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authorRobert Adams2012-07-25 14:59:00 -0700
committerRobert Adams2012-07-25 16:31:12 -0700
commit0a4c080e63d3159f4943a164a2085cc6a41fac80 (patch)
tree2a989b3d21d014321d2215c37bad17678369397e /OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
parentBulletSim: add parameters for setting linkset constraint factors (diff)
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BulletSim: fix line endings in newly added files (Is it DOS or is it UNIX? Only it's hairdresser knows for sure)
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs246
1 files changed, 123 insertions, 123 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index ced8565..1966395 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -1,123 +1,123 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 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 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 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 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. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using OpenMetaverse; 30using OpenMetaverse;
31 31
32namespace OpenSim.Region.Physics.BulletSPlugin 32namespace OpenSim.Region.Physics.BulletSPlugin
33{ 33{
34 34
35public class BSConstraint : IDisposable 35public class BSConstraint : IDisposable
36{ 36{
37 private BulletSim m_world; 37 private BulletSim m_world;
38 private BulletBody m_body1; 38 private BulletBody m_body1;
39 private BulletBody m_body2; 39 private BulletBody m_body2;
40 private BulletConstraint m_constraint; 40 private BulletConstraint m_constraint;
41 private bool m_enabled = false; 41 private bool m_enabled = false;
42 42
43 public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 43 public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
44 Vector3 frame1, Quaternion frame1rot, 44 Vector3 frame1, Quaternion frame1rot,
45 Vector3 frame2, Quaternion frame2rot 45 Vector3 frame2, Quaternion frame2rot
46 ) 46 )
47 { 47 {
48 m_world = world; 48 m_world = world;
49 m_body1 = obj1; 49 m_body1 = obj1;
50 m_body2 = obj2; 50 m_body2 = obj2;
51 /* 51 /*
52 BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 52 BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID,
53 frame1, frame1rot, 53 frame1, frame1rot,
54 frame2, frame2rot, 54 frame2, frame2rot,
55 linearLow, linearHigh, 55 linearLow, linearHigh,
56 angularLow, angularHigh 56 angularLow, angularHigh
57 ); 57 );
58 */ 58 */
59 m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 59 m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
60 frame1, frame1rot, 60 frame1, frame1rot,
61 frame2, frame2rot)); 61 frame2, frame2rot));
62 m_enabled = true; 62 m_enabled = true;
63 } 63 }
64 64
65 public void Dispose() 65 public void Dispose()
66 { 66 {
67 if (m_enabled) 67 if (m_enabled)
68 { 68 {
69 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); 69 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
70 BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); 70 BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
71 m_enabled = false; 71 m_enabled = false;
72 } 72 }
73 } 73 }
74 74
75 public BulletBody Body1 { get { return m_body1; } } 75 public BulletBody Body1 { get { return m_body1; } }
76 public BulletBody Body2 { get { return m_body2; } } 76 public BulletBody Body2 { get { return m_body2; } }
77 77
78 public bool SetLinearLimits(Vector3 low, Vector3 high) 78 public bool SetLinearLimits(Vector3 low, Vector3 high)
79 { 79 {
80 bool ret = false; 80 bool ret = false;
81 if (m_enabled) 81 if (m_enabled)
82 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); 82 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
83 return ret; 83 return ret;
84 } 84 }
85 85
86 public bool SetAngularLimits(Vector3 low, Vector3 high) 86 public bool SetAngularLimits(Vector3 low, Vector3 high)
87 { 87 {
88 bool ret = false; 88 bool ret = false;
89 if (m_enabled) 89 if (m_enabled)
90 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); 90 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
91 return ret; 91 return ret;
92 } 92 }
93 93
94 public bool UseFrameOffset(bool useOffset) 94 public bool UseFrameOffset(bool useOffset)
95 { 95 {
96 bool ret = false; 96 bool ret = false;
97 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 97 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
98 if (m_enabled) 98 if (m_enabled)
99 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); 99 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
100 return ret; 100 return ret;
101 } 101 }
102 102
103 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) 103 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
104 { 104 {
105 bool ret = false; 105 bool ret = false;
106 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 106 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
107 if (m_enabled) 107 if (m_enabled)
108 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); 108 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
109 return ret; 109 return ret;
110 } 110 }
111 111
112 public bool CalculateTransforms() 112 public bool CalculateTransforms()
113 { 113 {
114 bool ret = false; 114 bool ret = false;
115 if (m_enabled) 115 if (m_enabled)
116 { 116 {
117 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); 117 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
118 ret = true; 118 ret = true;
119 } 119 }
120 return ret; 120 return ret;
121 } 121 }
122} 122}
123} 123}