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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.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 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}