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authorRobert Adams2012-12-30 10:21:47 -0800
committerRobert Adams2012-12-31 19:57:22 -0800
commit9218748321519ed04da5cdffa1f29e69030171b5 (patch)
tree7516cfbea32d716651430bc3124dbdd4cb772105 /OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
parentBulletSim: add the implementation files for the two versions of Bullet: (diff)
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BulletSim: another round of conversion: dynamics world and collision object functions.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs17
1 files changed, 10 insertions, 7 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 59584b2..c9c7c2e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]"; 37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38 38
39 protected BulletWorld m_world; 39 protected BulletWorld m_world;
40 protected BSScene PhysicsScene;
40 protected BulletBody m_body1; 41 protected BulletBody m_body1;
41 protected BulletBody m_body2; 42 protected BulletBody m_body2;
42 protected BulletConstraint m_constraint; 43 protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
48 public abstract ConstraintType Type { get; } 49 public abstract ConstraintType Type { get; }
49 public bool IsEnabled { get { return m_enabled; } } 50 public bool IsEnabled { get { return m_enabled; } }
50 51
51 public BSConstraint() 52 public BSConstraint(BulletWorld world)
52 { 53 {
54 m_world = world;
55 PhysicsScene = m_world.physicsScene;
53 } 56 }
54 57
55 public virtual void Dispose() 58 public virtual void Dispose()
@@ -59,7 +62,7 @@ public abstract class BSConstraint : IDisposable
59 m_enabled = false; 62 m_enabled = false;
60 if (m_constraint.HasPhysicalConstraint) 63 if (m_constraint.HasPhysicalConstraint)
61 { 64 {
62 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); 65 bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
63 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", 66 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
64 BSScene.DetailLogZero, 67 BSScene.DetailLogZero,
65 m_body1.ID, m_body1.ptr.ToString("X"), 68 m_body1.ID, m_body1.ptr.ToString("X"),
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
74 { 77 {
75 bool ret = false; 78 bool ret = false;
76 if (m_enabled) 79 if (m_enabled)
77 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); 80 ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
78 return ret; 81 return ret;
79 } 82 }
80 83
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
82 { 85 {
83 bool ret = false; 86 bool ret = false;
84 if (m_enabled) 87 if (m_enabled)
85 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); 88 ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
86 return ret; 89 return ret;
87 } 90 }
88 91
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
91 bool ret = false; 94 bool ret = false;
92 if (m_enabled) 95 if (m_enabled)
93 { 96 {
94 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); 97 PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
95 ret = true; 98 ret = true;
96 } 99 }
97 return ret; 100 return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
103 if (m_enabled) 106 if (m_enabled)
104 { 107 {
105 // Recompute the internal transforms 108 // Recompute the internal transforms
106 BulletSimAPI.CalculateTransforms2(m_constraint.ptr); 109 PhysicsScene.PE.CalculateTransforms(m_constraint);
107 ret = true; 110 ret = true;
108 } 111 }
109 return ret; 112 return ret;
@@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable
122 // Setting an object's mass to zero (making it static like when it's selected) 125 // Setting an object's mass to zero (making it static like when it's selected)
123 // automatically disables the constraints. 126 // automatically disables the constraints.
124 // If the link is enabled, be sure to set the constraint itself to enabled. 127 // If the link is enabled, be sure to set the constraint itself to enabled.
125 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); 128 PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
126 } 129 }
127 else 130 else
128 { 131 {