1 files changed, 125 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..ea3093a
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -0,0 +1,125 @@
+/*
+ * 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.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public class BSConstraint : IDisposable
+{
+    private BulletSim m_world;
+    private BulletBody m_body1;
+    private BulletBody m_body2;
+    private BulletConstraint m_constraint;
+    private bool m_enabled = false;
+
+    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame2, Quaternion frame2rot
+        )
+    {
+        m_world = world;
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+                            frame1, frame1rot,
+                            frame2, frame2rot,
+                            true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
+        m_enabled = true;
+    }
+
+    public void Dispose()
+    {
+        if (m_enabled)
+        {
+            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
+            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
+            m_enabled = false;
+        }
+    }
+
+    public BulletBody Body1 { get { return m_body1; } }
+    public BulletBody Body2 { get { return m_body2; } }
+
+    public bool SetLinearLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
+        return ret;
+    }
+
+    public bool SetAngularLimits(Vector3 low, Vector3 high)
+    {
+        bool ret = false;
+        if (m_enabled)
+            ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
+        return ret;
+    }
+
+    public bool SetCFMAndERP(float cfm, float erp)
+    {
+        bool ret = true;
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        return ret;
+    }
+
+    public bool UseFrameOffset(bool useOffset)
+    {
+        bool ret = false;
+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
+        return ret;
+    }
+
+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
+    {
+        bool ret = false;
+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        if (m_enabled)
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
+        return ret;
+    }
+
+    public bool CalculateTransforms()
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
+            ret = true;
+        }
+        return ret;
+    }
+}
+}