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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs102
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs227
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs27
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs16
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs13
5 files changed, 338 insertions, 47 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index ae54499..3a27d2c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -438,6 +438,28 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
438 joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 438 joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
439} 439}
440 440
441public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
442 Vector3 frameInBloc, Quaternion frameInBrot,
443 bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
444{
445 BulletWorldUnman worldu = world as BulletWorldUnman;
446 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
447 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr,
448 frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies));
449}
450
451public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
452 Vector3 frame1loc, Quaternion frame1rot,
453 Vector3 frame2loc, Quaternion frame2rot,
454 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
455{
456 BulletWorldUnman worldu = world as BulletWorldUnman;
457 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
458 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
459 return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
460 frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
461}
462
441public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, 463public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
442 Vector3 pivotinA, Vector3 pivotinB, 464 Vector3 pivotinA, Vector3 pivotinB,
443 Vector3 axisInA, Vector3 axisInB, 465 Vector3 axisInA, Vector3 axisInB,
@@ -450,6 +472,52 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
450 pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 472 pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
451} 473}
452 474
475public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
476 Vector3 frame1loc, Quaternion frame1rot,
477 Vector3 frame2loc, Quaternion frame2rot,
478 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
479{
480 BulletWorldUnman worldu = world as BulletWorldUnman;
481 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
482 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
483 return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
484 frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
485}
486
487public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
488 Vector3 frame1loc, Quaternion frame1rot,
489 Vector3 frame2loc, Quaternion frame2rot,
490 bool disableCollisionsBetweenLinkedBodies)
491{
492 BulletWorldUnman worldu = world as BulletWorldUnman;
493 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
494 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
495 return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
496 frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies));
497}
498
499public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
500 Vector3 axisInA, Vector3 axisInB,
501 float ratio, bool disableCollisionsBetweenLinkedBodies)
502{
503 BulletWorldUnman worldu = world as BulletWorldUnman;
504 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
505 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
506 return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB,
507 ratio, disableCollisionsBetweenLinkedBodies));
508}
509
510public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
511 Vector3 pivotInA, Vector3 pivotInB,
512 bool disableCollisionsBetweenLinkedBodies)
513{
514 BulletWorldUnman worldu = world as BulletWorldUnman;
515 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
516 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
517 return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB,
518 disableCollisionsBetweenLinkedBodies));
519}
520
453public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) 521public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
454{ 522{
455 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; 523 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -1426,12 +1494,46 @@ public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr ob
1426 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 1494 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1427 1495
1428[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1497public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1,
1498 Vector3 frameInBloc, Quaternion frameInBrot,
1499 bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
1500
1501[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1502public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1503 Vector3 frame1loc, Quaternion frame1rot,
1504 Vector3 frame2loc, Quaternion frame2rot,
1505 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1506
1507[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1429public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 1508public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1430 Vector3 pivotinA, Vector3 pivotinB, 1509 Vector3 pivotinA, Vector3 pivotinB,
1431 Vector3 axisInA, Vector3 axisInB, 1510 Vector3 axisInA, Vector3 axisInB,
1432 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 1511 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1433 1512
1434[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1513[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1514public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1515 Vector3 frameInAloc, Quaternion frameInArot,
1516 Vector3 frameInBloc, Quaternion frameInBrot,
1517 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1518
1519[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1520public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1521 Vector3 frameInAloc, Quaternion frameInArot,
1522 Vector3 frameInBloc, Quaternion frameInBrot,
1523 bool disableCollisionsBetweenLinkedBodies);
1524
1525[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1526public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1527 Vector3 axisInA, Vector3 axisInB,
1528 float ratio, bool disableCollisionsBetweenLinkedBodies);
1529
1530[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1531public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1532 Vector3 pivotInA, Vector3 pivotInB,
1533 bool disableCollisionsBetweenLinkedBodies);
1534
1535
1536[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1435public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); 1537public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
1436 1538
1437[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1539[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 15fa52b..6fc10e9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -559,8 +559,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
559 } 559 }
560 560
561 561
562 //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 562 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
563 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 563 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
564 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
564 565
565 { 566 {
566 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 567 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
@@ -584,7 +585,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
584 return new BulletConstraintXNA(consttr); 585 return new BulletConstraintXNA(consttr);
585 } 586 }
586 587
587 588 public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1,
589 Vector3 pframe1, Quaternion pframe1rot,
590 bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies)
591 {
592 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
593 RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
594 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
595 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
596 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
597 frame1._origin = frame1v;
598
599 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB);
600 consttr.CalculateTransforms();
601 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
602
603 return new BulletConstraintXNA(consttr);
604 }
605
588 /// <summary> 606 /// <summary>
589 /// 607 ///
590 /// </summary> 608 /// </summary>
@@ -1443,129 +1461,130 @@ private sealed class BulletConstraintXNA : BulletConstraint
1443 1461
1444 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) 1462 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
1445 { 1463 {
1464 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1446 switch (pin) 1465 switch (pin)
1447 { 1466 {
1448 case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: 1467 case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
1449 return BSPhysicsShapeType.SHAPE_BOX; 1468 ret = BSPhysicsShapeType.SHAPE_BOX;
1450 break; 1469 break;
1451 case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: 1470 case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
1452 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1471 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1453 break; 1472 break;
1454 1473
1455 case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: 1474 case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
1456 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1475 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1457 break; 1476 break;
1458 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: 1477 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
1459 return BSPhysicsShapeType.SHAPE_MESH; 1478 ret = BSPhysicsShapeType.SHAPE_MESH;
1460 break; 1479 break;
1461 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: 1480 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
1462 return BSPhysicsShapeType.SHAPE_HULL; 1481 ret = BSPhysicsShapeType.SHAPE_HULL;
1463 break; 1482 break;
1464 case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: 1483 case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
1465 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1484 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1466 break; 1485 break;
1467 case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: 1486 case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
1468 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1487 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1469 break; 1488 break;
1470 //implicit convex shapes 1489 //implicit convex shapes
1471 case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: 1490 case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
1472 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1491 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1473 break; 1492 break;
1474 case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: 1493 case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
1475 return BSPhysicsShapeType.SHAPE_SPHERE; 1494 ret = BSPhysicsShapeType.SHAPE_SPHERE;
1476 break; 1495 break;
1477 case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: 1496 case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
1478 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1497 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1479 break; 1498 break;
1480 case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: 1499 case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
1481 return BSPhysicsShapeType.SHAPE_CAPSULE; 1500 ret = BSPhysicsShapeType.SHAPE_CAPSULE;
1482 break; 1501 break;
1483 case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: 1502 case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
1484 return BSPhysicsShapeType.SHAPE_CONE; 1503 ret = BSPhysicsShapeType.SHAPE_CONE;
1485 break; 1504 break;
1486 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: 1505 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
1487 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1506 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1488 break; 1507 break;
1489 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: 1508 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
1490 return BSPhysicsShapeType.SHAPE_CYLINDER; 1509 ret = BSPhysicsShapeType.SHAPE_CYLINDER;
1491 break; 1510 break;
1492 case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: 1511 case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
1493 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1512 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1494 break; 1513 break;
1495 case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: 1514 case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
1496 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1515 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1497 break; 1516 break;
1498 case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: 1517 case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
1499 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1518 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1500 break; 1519 break;
1501 case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: 1520 case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
1502 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1521 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1503 break; 1522 break;
1504 case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: 1523 case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
1505 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1524 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1506 break; 1525 break;
1507 case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: 1526 case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
1508 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1527 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1509 break; 1528 break;
1510 //concave shape 1529 //concave shape
1511 case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: 1530 case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
1512 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1531 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1513 break; 1532 break;
1514 //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! 1533 //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
1515 case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: 1534 case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
1516 return BSPhysicsShapeType.SHAPE_MESH; 1535 ret = BSPhysicsShapeType.SHAPE_MESH;
1517 break; 1536 break;
1518 case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: 1537 case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
1519 return BSPhysicsShapeType.SHAPE_MESH; 1538 ret = BSPhysicsShapeType.SHAPE_MESH;
1520 break; 1539 break;
1521 ///used for demo integration FAST/Swift collision library and Bullet 1540 ///used for demo integration FAST/Swift collision library and Bullet
1522 case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: 1541 case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
1523 return BSPhysicsShapeType.SHAPE_MESH; 1542 ret = BSPhysicsShapeType.SHAPE_MESH;
1524 break; 1543 break;
1525 //terrain 1544 //terrain
1526 case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: 1545 case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
1527 return BSPhysicsShapeType.SHAPE_HEIGHTMAP; 1546 ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP;
1528 break; 1547 break;
1529 ///Used for GIMPACT Trimesh integration 1548 ///Used for GIMPACT Trimesh integration
1530 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: 1549 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
1531 return BSPhysicsShapeType.SHAPE_MESH; 1550 ret = BSPhysicsShapeType.SHAPE_MESH;
1532 break; 1551 break;
1533 ///Multimaterial mesh 1552 ///Multimaterial mesh
1534 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: 1553 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
1535 return BSPhysicsShapeType.SHAPE_MESH; 1554 ret = BSPhysicsShapeType.SHAPE_MESH;
1536 break; 1555 break;
1537 1556
1538 case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: 1557 case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
1539 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1558 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1540 break; 1559 break;
1541 case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: 1560 case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
1542 return BSPhysicsShapeType.SHAPE_GROUNDPLANE; 1561 ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE;
1543 break; 1562 break;
1544 case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: 1563 case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
1545 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1564 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1546 break; 1565 break;
1547 case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: 1566 case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
1548 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1567 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1549 break; 1568 break;
1550 1569
1551 case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: 1570 case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
1552 return BSPhysicsShapeType.SHAPE_COMPOUND; 1571 ret = BSPhysicsShapeType.SHAPE_COMPOUND;
1553 break; 1572 break;
1554 1573
1555 case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: 1574 case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
1556 return BSPhysicsShapeType.SHAPE_MESH; 1575 ret = BSPhysicsShapeType.SHAPE_MESH;
1557 break; 1576 break;
1558 case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: 1577 case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
1559 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1578 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1560 break; 1579 break;
1561 case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: 1580 case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
1562 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1581 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1563 break; 1582 break;
1564 case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: 1583 case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
1565 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1584 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1566 break; 1585 break;
1567 } 1586 }
1568 return BSPhysicsShapeType.SHAPE_UNKNOWN; 1587 return ret;
1569 } 1588 }
1570 1589
1571 public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } 1590 public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
@@ -1579,7 +1598,39 @@ private sealed class BulletConstraintXNA : BulletConstraint
1579 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); 1598 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
1580 } 1599 }
1581 1600
1582 public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 1601 public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1602 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
1603 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1604
1605 {
1606 Generic6DofSpringConstraint constrain = null;
1607 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1608 RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
1609 RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
1610 if (body1 != null && body2 != null)
1611 {
1612 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
1613 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
1614 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
1615 frame1._origin = frame1v;
1616
1617 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
1618 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
1619 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
1620 frame2._origin = frame1v;
1621
1622 constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
1623 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1624
1625 constrain.CalculateTransforms();
1626 }
1627
1628 return new BulletConstraintXNA(constrain);
1629 }
1630
1631 public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1632 Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB,
1633 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1583 { 1634 {
1584 HingeConstraint constrain = null; 1635 HingeConstraint constrain = null;
1585 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 1636 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
@@ -1591,6 +1642,100 @@ private sealed class BulletConstraintXNA : BulletConstraint
1591 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); 1642 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
1592 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); 1643 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
1593 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); 1644 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
1645 constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA);
1646 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1647 }
1648 return new BulletConstraintXNA(constrain);
1649 }
1650
1651 public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1652 Vector3 pframe1, Quaternion pframe1rot,
1653 Vector3 pframe2, Quaternion pframe2rot,
1654 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1655 {
1656 SliderConstraint constrain = null;
1657 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1658 RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
1659 RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
1660 if (rb1 != null && rb2 != null)
1661 {
1662 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
1663 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
1664 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
1665 frame1._origin = frame1v;
1666
1667 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
1668 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
1669 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
1670 frame2._origin = frame1v;
1671
1672 constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
1673 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1674 }
1675 return new BulletConstraintXNA(constrain);
1676 }
1677
1678 public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1679 Vector3 pframe1, Quaternion pframe1rot,
1680 Vector3 pframe2, Quaternion pframe2rot,
1681 bool pdisableCollisionsBetweenLinkedBodies)
1682 {
1683 ConeTwistConstraint constrain = null;
1684 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1685 RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
1686 RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
1687 if (rb1 != null && rb2 != null)
1688 {
1689 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
1690 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
1691 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
1692 frame1._origin = frame1v;
1693
1694 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
1695 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
1696 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
1697 frame2._origin = frame1v;
1698
1699 constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2);
1700 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1701 }
1702 return new BulletConstraintXNA(constrain);
1703 }
1704
1705 public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1706 Vector3 paxisInA, Vector3 paxisInB,
1707 float pratio, bool pdisableCollisionsBetweenLinkedBodies)
1708 {
1709 Generic6DofConstraint constrain = null;
1710 /* BulletXNA does not have a gear constraint
1711 GearConstraint constrain = null;
1712 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1713 RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
1714 RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
1715 if (rb1 != null && rb2 != null)
1716 {
1717 IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
1718 IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
1719 constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio);
1720 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1721 }
1722 */
1723 return new BulletConstraintXNA(constrain);
1724 }
1725
1726 public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1727 Vector3 ppivotInA, Vector3 ppivotInB,
1728 bool pdisableCollisionsBetweenLinkedBodies)
1729 {
1730 Point2PointConstraint constrain = null;
1731 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1732 RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
1733 RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
1734 if (rb1 != null && rb2 != null)
1735 {
1736 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
1737 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
1738 constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB);
1594 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); 1739 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1595 } 1740 }
1596 return new BulletConstraintXNA(constrain); 1741 return new BulletConstraintXNA(constrain);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 3f83ef0..5765b0d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -365,11 +365,38 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
365 Vector3 joinPoint, 365 Vector3 joinPoint,
366 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 366 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
367 367
368public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
369 Vector3 frameInBloc, Quaternion frameInBrot,
370 bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
371
372public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
373 Vector3 frame1loc, Quaternion frame1rot,
374 Vector3 frame2loc, Quaternion frame2rot,
375 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
376
368public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, 377public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
369 Vector3 pivotinA, Vector3 pivotinB, 378 Vector3 pivotinA, Vector3 pivotinB,
370 Vector3 axisInA, Vector3 axisInB, 379 Vector3 axisInA, Vector3 axisInB,
371 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); 380 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
372 381
382public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
383 Vector3 frameInAloc, Quaternion frameInArot,
384 Vector3 frameInBloc, Quaternion frameInBrot,
385 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
386
387public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
388 Vector3 frameInAloc, Quaternion frameInArot,
389 Vector3 frameInBloc, Quaternion frameInBrot,
390 bool disableCollisionsBetweenLinkedBodies);
391
392public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
393 Vector3 axisInA, Vector3 axisInB,
394 float ratio, bool disableCollisionsBetweenLinkedBodies);
395
396public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
397 Vector3 pivotInA, Vector3 pivotInB,
398 bool disableCollisionsBetweenLinkedBodies);
399
373public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); 400public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
374 401
375public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); 402public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index ecb1b32..476a0e5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -57,6 +57,7 @@ public sealed class BSConstraint6Dof : BSConstraint
57 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); 57 obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
58 } 58 }
59 59
60 // 6 Dof constraint based on a midpoint between the two constrained bodies
60 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, 61 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
61 Vector3 joinPoint, 62 Vector3 joinPoint,
62 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 63 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@@ -94,6 +95,21 @@ public sealed class BSConstraint6Dof : BSConstraint
94 } 95 }
95 } 96 }
96 97
98 // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
99 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
100 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
101 : base(world)
102 {
103 m_body1 = obj1;
104 m_body2 = obj1; // Look out for confusion down the road
105 m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
106 frameInBloc, frameInBrot,
107 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
108 m_enabled = true;
109 world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
110 BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString);
111 }
112
97 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) 113 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
98 { 114 {
99 bool ret = false; 115 bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index 2aeff25..5c8d94e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -117,8 +117,7 @@ public sealed class BSConstraintCollection : IDisposable
117 if (this.TryGetConstraint(body1, body2, out constrain)) 117 if (this.TryGetConstraint(body1, body2, out constrain))
118 { 118 {
119 // remove the constraint from our collection 119 // remove the constraint from our collection
120 RemoveAndDestroyConstraint(constrain); 120 ret = RemoveAndDestroyConstraint(constrain);
121 ret = true;
122 } 121 }
123 } 122 }
124 123
@@ -126,17 +125,19 @@ public sealed class BSConstraintCollection : IDisposable
126 } 125 }
127 126
128 // The constraint MUST exist in the collection 127 // The constraint MUST exist in the collection
128 // Could be called if the constraint was previously removed.
129 // Return 'true' if the constraint was actually removed and disposed.
129 public bool RemoveAndDestroyConstraint(BSConstraint constrain) 130 public bool RemoveAndDestroyConstraint(BSConstraint constrain)
130 { 131 {
132 bool removed = false;
131 lock (m_constraints) 133 lock (m_constraints)
132 { 134 {
133 // remove the constraint from our collection 135 // remove the constraint from our collection
134 m_constraints.Remove(constrain); 136 removed = m_constraints.Remove(constrain);
135 } 137 }
136 // tell the engine that all its structures need to be freed 138 // Dispose() is safe to call multiple times
137 constrain.Dispose(); 139 constrain.Dispose();
138 // we destroyed something 140 return removed;
139 return true;
140 } 141 }
141 142
142 // Remove all constraints that reference the passed body. 143 // Remove all constraints that reference the passed body.