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 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Text; |
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30 | using OpenMetaverse; |
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31 | |||
32 | namespace OpenSim.Region.Physics.BulletSPlugin |
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33 | { |
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34 | |||
35 | public abstract class BSConstraint : IDisposable |
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36 | { |
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37 | private static string LogHeader = "[BULLETSIM CONSTRAINT]"; |
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38 | |||
39 | protected BulletWorld m_world; |
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40 | protected BSScene PhysicsScene; |
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41 | protected BulletBody m_body1; |
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42 | protected BulletBody m_body2; |
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43 | protected BulletConstraint m_constraint; |
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44 | protected bool m_enabled = false; |
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45 | |||
46 | public BulletBody Body1 { get { return m_body1; } } |
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47 | public BulletBody Body2 { get { return m_body2; } } |
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48 | public BulletConstraint Constraint { get { return m_constraint; } } |
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49 | public abstract ConstraintType Type { get; } |
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50 | public bool IsEnabled { get { return m_enabled; } } |
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51 | |||
52 | public BSConstraint(BulletWorld world) |
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53 | { |
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54 | m_world = world; |
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55 | PhysicsScene = m_world.physicsScene; |
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56 | } |
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57 | |||
58 | public virtual void Dispose() |
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59 | { |
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60 | if (m_enabled) |
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61 | { |
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62 | m_enabled = false; |
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63 | if (m_constraint.HasPhysicalConstraint) |
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64 | { |
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65 | bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); |
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66 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", |
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67 | m_body1.ID, |
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68 | m_body1.ID, m_body1.AddrString, |
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69 | m_body2.ID, m_body2.AddrString, |
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70 | success); |
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71 | m_constraint.Clear(); |
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72 | } |
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73 | } |
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74 | } |
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75 | |||
76 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) |
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77 | { |
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78 | bool ret = false; |
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79 | if (m_enabled) |
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80 | { |
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81 | m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high); |
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82 | ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); |
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83 | } |
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84 | return ret; |
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85 | } |
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86 | |||
87 | public virtual bool SetAngularLimits(Vector3 low, Vector3 high) |
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88 | { |
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89 | bool ret = false; |
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90 | if (m_enabled) |
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91 | { |
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92 | m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high); |
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93 | ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); |
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94 | } |
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95 | return ret; |
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96 | } |
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97 | |||
98 | public virtual bool SetSolverIterations(float cnt) |
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99 | { |
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100 | bool ret = false; |
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101 | if (m_enabled) |
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102 | { |
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103 | PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt); |
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104 | ret = true; |
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105 | } |
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106 | return ret; |
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107 | } |
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108 | |||
109 | public virtual bool CalculateTransforms() |
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110 | { |
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111 | bool ret = false; |
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112 | if (m_enabled) |
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113 | { |
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114 | // Recompute the internal transforms |
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115 | PhysicsScene.PE.CalculateTransforms(m_constraint); |
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116 | ret = true; |
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117 | } |
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118 | return ret; |
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119 | } |
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120 | |||
121 | // Reset this constraint making sure it has all its internal structures |
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122 | // recomputed and is enabled and ready to go. |
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123 | public virtual bool RecomputeConstraintVariables(float mass) |
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124 | { |
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125 | bool ret = false; |
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126 | if (m_enabled) |
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127 | { |
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128 | ret = CalculateTransforms(); |
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129 | if (ret) |
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130 | { |
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131 | // Setting an object's mass to zero (making it static like when it's selected) |
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132 | // automatically disables the constraints. |
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133 | // If the link is enabled, be sure to set the constraint itself to enabled. |
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134 | PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true)); |
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135 | } |
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136 | else |
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137 | { |
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138 | m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID); |
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139 | } |
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140 | } |
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141 | return ret; |
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142 | } |
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143 | } |
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144 | } |