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author | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
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committer | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
commit | 0aaf52fca43d0fed461b228dfad4b5d3f42da2b7 (patch) | |
tree | 847a357593e5aa532c397d3886366e4c4922958f /OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | |
parent | When copying items, copy the item description field instead of the asset desc... (diff) | |
parent | BulletSim: update BulletSim DLLs and SOs (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | 178 |
1 files changed, 178 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs new file mode 100755 index 0000000..a2650fb --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs | |||
@@ -0,0 +1,178 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
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 | ||
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 | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | using log4net; | ||
31 | using OpenMetaverse; | ||
32 | |||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
34 | { | ||
35 | |||
36 | public class BSConstraintCollection : IDisposable | ||
37 | { | ||
38 | // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | ||
39 | // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; | ||
40 | |||
41 | delegate bool ConstraintAction(BSConstraint constrain); | ||
42 | |||
43 | private List<BSConstraint> m_constraints; | ||
44 | private BulletSim m_world; | ||
45 | |||
46 | public BSConstraintCollection(BulletSim world) | ||
47 | { | ||
48 | m_world = world; | ||
49 | m_constraints = new List<BSConstraint>(); | ||
50 | } | ||
51 | |||
52 | public void Dispose() | ||
53 | { | ||
54 | this.Clear(); | ||
55 | } | ||
56 | |||
57 | public void Clear() | ||
58 | { | ||
59 | foreach (BSConstraint cons in m_constraints) | ||
60 | { | ||
61 | cons.Dispose(); | ||
62 | } | ||
63 | m_constraints.Clear(); | ||
64 | } | ||
65 | |||
66 | public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | ||
67 | Vector3 frame1, Quaternion frame1rot, | ||
68 | Vector3 frame2, Quaternion frame2rot) | ||
69 | { | ||
70 | BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); | ||
71 | |||
72 | this.AddConstraint(constrain); | ||
73 | return constrain; | ||
74 | } | ||
75 | |||
76 | public bool AddConstraint(BSConstraint cons) | ||
77 | { | ||
78 | // There is only one constraint between any bodies. Remove any old just to make sure. | ||
79 | RemoveAndDestroyConstraint(cons.Body1, cons.Body2); | ||
80 | |||
81 | m_constraints.Add(cons); | ||
82 | |||
83 | return true; | ||
84 | } | ||
85 | |||
86 | // Get the constraint between two bodies. There can be only one the way we're using them. | ||
87 | public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) | ||
88 | { | ||
89 | bool found = false; | ||
90 | BSConstraint foundConstraint = null; | ||
91 | |||
92 | uint lookingID1 = body1.ID; | ||
93 | uint lookingID2 = body2.ID; | ||
94 | ForEachConstraint(delegate(BSConstraint constrain) | ||
95 | { | ||
96 | if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) | ||
97 | || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) | ||
98 | { | ||
99 | foundConstraint = constrain; | ||
100 | found = true; | ||
101 | } | ||
102 | return found; | ||
103 | }); | ||
104 | returnConstraint = foundConstraint; | ||
105 | return found; | ||
106 | } | ||
107 | |||
108 | public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) | ||
109 | { | ||
110 | // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); | ||
111 | |||
112 | bool ret = false; | ||
113 | BSConstraint constrain; | ||
114 | |||
115 | if (this.TryGetConstraint(body1, body2, out constrain)) | ||
116 | { | ||
117 | // remove the constraint from our collection | ||
118 | m_constraints.Remove(constrain); | ||
119 | // tell the engine that all its structures need to be freed | ||
120 | constrain.Dispose(); | ||
121 | // we destroyed something | ||
122 | ret = true; | ||
123 | } | ||
124 | |||
125 | return ret; | ||
126 | } | ||
127 | |||
128 | public bool RemoveAndDestroyConstraint(BulletBody body1) | ||
129 | { | ||
130 | // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); | ||
131 | |||
132 | List<BSConstraint> toRemove = new List<BSConstraint>(); | ||
133 | uint lookingID = body1.ID; | ||
134 | ForEachConstraint(delegate(BSConstraint constrain) | ||
135 | { | ||
136 | if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) | ||
137 | { | ||
138 | toRemove.Add(constrain); | ||
139 | } | ||
140 | return false; | ||
141 | }); | ||
142 | lock (m_constraints) | ||
143 | { | ||
144 | foreach (BSConstraint constrain in toRemove) | ||
145 | { | ||
146 | m_constraints.Remove(constrain); | ||
147 | constrain.Dispose(); | ||
148 | } | ||
149 | } | ||
150 | return (toRemove.Count > 0); | ||
151 | } | ||
152 | |||
153 | public bool RecalculateAllConstraints() | ||
154 | { | ||
155 | foreach (BSConstraint constrain in m_constraints) | ||
156 | { | ||
157 | constrain.CalculateTransforms(); | ||
158 | } | ||
159 | return true; | ||
160 | } | ||
161 | |||
162 | // Lock the constraint list and loop through it. | ||
163 | // The constraint action returns 'true' if it wants the loop aborted. | ||
164 | private void ForEachConstraint(ConstraintAction action) | ||
165 | { | ||
166 | lock (m_constraints) | ||
167 | { | ||
168 | foreach (BSConstraint constrain in m_constraints) | ||
169 | { | ||
170 | if (action(constrain)) | ||
171 | break; | ||
172 | } | ||
173 | } | ||
174 | } | ||
175 | |||
176 | |||
177 | } | ||
178 | } | ||