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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs118
1 files changed, 118 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
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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 BS6DofConstraint : BSConstraint
36{
37 // Create a btGeneric6DofConstraint
38 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
39 Vector3 frame1, Quaternion frame1rot,
40 Vector3 frame2, Quaternion frame2rot,
41 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
42 {
43 m_world = world;
44 m_body1 = obj1;
45 m_body2 = obj2;
46 m_constraint = new BulletConstraint(
47 BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
48 frame1, frame1rot,
49 frame2, frame2rot,
50 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
51 m_enabled = true;
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
79 public bool SetCFMAndERP(float cfm, float erp)
80 {
81 bool ret = false;
82 if (m_enabled)
83 {
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 }
89 return ret;
90 }
91
92 public bool UseFrameOffset(bool useOffset)
93 {
94 bool ret = false;
95 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
96 if (m_enabled)
97 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
98 return ret;
99 }
100
101 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
102 {
103 bool ret = false;
104 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
105 if (m_enabled)
106 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
107 return ret;
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 }
117}
118}