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authorteravus2012-12-23 15:21:25 -0500
committerteravus2012-12-23 15:21:25 -0500
commit92e4f9f412046f8f7926c99c9e56c3a8b6b2edbf (patch)
treeeabcbb758a7512222e84cb51b51b6822cdbf561b /OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
parentRevert "Whitespace change to trigger bot" (diff)
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* Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.
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-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs135
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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSNPlugin
33{
34
35public abstract class BSConstraint : IDisposable
36{
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38
39 protected BulletSim m_world;
40 protected BulletBody m_body1;
41 protected BulletBody m_body2;
42 protected BulletConstraint m_constraint;
43 protected bool m_enabled = false;
44
45 public BulletBody Body1 { get { return m_body1; } }
46 public BulletBody Body2 { get { return m_body2; } }
47 public BulletConstraint Constraint { get { return m_constraint; } }
48 public abstract ConstraintType Type { get; }
49 public bool IsEnabled { get { return m_enabled; } }
50
51 public BSConstraint()
52 {
53 }
54
55 public virtual void Dispose()
56 {
57 if (m_enabled)
58 {
59 m_enabled = false;
60 if (m_constraint.HasPhysicalConstraint)
61 {
62 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
63 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
64 BSScene.DetailLogZero,
65 m_body1.ID, m_body1.ptr.ToString(),
66 m_body2.ID, m_body2.ptr.ToString(),
67 success);
68 m_constraint.Clear();
69 }
70 }
71 }
72
73 public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
74 {
75 bool ret = false;
76 if (m_enabled)
77 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
78 return ret;
79 }
80
81 public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
82 {
83 bool ret = false;
84 if (m_enabled)
85 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
86 return ret;
87 }
88
89 public virtual bool SetSolverIterations(float cnt)
90 {
91 bool ret = false;
92 if (m_enabled)
93 {
94 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
95 ret = true;
96 }
97 return ret;
98 }
99
100 public virtual bool CalculateTransforms()
101 {
102 bool ret = false;
103 if (m_enabled)
104 {
105 // Recompute the internal transforms
106 BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
107 ret = true;
108 }
109 return ret;
110 }
111
112 // Reset this constraint making sure it has all its internal structures
113 // recomputed and is enabled and ready to go.
114 public virtual bool RecomputeConstraintVariables(float mass)
115 {
116 bool ret = false;
117 if (m_enabled)
118 {
119 ret = CalculateTransforms();
120 if (ret)
121 {
122 // Setting an object's mass to zero (making it static like when it's selected)
123 // automatically disables the constraints.
124 // If the link is enabled, be sure to set the constraint itself to enabled.
125 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
126 }
127 else
128 {
129 m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
130 }
131 }
132 return ret;
133 }
134}
135}