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authorRobert Adams2013-08-07 10:15:28 -0700
committerRobert Adams2013-09-11 09:11:41 -0700
commit993bcec088ce5c3ec2f76f61842f19cbdcc89384 (patch)
treeb376202e94e63aacf65e0ed7048a17537250c384 /OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
parentBulletSim: complete linkage of spring constraint into linkset constraint. (diff)
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BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs45
1 files changed, 45 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 6c36485..8dfb01c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -596,6 +596,12 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo
596 return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); 596 return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
597} 597}
598 598
599public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation)
600{
601 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
602 return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation);
603}
604
599public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) 605public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
600{ 606{
601 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; 607 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -620,6 +626,30 @@ public override bool SpringSetDamping(BulletConstraint constrain, int index, flo
620 return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); 626 return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
621} 627}
622 628
629public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val)
630{
631 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
632 return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val);
633}
634
635public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val)
636{
637 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
638 return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val);
639}
640
641public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse)
642{
643 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
644 return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse);
645}
646
647public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val)
648{
649 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
650 return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val);
651}
652
623public override bool CalculateTransforms(BulletConstraint constrain) 653public override bool CalculateTransforms(BulletConstraint constrain)
624{ 654{
625 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; 655 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -1625,6 +1655,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl
1625public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); 1655public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
1626 1656
1627[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1657[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1658public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation);
1659
1660[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1628public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); 1661public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
1629 1662
1630[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1663[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1637,6 +1670,18 @@ public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int in
1637public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); 1670public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
1638 1671
1639[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1672[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1673public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val);
1674
1675[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1676public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
1677
1678[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1679public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse);
1680
1681[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1682public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val);
1683
1684[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1640public static extern bool CalculateTransforms2(IntPtr constrain); 1685public static extern bool CalculateTransforms2(IntPtr constrain);
1641 1686
1642[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1687[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]