opensim – 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 sealed class BSConstraintSpring : BSConstraint6Dof |
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36 | { |
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37 | public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } } |
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38 | |||
39 | public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2, |
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40 | Vector3 frame1Loc, Quaternion frame1Rot, |
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41 | Vector3 frame2Loc, Quaternion frame2Rot, |
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42 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
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43 | :base(world, obj1, obj2) |
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44 | { |
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45 | m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2, |
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46 | frame1Loc, frame1Rot, frame2Loc, frame2Rot, |
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47 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
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48 | m_enabled = true; |
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49 | |||
50 | PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
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51 | obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
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52 | PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", |
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53 | m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
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54 | } |
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55 | |||
56 | public bool SetAxisEnable(int pIndex, bool pAxisEnable) |
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57 | { |
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58 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", |
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59 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); |
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60 | PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable)); |
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61 | return true; |
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62 | } |
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63 | |||
64 | public bool SetStiffness(int pIndex, float pStiffness) |
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65 | { |
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66 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}", |
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67 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); |
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68 | PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); |
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69 | return true; |
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70 | } |
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71 | |||
72 | public bool SetDamping(int pIndex, float pDamping) |
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73 | { |
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74 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}", |
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75 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); |
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76 | PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); |
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77 | return true; |
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78 | } |
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79 | |||
80 | public bool SetEquilibriumPoint(int pIndex, float pEqPoint) |
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81 | { |
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82 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}", |
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83 | m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); |
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84 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); |
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85 | return true; |
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86 | } |
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87 | |||
88 | public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq) |
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89 | { |
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90 | PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}", |
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91 | m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq); |
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92 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X); |
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93 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y); |
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94 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z); |
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95 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X); |
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96 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y); |
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97 | PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z); |
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98 | return true; |
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99 | } |
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100 | |||
101 | } |
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102 | |||
103 | } |