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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/BSAPIXNA.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/BSAPIXNA.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs174
1 files changed, 172 insertions, 2 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 9ad12a9..ff2b497 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -752,6 +752,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
752 constraint.SetBreakingImpulseThreshold(threshold); 752 constraint.SetBreakingImpulseThreshold(threshold);
753 return true; 753 return true;
754 } 754 }
755 public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
756 {
757 HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
758 if (softness == HINGE_NOT_SPECIFIED)
759 constraint.SetLimit(low, high);
760 else
761 constraint.SetLimit(low, high, softness, bias, relaxation);
762 return true;
763 }
755 public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse) 764 public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
756 { 765 {
757 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; 766 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
@@ -762,13 +771,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
762 public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint) 771 public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
763 { 772 {
764 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; 773 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
765 if (index == -1) 774 if (index == SPRING_NOT_SPECIFIED)
766 { 775 {
767 constraint.SetEquilibriumPoint(); 776 constraint.SetEquilibriumPoint();
768 } 777 }
769 else 778 else
770 { 779 {
771 if (equilibriumPoint == -1) 780 if (equilibriumPoint == SPRING_NOT_SPECIFIED)
772 constraint.SetEquilibriumPoint(index); 781 constraint.SetEquilibriumPoint(index);
773 else 782 else
774 constraint.SetEquilibriumPoint(index, equilibriumPoint); 783 constraint.SetEquilibriumPoint(index, equilibriumPoint);
@@ -790,6 +799,167 @@ private sealed class BulletConstraintXNA : BulletConstraint
790 return true; 799 return true;
791 } 800 }
792 801
802 public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
803 {
804 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
805 switch (lowerUpper)
806 {
807 case SLIDER_LOWER_LIMIT:
808 switch (linAng)
809 {
810 case SLIDER_LINEAR:
811 constraint.SetLowerLinLimit(val);
812 break;
813 case SLIDER_ANGULAR:
814 constraint.SetLowerAngLimit(val);
815 break;
816 }
817 break;
818 case SLIDER_UPPER_LIMIT:
819 switch (linAng)
820 {
821 case SLIDER_LINEAR:
822 constraint.SetUpperLinLimit(val);
823 break;
824 case SLIDER_ANGULAR:
825 constraint.SetUpperAngLimit(val);
826 break;
827 }
828 break;
829 }
830 return true;
831 }
832 public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
833 {
834 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
835 switch (softRestDamp)
836 {
837 case SLIDER_SET_SOFTNESS:
838 switch (dirLimOrtho)
839 {
840 case SLIDER_SET_DIRECTION:
841 switch (linAng)
842 {
843 case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
844 case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
845 }
846 break;
847 case SLIDER_SET_LIMIT:
848 switch (linAng)
849 {
850 case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
851 case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
852 }
853 break;
854 case SLIDER_SET_ORTHO:
855 switch (linAng)
856 {
857 case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
858 case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
859 }
860 break;
861 }
862 break;
863 case SLIDER_SET_RESTITUTION:
864 switch (dirLimOrtho)
865 {
866 case SLIDER_SET_DIRECTION:
867 switch (linAng)
868 {
869 case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
870 case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
871 }
872 break;
873 case SLIDER_SET_LIMIT:
874 switch (linAng)
875 {
876 case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
877 case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
878 }
879 break;
880 case SLIDER_SET_ORTHO:
881 switch (linAng)
882 {
883 case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
884 case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
885 }
886 break;
887 }
888 break;
889 case SLIDER_SET_DAMPING:
890 switch (dirLimOrtho)
891 {
892 case SLIDER_SET_DIRECTION:
893 switch (linAng)
894 {
895 case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
896 case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
897 }
898 break;
899 case SLIDER_SET_LIMIT:
900 switch (linAng)
901 {
902 case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
903 case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
904 }
905 break;
906 case SLIDER_SET_ORTHO:
907 switch (linAng)
908 {
909 case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
910 case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
911 }
912 break;
913 }
914 break;
915 }
916 return true;
917 }
918 public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
919 {
920 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
921 switch (linAng)
922 {
923 case SLIDER_LINEAR:
924 constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
925 break;
926 case SLIDER_ANGULAR:
927 constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
928 break;
929 }
930 return true;
931 }
932 public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
933 {
934 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
935 switch (forceVel)
936 {
937 case SLIDER_MOTOR_VELOCITY:
938 switch (linAng)
939 {
940 case SLIDER_LINEAR:
941 constraint.SetTargetLinMotorVelocity(val);
942 break;
943 case SLIDER_ANGULAR:
944 constraint.SetTargetAngMotorVelocity(val);
945 break;
946 }
947 break;
948 case SLIDER_MAX_MOTOR_FORCE:
949 switch (linAng)
950 {
951 case SLIDER_LINEAR:
952 constraint.SetMaxLinMotorForce(val);
953 break;
954 case SLIDER_ANGULAR:
955 constraint.SetMaxAngMotorForce(val);
956 break;
957 }
958 break;
959 }
960 return true;
961 }
962
793 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); 963 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
794 public override void SetAngularDamping(BulletBody pBody, float angularDamping) 964 public override void SetAngularDamping(BulletBody pBody, float angularDamping)
795 { 965 {
generated by cgit v1.1 at 2024-11-14 08:45:41 +0000