From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../PhysicsModules/BulletS/BSConstraint6Dof.cs | 180 +++++++++++++++++++++ 1 file changed, 180 insertions(+) create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs (limited to 'OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs') diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs new file mode 100755 index 0000000..4bcde2b --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs @@ -0,0 +1,180 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * 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 + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.PhysicsModule.BulletS +{ + +public class BSConstraint6Dof : BSConstraint +{ + private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; + + public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } + + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_enabled = false; + } + + // Create a btGeneric6DofConstraint + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2, + frame1, frame1rot, + frame2, frame2rot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + m_body1.ID, world.worldID, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + } + + // 6 Dof constraint based on a midpoint between the two constrained bodies + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) + { + world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + m_enabled = false; + } + else + { + m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, + joinPoint, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", + m_body1.ID, world.worldID, m_constraint.AddrString, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + + if (!m_constraint.HasPhysicalConstraint) + { + world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", + LogHeader, obj1.ID, obj2.ID); + m_enabled = false; + } + else + { + m_enabled = true; + } + } + } + + // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj1; // Look out for confusion down the road + m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, + frameInBloc, frameInBrot, + useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}", + m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); + } + + public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) + { + bool ret = false; + if (m_enabled) + { + PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot); + ret = true; + } + return ret; + } + + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = false; + if (m_enabled) + { + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + ret = true; + } + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + { + ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce); + m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", + BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); + } + return ret; + } + + public bool SetBreakingImpulseThreshold(float threshold) + { + bool ret = false; + if (m_enabled) + ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold); + return ret; + } +} +} -- cgit v1.1