BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints.

1 files changed, 24 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 8cca29f..b241059 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -441,14 +441,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e
 
 public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
 
+public const int HINGE_NOT_SPECIFIED = -1;
+public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
+
 public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
 
+public const int SPRING_NOT_SPECIFIED = -1;
 public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
 
 public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
 
 public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
 
+public const int SLIDER_LOWER_LIMIT = 0;
+public const int SLIDER_UPPER_LIMIT = 1;
+public const int SLIDER_LINEAR = 2;
+public const int SLIDER_ANGULAR = 3;
+public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
+
+public const int SLIDER_SET_SOFTNESS = 4;
+public const int SLIDER_SET_RESTITUTION = 5;
+public const int SLIDER_SET_DAMPING = 6;
+public const int SLIDER_SET_DIRECTION = 7;
+public const int SLIDER_SET_LIMIT = 8;
+public const int SLIDER_SET_ORTHO = 9;
+public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
+
+public const int SLIDER_MOTOR_VELOCITY = 10;
+public const int SLIDER_MAX_MOTOR_FORCE = 11;
+public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
+
 public abstract bool CalculateTransforms(BulletConstraint constrain);
 
 public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);