diff options
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 123 |
1 files changed, 123 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 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | using OpenMetaverse; | ||
31 | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
33 | { | ||
34 | |||
35 | public 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 | } | ||