BulletSim: add hinge constraint.

Update BulletSimAPI with new constraint related function calls.
Reorganize locking in BS6DofConstraint.
Update BS6DofConstraint to do constraint reset correctly.
Add new 'midpoint' construction of 6Dof constraint.

1 files changed, 55 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
new file mode 100755
index 0000000..d68048b
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
@@ -0,0 +1,55 @@
+/*

+ * 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

+{

+

+class BSHingeConstraint : BSConstraint

+{

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

+                    Vector3 pivotInA, Vector3 pivotInB,

+                    Vector3 axisInA, Vector3 axisInB,

+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)

+    {

+        m_world = world;

+        m_body1 = obj1;

+        m_body2 = obj2;

+        m_constraint = new BulletConstraint(

+                            BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,

+                                pivotInA, pivotInB,

+                                axisInA, axisInB,

+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));

+        m_enabled = true;

+    }

+

+}

+

+}