time. - // BSActor.Refresh() - public override void Refresh() - { - // If all the axis are free, we don't need to exist - if (Prim.LockedAxis == Prim.LockedAxisFree) - { - Prim.PhysicalActors.RemoveAndRelease(ActorName); - return; - } - // If the object is physically active, add the axis locking constraint - if (Enabled - && Prim.IsPhysicallyActive - && TryExperimentalLockAxisCode - && Prim.LockedAxis != Prim.LockedAxisFree) - { - if (LockAxisConstraint != null) - AddAxisLockConstraint(); - } - else - { - RemoveAxisLockConstraint(); - } - } - - // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). - // Register a prestep action to restore physical requirements before the next simulation step. - // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() - { - if (LockAxisConstraint != null) - { - // If a constraint is set up, remove it from the physical scene - RemoveAxisLockConstraint(); - // Schedule a call before the next simulation step to restore the constraint. - PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() - { - Refresh(); - }); - } - } - - private void AddAxisLockConstraint() - { - // Lock that axis by creating a 6DOF constraint that has one end in the world and - // the other in the object. - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 - - // Remove any existing axis constraint (just to be sure) - RemoveAxisLockConstraint(); - - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); - - // The constraint is tied to the world and oriented to the prim. - - // Free to move linearly - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - - // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (Prim.LockedAxis.X != 1f) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (Prim.LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (Prim.LockedAxis.Z != 1f) - { - angularLow.Z = 0f; - angularHigh.Z = 0f; - } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); - - PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); - - // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. - axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - - axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); - } - - private void RemoveAxisLockConstraint() - { - if (LockAxisConstraint != null) - { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); - LockAxisConstraint = null; - PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); - } - } -} -} +/* + * 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.Linq; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + bool TryExperimentalLockAxisCode = false; + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj,actorName) + { + PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID); + LockAxisConstraint = null; + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && Prim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + RemoveAxisLockConstraint(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive); + // If all the axis are free, we don't need to exist + if (Prim.LockedAxis == Prim.LockedAxisFree) + { + Prim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + // If the object is physically active, add the axis locking constraint + if (Enabled + && Prim.IsPhysicallyActive + && TryExperimentalLockAxisCode + && Prim.LockedAxis != Prim.LockedAxisFree) + { + if (LockAxisConstraint != null) + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveBodyDependencies() + public override void RemoveBodyDependencies() + { + if (LockAxisConstraint != null) + { + // If a constraint is set up, remove it from the physical scene + RemoveAxisLockConstraint(); + // Schedule a call before the next simulation step to restore the constraint. + PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() + { + Refresh(); + }); + } + } + + private void AddAxisLockConstraint() + { + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + + // Remove any existing axis constraint (just to be sure) + RemoveAxisLockConstraint(); + + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), + true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + + // The constraint is tied to the world and oriented to the prim. + + // Free to move linearly + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); + + // Angular with some axis locked + float f2PI = (float)Math.PI * 2f; + OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); + OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); + if (Prim.LockedAxis.X != 1f) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (Prim.LockedAxis.Y != 1f) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (Prim.LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + axisConstrainer.SetAngularLimits(angularLow, angularHigh); + + PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", + Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + + axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); + } + + private void RemoveAxisLockConstraint() + { + if (LockAxisConstraint != null) + { + PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); + } + } +} +} -- cgit v1.1