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/*
* 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 log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSConstraintCollection : IDisposable
{
// private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
// private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
delegate bool ConstraintAction(BSConstraint constrain);
private List<BSConstraint> m_constraints;
private BulletSim m_world;
public BSConstraintCollection(BulletSim world)
{
m_world = world;
m_constraints = new List<BSConstraint>();
}
public void Dispose()
{
this.Clear();
}
public void Clear()
{
foreach (BSConstraint cons in m_constraints)
{
cons.Dispose();
}
m_constraints.Clear();
}
public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot)
{
BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
this.AddConstraint(constrain);
return constrain;
}
public bool AddConstraint(BSConstraint cons)
{
// There is only one constraint between any bodies. Remove any old just to make sure.
RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
m_constraints.Add(cons);
return true;
}
// 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)
{
bool found = false;
BSConstraint foundConstraint = null;
uint lookingID1 = body1.ID;
uint lookingID2 = body2.ID;
ForEachConstraint(delegate(BSConstraint constrain)
{
if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
|| (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
{
foundConstraint = constrain;
found = true;
}
return found;
});
returnConstraint = foundConstraint;
return found;
}
public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
{
// return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
bool ret = false;
BSConstraint constrain;
if (this.TryGetConstraint(body1, body2, out constrain))
{
// remove the constraint from our collection
m_constraints.Remove(constrain);
// tell the engine that all its structures need to be freed
constrain.Dispose();
// we destroyed something
ret = true;
}
return ret;
}
public bool RemoveAndDestroyConstraint(BulletBody body1)
{
// return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
List<BSConstraint> toRemove = new List<BSConstraint>();
uint lookingID = body1.ID;
ForEachConstraint(delegate(BSConstraint constrain)
{
if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
{
toRemove.Add(constrain);
}
return false;
});
lock (m_constraints)
{
foreach (BSConstraint constrain in toRemove)
{
m_constraints.Remove(constrain);
constrain.Dispose();
}
}
return (toRemove.Count > 0);
}
public bool RecalculateAllConstraints()
{
foreach (BSConstraint constrain in m_constraints)
{
constrain.CalculateTransforms();
}
return true;
}
// Lock the constraint list and loop through it.
// The constraint action returns 'true' if it wants the loop aborted.
private void ForEachConstraint(ConstraintAction action)
{
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
if (action(constrain))
break;
}
}
}
}
}
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