opensim-development – Blame information for rev 1
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1 | eva | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | |||
28 | using System; |
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29 | using System.Collections.Generic; |
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30 | using System.Linq; |
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31 | using System.Text; |
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32 | |||
33 | using OMV = OpenMetaverse; |
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34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin |
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36 | { |
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37 | public class BSActorLockAxis : BSActor |
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38 | { |
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39 | BSConstraint LockAxisConstraint = null; |
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40 | |||
41 | public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) |
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42 | : base(physicsScene, pObj, actorName) |
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43 | { |
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44 | m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); |
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45 | LockAxisConstraint = null; |
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46 | } |
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47 | |||
48 | // BSActor.isActive |
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49 | public override bool isActive |
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50 | { |
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51 | get { return Enabled && m_controllingPrim.IsPhysicallyActive; } |
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52 | } |
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53 | |||
54 | // Release any connections and resources used by the actor. |
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55 | // BSActor.Dispose() |
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56 | public override void Dispose() |
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57 | { |
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58 | RemoveAxisLockConstraint(); |
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59 | } |
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60 | |||
61 | // Called when physical parameters (properties set in Bullet) need to be re-applied. |
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62 | // Called at taint-time. |
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63 | // BSActor.Refresh() |
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64 | public override void Refresh() |
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65 | { |
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66 | m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", |
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67 | m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive); |
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68 | // If all the axis are free, we don't need to exist |
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69 | if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree) |
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70 | { |
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71 | Enabled = false; |
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72 | } |
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73 | |||
74 | // If the object is physically active, add the axis locking constraint |
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75 | if (isActive) |
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76 | { |
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77 | AddAxisLockConstraint(); |
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78 | } |
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79 | else |
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80 | { |
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81 | RemoveAxisLockConstraint(); |
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82 | } |
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83 | } |
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84 | |||
85 | // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). |
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86 | // Register a prestep action to restore physical requirements before the next simulation step. |
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87 | // Called at taint-time. |
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88 | // BSActor.RemoveDependencies() |
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89 | public override void RemoveDependencies() |
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90 | { |
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91 | if (LockAxisConstraint != null) |
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92 | { |
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93 | // If a constraint is set up, remove it from the physical scene |
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94 | RemoveAxisLockConstraint(); |
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95 | // Schedule a call before the next simulation step to restore the constraint. |
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96 | m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate() |
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97 | { |
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98 | Refresh(); |
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99 | }); |
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100 | } |
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101 | } |
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102 | |||
103 | private void AddAxisLockConstraint() |
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104 | { |
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105 | if (LockAxisConstraint == null) |
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106 | { |
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107 | // Lock that axis by creating a 6DOF constraint that has one end in the world and |
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108 | // the other in the object. |
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109 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 |
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110 | // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 |
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111 | |||
112 | // Remove any existing axis constraint (just to be sure) |
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113 | RemoveAxisLockConstraint(); |
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114 | |||
115 | BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, |
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116 | OMV.Vector3.Zero, OMV.Quaternion.Identity, |
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117 | false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); |
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118 | LockAxisConstraint = axisConstrainer; |
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119 | m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); |
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120 | |||
121 | // The constraint is tied to the world and oriented to the prim. |
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122 | |||
123 | // Free to move linearly in the region |
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124 | OMV.Vector3 linearLow = OMV.Vector3.Zero; |
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125 | OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; |
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126 | if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis) |
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127 | { |
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128 | linearLow.X = m_controllingPrim.RawPosition.X; |
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129 | linearHigh.X = m_controllingPrim.RawPosition.X; |
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130 | } |
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131 | if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis) |
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132 | { |
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133 | linearLow.Y = m_controllingPrim.RawPosition.Y; |
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134 | linearHigh.Y = m_controllingPrim.RawPosition.Y; |
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135 | } |
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136 | if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis) |
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137 | { |
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138 | linearLow.Z = m_controllingPrim.RawPosition.Z; |
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139 | linearHigh.Z = m_controllingPrim.RawPosition.Z; |
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140 | } |
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141 | axisConstrainer.SetLinearLimits(linearLow, linearHigh); |
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142 | |||
143 | // Angular with some axis locked |
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144 | float fPI = (float)Math.PI; |
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145 | OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); |
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146 | OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); |
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147 | if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis) |
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148 | { |
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149 | angularLow.X = 0f; |
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150 | angularHigh.X = 0f; |
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151 | } |
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152 | if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis) |
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153 | { |
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154 | angularLow.Y = 0f; |
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155 | angularHigh.Y = 0f; |
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156 | } |
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157 | if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis) |
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158 | { |
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159 | angularLow.Z = 0f; |
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160 | angularHigh.Z = 0f; |
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161 | } |
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162 | if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh)) |
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163 | { |
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164 | m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID); |
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165 | } |
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166 | |||
167 | m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}", |
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168 | m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh); |
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169 | |||
170 | // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. |
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171 | axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); |
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172 | |||
173 | axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass); |
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174 | } |
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175 | } |
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176 | |||
177 | private void RemoveAxisLockConstraint() |
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178 | { |
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179 | if (LockAxisConstraint != null) |
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180 | { |
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181 | m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); |
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182 | LockAxisConstraint = null; |
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183 | m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID); |
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184 | } |
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185 | } |
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186 | } |
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187 | } |