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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs178
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diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.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 log4net;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin
34{
35
36public class BSConstraintCollection : IDisposable
37{
38 // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
39 // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
40
41 delegate bool ConstraintAction(BSConstraint constrain);
42
43 private List<BSConstraint> m_constraints;
44 private BulletSim m_world;
45
46 public BSConstraintCollection(BulletSim world)
47 {
48 m_world = world;
49 m_constraints = new List<BSConstraint>();
50 }
51
52 public void Dispose()
53 {
54 this.Clear();
55 }
56
57 public void Clear()
58 {
59 foreach (BSConstraint cons in m_constraints)
60 {
61 cons.Dispose();
62 }
63 m_constraints.Clear();
64 }
65
66 public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
67 Vector3 frame1, Quaternion frame1rot,
68 Vector3 frame2, Quaternion frame2rot)
69 {
70 BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
71
72 this.AddConstraint(constrain);
73 return constrain;
74 }
75
76 public bool AddConstraint(BSConstraint cons)
77 {
78 // There is only one constraint between any bodies. Remove any old just to make sure.
79 RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
80
81 m_constraints.Add(cons);
82
83 return true;
84 }
85
86 // Get the constraint between two bodies. There can be only one the way we're using them.
87 public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
88 {
89 bool found = false;
90 BSConstraint foundConstraint = null;
91
92 uint lookingID1 = body1.ID;
93 uint lookingID2 = body2.ID;
94 ForEachConstraint(delegate(BSConstraint constrain)
95 {
96 if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
97 || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
98 {
99 foundConstraint = constrain;
100 found = true;
101 }
102 return found;
103 });
104 returnConstraint = foundConstraint;
105 return found;
106 }
107
108 public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
109 {
110 // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
111
112 bool ret = false;
113 BSConstraint constrain;
114
115 if (this.TryGetConstraint(body1, body2, out constrain))
116 {
117 // remove the constraint from our collection
118 m_constraints.Remove(constrain);
119 // tell the engine that all its structures need to be freed
120 constrain.Dispose();
121 // we destroyed something
122 ret = true;
123 }
124
125 return ret;
126 }
127
128 public bool RemoveAndDestroyConstraint(BulletBody body1)
129 {
130 // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
131
132 List<BSConstraint> toRemove = new List<BSConstraint>();
133 uint lookingID = body1.ID;
134 ForEachConstraint(delegate(BSConstraint constrain)
135 {
136 if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
137 {
138 toRemove.Add(constrain);
139 }
140 return false;
141 });
142 lock (m_constraints)
143 {
144 foreach (BSConstraint constrain in toRemove)
145 {
146 m_constraints.Remove(constrain);
147 constrain.Dispose();
148 }
149 }
150 return (toRemove.Count > 0);
151 }
152
153 public bool RecalculateAllConstraints()
154 {
155 foreach (BSConstraint constrain in m_constraints)
156 {
157 constrain.CalculateTransforms();
158 }
159 return true;
160 }
161
162 // Lock the constraint list and loop through it.
163 // The constraint action returns 'true' if it wants the loop aborted.
164 private void ForEachConstraint(ConstraintAction action)
165 {
166 lock (m_constraints)
167 {
168 foreach (BSConstraint constrain in m_constraints)
169 {
170 if (action(constrain))
171 break;
172 }
173 }
174 }
175
176
177}
178}