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 @@
-/*
+/*
- * Copyright (c) Contributors, http://opensimulator.org/
+ * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
+ *
- * Redistribution and use in source and binary forms, with or without
+ * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
+ * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
+ *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
+ *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
+ *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
+ *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
+ *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
+ *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
+ *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
+ *       derived from this software without specific prior written permission.
- *
+ *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * 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
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
+ */
-using System;
+using System;
-using System.Collections.Generic;
+using System.Collections.Generic;
-using System.Text;
+using System.Text;
-using OpenMetaverse;
+using OpenMetaverse;
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.Physics.BulletSPlugin
-{
+{
-public class BSConstraint : IDisposable
+public class BSConstraint : IDisposable
-{
+{
-    private BulletSim m_world;
+    private BulletSim m_world;
-    private BulletBody m_body1;
+    private BulletBody m_body1;
-    private BulletBody m_body2;
+    private BulletBody m_body2;
-    private BulletConstraint m_constraint;
+    private BulletConstraint m_constraint;
-    private bool m_enabled = false;
+    private bool m_enabled = false;
-    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot
+                    Vector3 frame2, Quaternion frame2rot
-        )
+        )
-    {
+    {
-        m_world = world;
+        m_world = world;
-        m_body1 = obj1;
+        m_body1 = obj1;
-        m_body2 = obj2;
+        m_body2 = obj2;
-        /*
+        /*
-        BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 
+        BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, 
-                            frame1, frame1rot,
+                            frame1, frame1rot,
-                            frame2, frame2rot,
+                            frame2, frame2rot,
-                            linearLow, linearHigh,
+                            linearLow, linearHigh,
-                            angularLow, angularHigh
+                            angularLow, angularHigh
-        );
+        );
-        */
+        */
-        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+        m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
-                            frame1, frame1rot,
+                            frame1, frame1rot,
-                            frame2, frame2rot));
+                            frame2, frame2rot));
-        m_enabled = true;
+        m_enabled = true;
-    }
+    }
-    public void Dispose()
+    public void Dispose()
-    {
+    {
-        if (m_enabled)
+        if (m_enabled)
-        {
+        {
-            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
+            // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
-            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
+            BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
-            m_enabled = false;
+            m_enabled = false;
-        }
+        }
-    }
+    }
-    public BulletBody Body1 { get { return m_body1; } }
+    public BulletBody Body1 { get { return m_body1; } }
-    public BulletBody Body2 { get { return m_body2; } }
+    public BulletBody Body2 { get { return m_body2; } }
-    public bool SetLinearLimits(Vector3 low, Vector3 high)
+    public bool SetLinearLimits(Vector3 low, Vector3 high)
-    {
+    {
-        bool ret = false;
+        bool ret = false;
-        if (m_enabled)
+        if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
+            ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
-        return ret;
+        return ret;
-    }
+    }
-    public bool SetAngularLimits(Vector3 low, Vector3 high)
+    public bool SetAngularLimits(Vector3 low, Vector3 high)
-    {
+    {
-        bool ret = false;
+        bool ret = false;
-        if (m_enabled)
+        if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
+            ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
-        return ret;
+        return ret;
-    }
+    }
-    public bool UseFrameOffset(bool useOffset)
+    public bool UseFrameOffset(bool useOffset)
-    {
+    {
-        bool ret = false;
+        bool ret = false;
-        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
+        if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
+            ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
-        return ret;
+        return ret;
-    }
+    }
-    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
+    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
-    {
+    {
-        bool ret = false;
+        bool ret = false;
-        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
+        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
+        if (m_enabled)
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
+            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
-        return ret;
+        return ret;
-    }
+    }
-    public bool CalculateTransforms()
+    public bool CalculateTransforms()
-    {
+    {
-        bool ret = false;
+        bool ret = false;
-        if (m_enabled)
+        if (m_enabled)
-        {
+        {
-            BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
+            BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
-            ret = true;
+            ret = true;
-        }
+        }
-        return ret;
+        return ret;
-    }
+    }
-}
+}
-}
+}
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 @@
-/*
+/*
- * Copyright (c) Contributors, http://opensimulator.org/
+ * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
+ *
- * Redistribution and use in source and binary forms, with or without
+ * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
+ * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
+ *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
+ *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
+ *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
+ *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
+ *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
+ *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
+ *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
+ *       derived from this software without specific prior written permission.
- *
+ *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * 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
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
+ */
-using System;
+using System;
-using System.Collections.Generic;
+using System.Collections.Generic;
-using System.Text;
+using System.Text;
-using log4net;
+using log4net;
-using OpenMetaverse;
+using OpenMetaverse;
-namespace OpenSim.Region.Physics.BulletSPlugin
+namespace OpenSim.Region.Physics.BulletSPlugin
-{
+{
-public class BSConstraintCollection : IDisposable
+public class BSConstraintCollection : IDisposable
-{
+{
-    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
+    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
+    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-    delegate bool ConstraintAction(BSConstraint constrain);
+    delegate bool ConstraintAction(BSConstraint constrain);
-    private List<BSConstraint> m_constraints;
+    private List<BSConstraint> m_constraints;
-    private BulletSim m_world;
+    private BulletSim m_world;
-    public BSConstraintCollection(BulletSim world)
+    public BSConstraintCollection(BulletSim world)
-    {
+    {
-        m_world = world;
+        m_world = world;
-        m_constraints = new List<BSConstraint>();
+        m_constraints = new List<BSConstraint>();
-    }
+    }
-    public void Dispose()
+    public void Dispose()
-    {
+    {
-        this.Clear();
+        this.Clear();
-    }
+    }
-    public void Clear()
+    public void Clear()
-    {
+    {
-        foreach (BSConstraint cons in m_constraints)
+        foreach (BSConstraint cons in m_constraints)
-        {
+        {
-            cons.Dispose();
+            cons.Dispose();
-        }
+        }
-        m_constraints.Clear();
+        m_constraints.Clear();
-    }
+    }
-    public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1, Quaternion frame1rot,
+                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot)
+                    Vector3 frame2, Quaternion frame2rot)
-    {
+    {
-        BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
+        BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
-        this.AddConstraint(constrain);
+        this.AddConstraint(constrain);
-        return constrain;
+        return constrain;
-    }
+    }
-    public bool AddConstraint(BSConstraint cons)
+    public bool AddConstraint(BSConstraint cons)
-    {
+    {
-        // There is only one constraint between any bodies. Remove any old just to make sure.
+        // There is only one constraint between any bodies. Remove any old just to make sure.
-        RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
+        RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-        m_constraints.Add(cons);
+        m_constraints.Add(cons);
-        return true;
+        return true;
-    }
+    }
-    // Get the constraint between two bodies. There can be only one the way we're using them.
+    // Get the constraint between two bodies. There can be only one the way we're using them.
-    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
+    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
-    {
+    {
-        bool found = false;
+        bool found = false;
-        BSConstraint foundConstraint = null;
+        BSConstraint foundConstraint = null;
-        uint lookingID1 = body1.ID;
+        uint lookingID1 = body1.ID;
-        uint lookingID2 = body2.ID;
+        uint lookingID2 = body2.ID;
-        ForEachConstraint(delegate(BSConstraint constrain)
+        ForEachConstraint(delegate(BSConstraint constrain)
-        {
+        {
-            if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
+            if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
-                || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
+                || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
-            {
+            {
-                foundConstraint = constrain;
+                foundConstraint = constrain;
-                found = true;
+                found = true;
-            }
+            }
-            return found;
+            return found;
-        });
+        });
-        returnConstraint = foundConstraint;
+        returnConstraint = foundConstraint;
-        return found;
+        return found;
-    }
+    }
-    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
+    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
-    {
+    {
-        // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
+        // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
-        bool ret = false;
+        bool ret = false;
-        BSConstraint constrain;
+        BSConstraint constrain;
-        if (this.TryGetConstraint(body1, body2, out constrain))
+        if (this.TryGetConstraint(body1, body2, out constrain))
-        {
+        {
-            // remove the constraint from our collection
+            // remove the constraint from our collection
-            m_constraints.Remove(constrain);
+            m_constraints.Remove(constrain);
-            // tell the engine that all its structures need to be freed
+            // tell the engine that all its structures need to be freed
-            constrain.Dispose();
+            constrain.Dispose();
-            // we destroyed something
+            // we destroyed something
-            ret = true;
+            ret = true;
-        }
+        }
-        return ret;
+        return ret;
-    }
+    }
-    public bool RemoveAndDestroyConstraint(BulletBody body1)
+    public bool RemoveAndDestroyConstraint(BulletBody body1)
-    {
+    {
-        // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
+        // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
-        List<BSConstraint> toRemove = new List<BSConstraint>();
+        List<BSConstraint> toRemove = new List<BSConstraint>();
-        uint lookingID = body1.ID;
+        uint lookingID = body1.ID;
-        ForEachConstraint(delegate(BSConstraint constrain)
+        ForEachConstraint(delegate(BSConstraint constrain)
-        {
+        {
-            if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
+            if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
-            {
+            {
-                toRemove.Add(constrain);
+                toRemove.Add(constrain);
-            }
+            }
-            return false;
+            return false;
-        });
+        });
-        lock (m_constraints)
+        lock (m_constraints)
-        {
+        {
-            foreach (BSConstraint constrain in toRemove)
+            foreach (BSConstraint constrain in toRemove)
-            {
+            {
-                m_constraints.Remove(constrain);
+                m_constraints.Remove(constrain);
-                constrain.Dispose();
+                constrain.Dispose();
-            }
+            }
-        }
+        }
-        return (toRemove.Count > 0);
+        return (toRemove.Count > 0);
-    }
+    }
-    public bool RecalculateAllConstraints()
+    public bool RecalculateAllConstraints()
-    {
+    {
-        foreach (BSConstraint constrain in m_constraints)
+        foreach (BSConstraint constrain in m_constraints)
-        {
+        {
-            constrain.CalculateTransforms();
+            constrain.CalculateTransforms();
-        }
+        }
-        return true;
+        return true;
-    }
+    }
-    // Lock the constraint list and loop through it.
+    // Lock the constraint list and loop through it.
-    // The constraint action returns 'true' if it wants the loop aborted.
+    // The constraint action returns 'true' if it wants the loop aborted.
-    private void ForEachConstraint(ConstraintAction action)
+    private void ForEachConstraint(ConstraintAction action)
-    {
+    {
-        lock (m_constraints)
+        lock (m_constraints)
-        {
+        {
-            foreach (BSConstraint constrain in m_constraints)
+            foreach (BSConstraint constrain in m_constraints)
-            {
+            {
-                if (action(constrain))
+                if (action(constrain))
-                    break;
+                    break;
-            }
+            }
-        }
+        }
-    }
+    }
-}
+}
-}
+}

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	*/
27	using System;	27	using System;
28	using System.Collections.Generic;	28	using System.Collections.Generic;
29	using System.Text;	29	using System.Text;
30	using OpenMetaverse;	30	using OpenMetaverse;
31		31
32	namespace OpenSim.Region.Physics.BulletSPlugin	32	namespace OpenSim.Region.Physics.BulletSPlugin
33	{	33	{
34		34
35	public class BSConstraint : IDisposable	35	public 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	*/
27	using System;	27	using System;
28	using System.Collections.Generic;	28	using System.Collections.Generic;
29	using System.Text;	29	using System.Text;
30	using log4net;	30	using log4net;
31	using OpenMetaverse;	31	using OpenMetaverse;
32		32
33	namespace OpenSim.Region.Physics.BulletSPlugin	33	namespace OpenSim.Region.Physics.BulletSPlugin
34	{	34	{
35		35
36	public class BSConstraintCollection : IDisposable	36	public 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	}