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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs246
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs356
2 files changed, 301 insertions, 301 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index ced8565..1966395 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -1,123 +1,123 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 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 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 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 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. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using OpenMetaverse; 30using OpenMetaverse;
31 31
32namespace OpenSim.Region.Physics.BulletSPlugin 32namespace OpenSim.Region.Physics.BulletSPlugin
33{ 33{
34 34
35public class BSConstraint : IDisposable 35public class BSConstraint : IDisposable
36{ 36{
37 private BulletSim m_world; 37 private BulletSim m_world;
38 private BulletBody m_body1; 38 private BulletBody m_body1;
39 private BulletBody m_body2; 39 private BulletBody m_body2;
40 private BulletConstraint m_constraint; 40 private BulletConstraint m_constraint;
41 private bool m_enabled = false; 41 private bool m_enabled = false;
42 42
43 public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 43 public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
44 Vector3 frame1, Quaternion frame1rot, 44 Vector3 frame1, Quaternion frame1rot,
45 Vector3 frame2, Quaternion frame2rot 45 Vector3 frame2, Quaternion frame2rot
46 ) 46 )
47 { 47 {
48 m_world = world; 48 m_world = world;
49 m_body1 = obj1; 49 m_body1 = obj1;
50 m_body2 = obj2; 50 m_body2 = obj2;
51 /* 51 /*
52 BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 52 BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID,
53 frame1, frame1rot, 53 frame1, frame1rot,
54 frame2, frame2rot, 54 frame2, frame2rot,
55 linearLow, linearHigh, 55 linearLow, linearHigh,
56 angularLow, angularHigh 56 angularLow, angularHigh
57 ); 57 );
58 */ 58 */
59 m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, 59 m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
60 frame1, frame1rot, 60 frame1, frame1rot,
61 frame2, frame2rot)); 61 frame2, frame2rot));
62 m_enabled = true; 62 m_enabled = true;
63 } 63 }
64 64
65 public void Dispose() 65 public void Dispose()
66 { 66 {
67 if (m_enabled) 67 if (m_enabled)
68 { 68 {
69 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); 69 // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
70 BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); 70 BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
71 m_enabled = false; 71 m_enabled = false;
72 } 72 }
73 } 73 }
74 74
75 public BulletBody Body1 { get { return m_body1; } } 75 public BulletBody Body1 { get { return m_body1; } }
76 public BulletBody Body2 { get { return m_body2; } } 76 public BulletBody Body2 { get { return m_body2; } }
77 77
78 public bool SetLinearLimits(Vector3 low, Vector3 high) 78 public bool SetLinearLimits(Vector3 low, Vector3 high)
79 { 79 {
80 bool ret = false; 80 bool ret = false;
81 if (m_enabled) 81 if (m_enabled)
82 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); 82 ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
83 return ret; 83 return ret;
84 } 84 }
85 85
86 public bool SetAngularLimits(Vector3 low, Vector3 high) 86 public bool SetAngularLimits(Vector3 low, Vector3 high)
87 { 87 {
88 bool ret = false; 88 bool ret = false;
89 if (m_enabled) 89 if (m_enabled)
90 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); 90 ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
91 return ret; 91 return ret;
92 } 92 }
93 93
94 public bool UseFrameOffset(bool useOffset) 94 public bool UseFrameOffset(bool useOffset)
95 { 95 {
96 bool ret = false; 96 bool ret = false;
97 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 97 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
98 if (m_enabled) 98 if (m_enabled)
99 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); 99 ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
100 return ret; 100 return ret;
101 } 101 }
102 102
103 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) 103 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
104 { 104 {
105 bool ret = false; 105 bool ret = false;
106 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; 106 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
107 if (m_enabled) 107 if (m_enabled)
108 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); 108 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
109 return ret; 109 return ret;
110 } 110 }
111 111
112 public bool CalculateTransforms() 112 public bool CalculateTransforms()
113 { 113 {
114 bool ret = false; 114 bool ret = false;
115 if (m_enabled) 115 if (m_enabled)
116 { 116 {
117 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); 117 BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
118 ret = true; 118 ret = true;
119 } 119 }
120 return ret; 120 return ret;
121 } 121 }
122} 122}
123} 123}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index 6c66c5c..a2650fb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -1,178 +1,178 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 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 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 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 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. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using log4net; 30using log4net;
31using OpenMetaverse; 31using OpenMetaverse;
32 32
33namespace OpenSim.Region.Physics.BulletSPlugin 33namespace OpenSim.Region.Physics.BulletSPlugin
34{ 34{
35 35
36public class BSConstraintCollection : IDisposable 36public class BSConstraintCollection : IDisposable
37{ 37{
38 // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); 38 // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
39 // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; 39 // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
40 40
41 delegate bool ConstraintAction(BSConstraint constrain); 41 delegate bool ConstraintAction(BSConstraint constrain);
42 42
43 private List<BSConstraint> m_constraints; 43 private List<BSConstraint> m_constraints;
44 private BulletSim m_world; 44 private BulletSim m_world;
45 45
46 public BSConstraintCollection(BulletSim world) 46 public BSConstraintCollection(BulletSim world)
47 { 47 {
48 m_world = world; 48 m_world = world;
49 m_constraints = new List<BSConstraint>(); 49 m_constraints = new List<BSConstraint>();
50 } 50 }
51 51
52 public void Dispose() 52 public void Dispose()
53 { 53 {
54 this.Clear(); 54 this.Clear();
55 } 55 }
56 56
57 public void Clear() 57 public void Clear()
58 { 58 {
59 foreach (BSConstraint cons in m_constraints) 59 foreach (BSConstraint cons in m_constraints)
60 { 60 {
61 cons.Dispose(); 61 cons.Dispose();
62 } 62 }
63 m_constraints.Clear(); 63 m_constraints.Clear();
64 } 64 }
65 65
66 public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, 66 public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
67 Vector3 frame1, Quaternion frame1rot, 67 Vector3 frame1, Quaternion frame1rot,
68 Vector3 frame2, Quaternion frame2rot) 68 Vector3 frame2, Quaternion frame2rot)
69 { 69 {
70 BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); 70 BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
71 71
72 this.AddConstraint(constrain); 72 this.AddConstraint(constrain);
73 return constrain; 73 return constrain;
74 } 74 }
75 75
76 public bool AddConstraint(BSConstraint cons) 76 public bool AddConstraint(BSConstraint cons)
77 { 77 {
78 // There is only one constraint between any bodies. Remove any old just to make sure. 78 // There is only one constraint between any bodies. Remove any old just to make sure.
79 RemoveAndDestroyConstraint(cons.Body1, cons.Body2); 79 RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
80 80
81 m_constraints.Add(cons); 81 m_constraints.Add(cons);
82 82
83 return true; 83 return true;
84 } 84 }
85 85
86 // Get the constraint between two bodies. There can be only one the way we're using them. 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) 87 public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
88 { 88 {
89 bool found = false; 89 bool found = false;
90 BSConstraint foundConstraint = null; 90 BSConstraint foundConstraint = null;
91 91
92 uint lookingID1 = body1.ID; 92 uint lookingID1 = body1.ID;
93 uint lookingID2 = body2.ID; 93 uint lookingID2 = body2.ID;
94 ForEachConstraint(delegate(BSConstraint constrain) 94 ForEachConstraint(delegate(BSConstraint constrain)
95 { 95 {
96 if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) 96 if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
97 || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) 97 || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
98 { 98 {
99 foundConstraint = constrain; 99 foundConstraint = constrain;
100 found = true; 100 found = true;
101 } 101 }
102 return found; 102 return found;
103 }); 103 });
104 returnConstraint = foundConstraint; 104 returnConstraint = foundConstraint;
105 return found; 105 return found;
106 } 106 }
107 107
108 public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) 108 public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
109 { 109 {
110 // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); 110 // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
111 111
112 bool ret = false; 112 bool ret = false;
113 BSConstraint constrain; 113 BSConstraint constrain;
114 114
115 if (this.TryGetConstraint(body1, body2, out constrain)) 115 if (this.TryGetConstraint(body1, body2, out constrain))
116 { 116 {
117 // remove the constraint from our collection 117 // remove the constraint from our collection
118 m_constraints.Remove(constrain); 118 m_constraints.Remove(constrain);
119 // tell the engine that all its structures need to be freed 119 // tell the engine that all its structures need to be freed
120 constrain.Dispose(); 120 constrain.Dispose();
121 // we destroyed something 121 // we destroyed something
122 ret = true; 122 ret = true;
123 } 123 }
124 124
125 return ret; 125 return ret;
126 } 126 }
127 127
128 public bool RemoveAndDestroyConstraint(BulletBody body1) 128 public bool RemoveAndDestroyConstraint(BulletBody body1)
129 { 129 {
130 // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); 130 // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
131 131
132 List<BSConstraint> toRemove = new List<BSConstraint>(); 132 List<BSConstraint> toRemove = new List<BSConstraint>();
133 uint lookingID = body1.ID; 133 uint lookingID = body1.ID;
134 ForEachConstraint(delegate(BSConstraint constrain) 134 ForEachConstraint(delegate(BSConstraint constrain)
135 { 135 {
136 if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) 136 if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
137 { 137 {
138 toRemove.Add(constrain); 138 toRemove.Add(constrain);
139 } 139 }
140 return false; 140 return false;
141 }); 141 });
142 lock (m_constraints) 142 lock (m_constraints)
143 { 143 {
144 foreach (BSConstraint constrain in toRemove) 144 foreach (BSConstraint constrain in toRemove)
145 { 145 {
146 m_constraints.Remove(constrain); 146 m_constraints.Remove(constrain);
147 constrain.Dispose(); 147 constrain.Dispose();
148 } 148 }
149 } 149 }
150 return (toRemove.Count > 0); 150 return (toRemove.Count > 0);
151 } 151 }
152 152
153 public bool RecalculateAllConstraints() 153 public bool RecalculateAllConstraints()
154 { 154 {
155 foreach (BSConstraint constrain in m_constraints) 155 foreach (BSConstraint constrain in m_constraints)
156 { 156 {
157 constrain.CalculateTransforms(); 157 constrain.CalculateTransforms();
158 } 158 }
159 return true; 159 return true;
160 } 160 }
161 161
162 // Lock the constraint list and loop through it. 162 // Lock the constraint list and loop through it.
163 // The constraint action returns 'true' if it wants the loop aborted. 163 // The constraint action returns 'true' if it wants the loop aborted.
164 private void ForEachConstraint(ConstraintAction action) 164 private void ForEachConstraint(ConstraintAction action)
165 { 165 {
166 lock (m_constraints) 166 lock (m_constraints)
167 { 167 {
168 foreach (BSConstraint constrain in m_constraints) 168 foreach (BSConstraint constrain in m_constraints)
169 { 169 {
170 if (action(constrain)) 170 if (action(constrain))
171 break; 171 break;
172 } 172 }
173 } 173 }
174 } 174 }
175 175
176 176
177} 177}
178} 178}
generated by cgit v1.1 at 2024-12-26 06:57:21 +0000