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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs50
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs55
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs27
3 files changed, 126 insertions, 6 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
index 72df6b9..683bc51 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
@@ -37,7 +37,8 @@ public class BS6DofConstraint : BSConstraint
37 // Create a btGeneric6DofConstraint 37 // Create a btGeneric6DofConstraint
38 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 38 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
39 Vector3 frame1, Quaternion frame1rot, 39 Vector3 frame1, Quaternion frame1rot,
40 Vector3 frame2, Quaternion frame2rot ) 40 Vector3 frame2, Quaternion frame2rot,
41 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
41 { 42 {
42 m_world = world; 43 m_world = world;
43 m_body1 = obj1; 44 m_body1 = obj1;
@@ -46,16 +47,45 @@ public class BS6DofConstraint : BSConstraint
46 BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 47 BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
47 frame1, frame1rot, 48 frame1, frame1rot,
48 frame2, frame2rot, 49 frame2, frame2rot,
49 true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); 50 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
50 m_enabled = true; 51 m_enabled = true;
51 } 52 }
52 53
54 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
55 Vector3 joinPoint,
56 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
57 {
58 m_world = world;
59 m_body1 = obj1;
60 m_body2 = obj2;
61 m_constraint = new BulletConstraint(
62 BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
63 joinPoint,
64 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
65 m_enabled = true;
66 }
67
68 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
69 {
70 bool ret = false;
71 if (m_enabled)
72 {
73 BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot);
74 ret = true;
75 }
76 return ret;
77 }
78
53 public bool SetCFMAndERP(float cfm, float erp) 79 public bool SetCFMAndERP(float cfm, float erp)
54 { 80 {
55 bool ret = true; 81 bool ret = false;
56 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 82 if (m_enabled)
57 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); 83 {
58 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); 84 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
85 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
86 BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
87 ret = true;
88 }
59 return ret; 89 return ret;
60 } 90 }
61 91
@@ -76,5 +106,13 @@ public class BS6DofConstraint : BSConstraint
76 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); 106 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
77 return ret; 107 return ret;
78 } 108 }
109
110 public bool SetBreakingImpulseThreshold(float threshold)
111 {
112 bool ret = false;
113 if (m_enabled)
114 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold);
115 return ret;
116 }
79} 117}
80} 118}
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 @@
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
35class BSHingeConstraint : BSConstraint
36{
37 public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
38 Vector3 pivotInA, Vector3 pivotInB,
39 Vector3 axisInA, Vector3 axisInB,
40 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
41 {
42 m_world = world;
43 m_body1 = obj1;
44 m_body2 = obj2;
45 m_constraint = new BulletConstraint(
46 BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
47 pivotInA, pivotInB,
48 axisInA, axisInB,
49 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
50 m_enabled = true;
51 }
52
53}
54
55}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 6800b96..504bd3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -416,6 +416,27 @@ public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, Int
416 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 416 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
417 417
418[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 418[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
419public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
420 Vector3 joinPoint,
421 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
422
423[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
424public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
425 Vector3 pivotinA, Vector3 pivotinB,
426 Vector3 axisInA, Vector3 axisInB,
427 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
428
429[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
430public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
431
432[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
434
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern bool SetFrames2(IntPtr constrain,
437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
438
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
419public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); 440public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
420 441
421[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 442[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -428,6 +449,9 @@ public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
428public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); 449public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
429 450
430[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 451[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
452public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
453
454[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
431public static extern bool CalculateTransforms2(IntPtr constrain); 455public static extern bool CalculateTransforms2(IntPtr constrain);
432 456
433[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 457[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -518,6 +542,9 @@ public static extern bool SetGravity2(IntPtr obj, Vector3 val);
518public static extern IntPtr ClearForces2(IntPtr obj); 542public static extern IntPtr ClearForces2(IntPtr obj);
519 543
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr ClearAllForces2(IntPtr obj);
546
547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern bool SetMargin2(IntPtr obj, float val); 548public static extern bool SetMargin2(IntPtr obj, float val);
522 549
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]