1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
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 log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed 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 BulletWorld m_world;
public BSConstraintCollection(BulletWorld world)
{
m_world = world;
m_constraints = new List<BSConstraint>();
}
public void Dispose()
{
this.Clear();
}
public void Clear()
{
lock (m_constraints)
{
foreach (BSConstraint cons in m_constraints)
{
cons.Dispose();
}
m_constraints.Clear();
}
}
public bool AddConstraint(BSConstraint cons)
{
lock (m_constraints)
{
// 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.
// Return 'true' if a constraint was found.
public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
{
bool found = false;
BSConstraint foundConstraint = null;
uint lookingID1 = body1.ID;
uint lookingID2 = body2.ID;
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
|| (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
{
foundConstraint = constrain;
found = true;
break;
}
}
}
returnConstraint = foundConstraint;
return found;
}
// Remove any constraint between the passed bodies.
// Presumed there is only one such constraint possible.
// Return 'true' if a constraint was found and destroyed.
public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
{
bool ret = false;
lock (m_constraints)
{
BSConstraint constrain;
if (this.TryGetConstraint(body1, body2, out constrain))
{
// remove the constraint from our collection
RemoveAndDestroyConstraint(constrain);
ret = true;
}
}
return ret;
}
// The constraint MUST exist in the collection
public bool RemoveAndDestroyConstraint(BSConstraint constrain)
{
lock (m_constraints)
{
// 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
return true;
}
// Remove all constraints that reference the passed body.
// Return 'true' if any constraints were destroyed.
public bool RemoveAndDestroyConstraint(BulletBody body1)
{
List<BSConstraint> toRemove = new List<BSConstraint>();
uint lookingID = body1.ID;
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
{
toRemove.Add(constrain);
}
}
foreach (BSConstraint constrain in toRemove)
{
m_constraints.Remove(constrain);
constrain.Dispose();
}
}
return (toRemove.Count > 0);
}
public bool RecalculateAllConstraints()
{
bool ret = false;
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
constrain.CalculateTransforms();
ret = true;
}
}
return ret;
}
}
}
|
