BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints.

3 files changed, 241 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 6c36485..8dfb01c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -596,6 +596,12 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo
     return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
 }
 
+public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation);
+}
+
 public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
 {
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -620,6 +626,30 @@ public override bool SpringSetDamping(BulletConstraint constrain, int index, flo
     return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
 }
 
+public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val);
+}
+
+public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val);
+}
+
+public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse);
+}
+
+public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val)
+{
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val);
+}
+
 public override bool CalculateTransforms(BulletConstraint constrain)
 {
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -1625,6 +1655,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl
 public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1637,6 +1670,18 @@ public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int in
 public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool CalculateTransforms2(IntPtr constrain);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 9ad12a9..ff2b497 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -752,6 +752,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
         constraint.SetBreakingImpulseThreshold(threshold);
         return true;
     }
+    public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
+    {
+        HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
+        if (softness == HINGE_NOT_SPECIFIED)
+            constraint.SetLimit(low, high);
+        else
+            constraint.SetLimit(low, high, softness, bias, relaxation);
+        return true;
+    }
     public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
     {
         Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
@@ -762,13 +771,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
     public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
     {
         Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
-        if (index == -1)
+        if (index == SPRING_NOT_SPECIFIED)
         {
             constraint.SetEquilibriumPoint();
         }
         else
         {
-            if (equilibriumPoint == -1)
+            if (equilibriumPoint == SPRING_NOT_SPECIFIED)
                 constraint.SetEquilibriumPoint(index);
             else
                 constraint.SetEquilibriumPoint(index, equilibriumPoint);
@@ -790,6 +799,167 @@ private sealed class BulletConstraintXNA : BulletConstraint
         return true;
     }
 
+    public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
+    {
+        SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
+                switch (lowerUpper)
+                {
+                        case SLIDER_LOWER_LIMIT:
+                                switch (linAng)
+                                {
+                                        case SLIDER_LINEAR:
+                                                constraint.SetLowerLinLimit(val);
+                                                break;
+                                        case SLIDER_ANGULAR:
+                                                constraint.SetLowerAngLimit(val);
+                                                break;
+                                }
+                                break;
+                        case SLIDER_UPPER_LIMIT:
+                                switch (linAng)
+                                {
+                                        case SLIDER_LINEAR:
+                                                constraint.SetUpperLinLimit(val);
+                                                break;
+                                        case SLIDER_ANGULAR:
+                                                constraint.SetUpperAngLimit(val);
+                                                break;
+                                }
+                                break;
+                }
+        return true;
+    }
+    public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
+    {
+        SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
+                switch (softRestDamp)
+                {
+                        case SLIDER_SET_SOFTNESS:
+                                switch (dirLimOrtho)
+                                {
+                                        case SLIDER_SET_DIRECTION:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_LIMIT:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_ORTHO:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
+                                                }
+                                                break;
+                                }
+                                break;
+                        case SLIDER_SET_RESTITUTION:
+                                switch (dirLimOrtho)
+                                {
+                                        case SLIDER_SET_DIRECTION:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_LIMIT:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_ORTHO:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
+                                                }
+                                                break;
+                                }
+                                break;
+                        case SLIDER_SET_DAMPING:
+                                switch (dirLimOrtho)
+                                {
+                                        case SLIDER_SET_DIRECTION:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_LIMIT:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
+                                                }
+                                                break;
+                                        case SLIDER_SET_ORTHO:
+                                                switch (linAng)
+                                                {
+                                                        case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
+                                                        case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
+                                                }
+                                                break;
+                                }
+                                break;
+                }
+        return true;
+    }
+    public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
+    {
+        SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
+                switch (linAng)
+                {
+                        case SLIDER_LINEAR:
+                                constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
+                                break;
+                        case SLIDER_ANGULAR:
+                                constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
+                                break;
+                }
+        return true;
+    }
+    public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
+    {
+        SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
+                switch (forceVel)
+                {
+                        case SLIDER_MOTOR_VELOCITY:
+                                switch (linAng)
+                                {
+                                        case SLIDER_LINEAR:
+                                                constraint.SetTargetLinMotorVelocity(val);
+                                                break;
+                                        case SLIDER_ANGULAR:
+                                                constraint.SetTargetAngMotorVelocity(val);
+                                                break;
+                                }
+                                break;
+                        case SLIDER_MAX_MOTOR_FORCE:
+                                switch (linAng)
+                                {
+                                        case SLIDER_LINEAR:
+                                                constraint.SetMaxLinMotorForce(val);
+                                                break;
+                                        case SLIDER_ANGULAR:
+                                                constraint.SetMaxAngMotorForce(val);
+                                                break;
+                                }
+                                break;
+                }
+        return true;
+    }
+
     //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
     public override void SetAngularDamping(BulletBody pBody, float angularDamping)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 8cca29f..b241059 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -441,14 +441,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e
 
 public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
 
+public const int HINGE_NOT_SPECIFIED = -1;
+public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
+
 public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
 
+public const int SPRING_NOT_SPECIFIED = -1;
 public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
 
 public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
 
 public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
 
+public const int SLIDER_LOWER_LIMIT = 0;
+public const int SLIDER_UPPER_LIMIT = 1;
+public const int SLIDER_LINEAR = 2;
+public const int SLIDER_ANGULAR = 3;
+public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
+
+public const int SLIDER_SET_SOFTNESS = 4;
+public const int SLIDER_SET_RESTITUTION = 5;
+public const int SLIDER_SET_DAMPING = 6;
+public const int SLIDER_SET_DIRECTION = 7;
+public const int SLIDER_SET_LIMIT = 8;
+public const int SLIDER_SET_ORTHO = 9;
+public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
+
+public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
+
+public const int SLIDER_MOTOR_VELOCITY = 10;
+public const int SLIDER_MAX_MOTOR_FORCE = 11;
+public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
+
 public abstract bool CalculateTransforms(BulletConstraint constrain);
 
 public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);