1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
|
/*
* 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.BulletSPlugin
{
public abstract class BSConstraint : IDisposable
{
private static string LogHeader = "[BULLETSIM CONSTRAINT]";
protected BulletWorld m_world;
protected BSScene PhysicsScene;
protected BulletBody m_body1;
protected BulletBody m_body2;
protected BulletConstraint m_constraint;
protected bool m_enabled = false;
public BulletBody Body1 { get { return m_body1; } }
public BulletBody Body2 { get { return m_body2; } }
public BulletConstraint Constraint { get { return m_constraint; } }
public abstract ConstraintType Type { get; }
public bool IsEnabled { get { return m_enabled; } }
public BSConstraint(BulletWorld world)
{
m_world = world;
PhysicsScene = m_world.physicsScene;
}
public virtual void Dispose()
{
if (m_enabled)
{
m_enabled = false;
if (m_constraint.HasPhysicalConstraint)
{
bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
BSScene.DetailLogZero,
m_body1.ID, m_body1.ptr.ToString("X"),
m_body2.ID, m_body2.ptr.ToString("X"),
success);
m_constraint.Clear();
}
}
}
public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
return ret;
}
public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
return ret;
}
public virtual bool SetSolverIterations(float cnt)
{
bool ret = false;
if (m_enabled)
{
PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
ret = true;
}
return ret;
}
public virtual bool CalculateTransforms()
{
bool ret = false;
if (m_enabled)
{
// Recompute the internal transforms
PhysicsScene.PE.CalculateTransforms(m_constraint);
ret = true;
}
return ret;
}
// Reset this constraint making sure it has all its internal structures
// recomputed and is enabled and ready to go.
public virtual bool RecomputeConstraintVariables(float mass)
{
bool ret = false;
if (m_enabled)
{
ret = CalculateTransforms();
if (ret)
{
// Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints.
// If the link is enabled, be sure to set the constraint itself to enabled.
PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
}
else
{
m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
}
}
return ret;
}
}
}
|
