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/*
* 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}",
m_body1.ID,
m_body1.ID, m_body1.AddrString,
m_body2.ID, m_body2.AddrString,
success);
m_constraint.Clear();
}
}
}
public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
{
m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
}
return ret;
}
public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
{
m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
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;
}
}
}
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