BulletSim: Add C# classes for storing and tracking constraints.

1 files changed, 123 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
new file mode 100755
index 0000000..ced8565
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -0,0 +1,123 @@
+/*

+ * 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 class BSConstraint : IDisposable

+{

+    private BulletSim m_world;

+    private BulletBody m_body1;

+    private BulletBody m_body2;

+    private BulletConstraint m_constraint;

+    private bool m_enabled = false;

+

+    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,

+                    Vector3 frame1, Quaternion frame1rot,

+                    Vector3 frame2, Quaternion frame2rot

+        )

+    {

+        m_world = world;

+        m_body1 = obj1;

+        m_body2 = obj2;

+        /*

+        BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 

+                            frame1, frame1rot,

+                            frame2, frame2rot,

+                            linearLow, linearHigh,

+                            angularLow, angularHigh

+        );

+        */

+        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,

+                            frame1, frame1rot,

+                            frame2, frame2rot));

+        m_enabled = true;

+    }

+

+    public void Dispose()

+    {

+        if (m_enabled)

+        {

+            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);

+            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);

+            m_enabled = false;

+        }

+    }

+

+    public BulletBody Body1 { get { return m_body1; } }

+    public BulletBody Body2 { get { return m_body2; } }

+

+    public bool SetLinearLimits(Vector3 low, Vector3 high)

+    {

+        bool ret = false;

+        if (m_enabled)

+            ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);

+        return ret;

+    }

+

+    public bool SetAngularLimits(Vector3 low, Vector3 high)

+    {

+        bool ret = false;

+        if (m_enabled)

+            ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);

+        return ret;

+    }

+

+    public bool UseFrameOffset(bool useOffset)

+    {

+        bool ret = false;

+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;

+        if (m_enabled)

+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);

+        return ret;

+    }

+

+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)

+    {

+        bool ret = false;

+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;

+        if (m_enabled)

+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);

+        return ret;

+    }

+

+    public bool CalculateTransforms()

+    {

+        bool ret = false;

+        if (m_enabled)

+        {

+            BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);

+            ret = true;

+        }

+        return ret;

+    }

+}

+}