1 files changed, 168 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
new file mode 100755
index 0000000..b4af126
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -0,0 +1,168 @@
+/*
+ * 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.Linq;
+using System.Text;
+using OMV = OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorLockAxis : BSActor
+{
+    bool TryExperimentalLockAxisCode = false;
+    BSConstraint LockAxisConstraint = null;
+    public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
+        : base(physicsScene, pObj,actorName)
+    {
+        LockAxisConstraint = null;
+    }
+    // BSActor.isActive
+    public override bool isActive
+    {
+        get { return Enabled && Prim.IsPhysicallyActive; }
+    }
+    // Release any connections and resources used by the actor.
+    // BSActor.Release()
+    public override void Release()
+    {
+        RemoveAxisLockConstraint();
+    }
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    // Called at taint-time.
+    // BSActor.Refresh()
+    public override void Refresh()
+    {
+        // If all the axis are free, we don't need to exist
+        if (Prim.LockedAxis == Prim.LockedAxisFree)
+        {
+            Prim.PhysicalActors.RemoveAndRelease(ActorName);
+            return;
+        }
+        // If the object is physically active, add the axis locking constraint
+        if (Enabled
+                && Prim.IsPhysicallyActive
+                && TryExperimentalLockAxisCode
+                && Prim.LockedAxis != Prim.LockedAxisFree)
+        {
+            if (LockAxisConstraint != null)
+                AddAxisLockConstraint();
+        }
+        else
+        {
+            RemoveAxisLockConstraint();
+        }
+    }
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    // Called at taint-time.
+    // BSActor.RemoveBodyDependencies()
+    public override void RemoveBodyDependencies()
+    {
+        if (LockAxisConstraint != null)
+        {
+            // If a constraint is set up, remove it from the physical scene
+            RemoveAxisLockConstraint();
+            // Schedule a call before the next simulation step to restore the constraint.
+            PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
+            {
+                Refresh();
+            });
+        }
+    }
+    private void AddAxisLockConstraint()
+    {
+        // Lock that axis by creating a 6DOF constraint that has one end in the world and
+        //    the other in the object.
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
+        // Remove any existing axis constraint (just to be sure)
+        RemoveAxisLockConstraint();
+        BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, 
+                            OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
+                            true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+        LockAxisConstraint = axisConstrainer;
+        PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
+        // The constraint is tied to the world and oriented to the prim.
+        // Free to move linearly
+        OMV.Vector3 linearLow = OMV.Vector3.Zero;
+        OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
+        axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+        // Angular with some axis locked
+        float f2PI = (float)Math.PI * 2f;
+        OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
+        OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
+        if (Prim.LockedAxis.X != 1f)
+        {
+            angularLow.X = 0f;
+            angularHigh.X = 0f;
+        }
+        if (Prim.LockedAxis.Y != 1f)
+        {
+            angularLow.Y = 0f;
+            angularHigh.Y = 0f;
+        }
+        if (Prim.LockedAxis.Z != 1f)
+        {
+            angularLow.Z = 0f;
+            angularHigh.Z = 0f;
+        }
+        axisConstrainer.SetAngularLimits(angularLow, angularHigh);
+        PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+                                    Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+        // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+        axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
+        axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
+    }
+    private void RemoveAxisLockConstraint()
+    {
+        if (LockAxisConstraint != null)
+        {
+            PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
+            LockAxisConstraint = null;
+            PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
+        }
+    }
+}
+}

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000..b4af126 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -0,0 +1,168 @@
	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	*/
	27
	28	using System;
	29	using System.Collections.Generic;
	30	using System.Linq;
	31	using System.Text;
	32
	33	using OMV = OpenMetaverse;
	34
	35	namespace OpenSim.Region.Physics.BulletSPlugin
	36	{
	37	public class BSActorLockAxis : BSActor
	38	{
	39	bool TryExperimentalLockAxisCode = false;
	40	BSConstraint LockAxisConstraint = null;
	41
	42	public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
	43	: base(physicsScene, pObj,actorName)
	44	{
	45	LockAxisConstraint = null;
	46	}
	47
	48	// BSActor.isActive
	49	public override bool isActive
	50	{
	51	get { return Enabled && Prim.IsPhysicallyActive; }
	52	}
	53
	54	// Release any connections and resources used by the actor.
	55	// BSActor.Release()
	56	public override void Release()
	57	{
	58	RemoveAxisLockConstraint();
	59	}
	60
	61	// Called when physical parameters (properties set in Bullet) need to be re-applied.
	62	// Called at taint-time.
	63	// BSActor.Refresh()
	64	public override void Refresh()
	65	{
	66	// If all the axis are free, we don't need to exist
	67	if (Prim.LockedAxis == Prim.LockedAxisFree)
	68	{
	69	Prim.PhysicalActors.RemoveAndRelease(ActorName);
	70	return;
	71	}
	72	// If the object is physically active, add the axis locking constraint
	73	if (Enabled
	74	&& Prim.IsPhysicallyActive
	75	&& TryExperimentalLockAxisCode
	76	&& Prim.LockedAxis != Prim.LockedAxisFree)
	77	{
	78	if (LockAxisConstraint != null)
	79	AddAxisLockConstraint();
	80	}
	81	else
	82	{
	83	RemoveAxisLockConstraint();
	84	}
	85	}
	86
	87	// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
	88	// Register a prestep action to restore physical requirements before the next simulation step.
	89	// Called at taint-time.
	90	// BSActor.RemoveBodyDependencies()
	91	public override void RemoveBodyDependencies()
	92	{
	93	if (LockAxisConstraint != null)
	94	{
	95	// If a constraint is set up, remove it from the physical scene
	96	RemoveAxisLockConstraint();
	97	// Schedule a call before the next simulation step to restore the constraint.
	98	PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
	99	{
	100	Refresh();
	101	});
	102	}
	103	}
	104
	105	private void AddAxisLockConstraint()
	106	{
	107	// Lock that axis by creating a 6DOF constraint that has one end in the world and
	108	// the other in the object.
	109	// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
	110	// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
	111
	112	// Remove any existing axis constraint (just to be sure)
	113	RemoveAxisLockConstraint();
	114
	115	BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody,
	116	OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
	117	true /* useLinearReferenceFrameB /, true / disableCollisionsBetweenLinkedBodies */);
	118	LockAxisConstraint = axisConstrainer;
	119	PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
	120
	121	// The constraint is tied to the world and oriented to the prim.
	122
	123	// Free to move linearly
	124	OMV.Vector3 linearLow = OMV.Vector3.Zero;
	125	OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
	126	axisConstrainer.SetLinearLimits(linearLow, linearHigh);
	127
	128	// Angular with some axis locked
	129	float f2PI = (float)Math.PI * 2f;
	130	OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
	131	OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
	132	if (Prim.LockedAxis.X != 1f)
	133	{
	134	angularLow.X = 0f;
	135	angularHigh.X = 0f;
	136	}
	137	if (Prim.LockedAxis.Y != 1f)
	138	{
	139	angularLow.Y = 0f;
	140	angularHigh.Y = 0f;
	141	}
	142	if (Prim.LockedAxis.Z != 1f)
	143	{
	144	angularLow.Z = 0f;
	145	angularHigh.Z = 0f;
	146	}
	147	axisConstrainer.SetAngularLimits(angularLow, angularHigh);
	148
	149	PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
	150	Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
	151
	152	// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
	153	axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
	154
	155	axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
	156	}
	157
	158	private void RemoveAxisLockConstraint()
	159	{
	160	if (LockAxisConstraint != null)
	161	{
	162	PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
	163	LockAxisConstraint = null;
	164	PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
	165	}
	166	}
	167	}
	168	}