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authorRobert Adams2012-07-25 10:34:51 -0700
committerRobert Adams2012-07-25 16:30:55 -0700
commit2d05e16f7e934fc7a986696605950dd9a618d044 (patch)
treedebdc5290f37f863ef4a1ef2e627bca91d290ec6 /OpenSim
parentBulletSim: Move constraint tracking from C++ code to C# code (diff)
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BulletSim: Add C# classes for storing and tracking constraints.
Diffstat (limited to 'OpenSim')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs123
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs178
2 files changed, 301 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
new file mode 100755
index 0000000..ced8565
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -0,0 +1,123 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSPlugin
33{
34
35public class BSConstraint : IDisposable
36{
37 private BulletSim m_world;
38 private BulletBody m_body1;
39 private BulletBody m_body2;
40 private BulletConstraint m_constraint;
41 private bool m_enabled = false;
42
43 public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
44 Vector3 frame1, Quaternion frame1rot,
45 Vector3 frame2, Quaternion frame2rot
46 )
47 {
48 m_world = world;
49 m_body1 = obj1;
50 m_body2 = obj2;
51 /*
52 BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID,
53 frame1, frame1rot,
54 frame2, frame2rot,
55 linearLow, linearHigh,
56 angularLow, angularHigh
57 );
58 */
59 m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
60 frame1, frame1rot,
61 frame2, frame2rot));
62 m_enabled = true;
63 }
64
65 public void Dispose()
66 {
67 if (m_enabled)
68 {
69 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
70 BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
71 m_enabled = false;
72 }
73 }
74
75 public BulletBody Body1 { get { return m_body1; } }
76 public BulletBody Body2 { get { return m_body2; } }
77
78 public bool SetLinearLimits(Vector3 low, Vector3 high)
79 {
80 bool ret = false;
81 if (m_enabled)
82 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
83 return ret;
84 }
85
86 public bool SetAngularLimits(Vector3 low, Vector3 high)
87 {
88 bool ret = false;
89 if (m_enabled)
90 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
91 return ret;
92 }
93
94 public bool UseFrameOffset(bool useOffset)
95 {
96 bool ret = false;
97 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
98 if (m_enabled)
99 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
100 return ret;
101 }
102
103 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
104 {
105 bool ret = false;
106 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
107 if (m_enabled)
108 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
109 return ret;
110 }
111
112 public bool CalculateTransforms()
113 {
114 bool ret = false;
115 if (m_enabled)
116 {
117 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
118 ret = true;
119 }
120 return ret;
121 }
122}
123}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
new file mode 100755
index 0000000..6c66c5c
--- /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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using log4net;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin
34{
35
36public 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}
generated by cgit v1.1 at 2024-11-10 17:18:31 +0000