From 2d05e16f7e934fc7a986696605950dd9a618d044 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:34:51 -0700 Subject: BulletSim: Add C# classes for storing and tracking constraints. --- .../BulletSPlugin/BSConstraintCollection.cs | 178 +++++++++++++++++++++ 1 file changed, 178 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs new file mode 100755 index 0000000..6c66c5c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -0,0 +1,178 @@ +/* + * 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 m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + 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 the way we're using them. + 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; + } + + 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; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + 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; + } + } + } + + +} +} -- cgit v1.1 From 0a4c080e63d3159f4943a164a2085cc6a41fac80 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 14:59:00 -0700 Subject: BulletSim: fix line endings in newly added files (Is it DOS or is it UNIX? Only it's hairdresser knows for sure) --- .../BulletSPlugin/BSConstraintCollection.cs | 356 ++++++++++----------- 1 file changed, 178 insertions(+), 178 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs') 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 @@ -/* - * 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 m_constraints; - private BulletSim m_world; - - public BSConstraintCollection(BulletSim world) - { - m_world = world; - m_constraints = new List(); - } - - 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 the way we're using them. - 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; - } - - 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; - } - - public bool RemoveAndDestroyConstraint(BulletBody body1) - { - // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); - - List toRemove = new List(); - 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; - } - } - } - - -} -} +/* + * 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 m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + 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 the way we're using them. + 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; + } + + 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; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + 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; + } + } + } + + +} +} -- cgit v1.1 From 50dbb9ffe480b08f13f7bebb8259193dc00f88dd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 09:23:05 -0700 Subject: BulletSim: add parameters and API calls for setting ERP and CFM. Set ERP and CFM in linkset constraints. Reorder rebuilding of object bodies so they are not rebuilt everytime something is linked and unlinked. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index a2650fb..c88e645 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -83,7 +83,8 @@ public class BSConstraintCollection : IDisposable return true; } - // Get the constraint between two bodies. There can be only one the way we're using them. + // 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; @@ -105,6 +106,9 @@ public class BSConstraintCollection : IDisposable 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); @@ -125,6 +129,8 @@ public class BSConstraintCollection : IDisposable 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); -- cgit v1.1