clockwerk-opensim-stable – Blame information for rev 1
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1 | vero | 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 class BSConstraint6Dof : BSConstraint |
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36 | { |
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37 | private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; |
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38 | |||
39 | public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } |
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40 | |||
41 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world) |
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42 | { |
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43 | m_body1 = obj1; |
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44 | m_body2 = obj2; |
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45 | m_enabled = false; |
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46 | } |
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47 | |||
48 | // Create a btGeneric6DofConstraint |
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49 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, |
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50 | Vector3 frame1, Quaternion frame1rot, |
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51 | Vector3 frame2, Quaternion frame2rot, |
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52 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
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53 | : base(world) |
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54 | { |
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55 | m_body1 = obj1; |
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56 | m_body2 = obj2; |
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57 | m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2, |
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58 | frame1, frame1rot, |
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59 | frame2, frame2rot, |
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60 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
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61 | m_enabled = true; |
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62 | PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
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63 | m_body1.ID, world.worldID, |
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64 | obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
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65 | PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", |
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66 | m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
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67 | } |
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68 | |||
69 | // 6 Dof constraint based on a midpoint between the two constrained bodies |
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70 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, |
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71 | Vector3 joinPoint, |
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72 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
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73 | : base(world) |
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74 | { |
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75 | m_body1 = obj1; |
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76 | m_body2 = obj2; |
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77 | if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) |
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78 | { |
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79 | world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
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80 | BSScene.DetailLogZero, world.worldID, |
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81 | obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
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82 | world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
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83 | LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
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84 | m_enabled = false; |
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85 | } |
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86 | else |
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87 | { |
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88 | m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, |
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89 | joinPoint, |
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90 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); |
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91 | |||
92 | PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", |
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93 | m_body1.ID, world.worldID, m_constraint.AddrString, |
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94 | obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); |
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95 | |||
96 | if (!m_constraint.HasPhysicalConstraint) |
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97 | { |
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98 | world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", |
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99 | LogHeader, obj1.ID, obj2.ID); |
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100 | m_enabled = false; |
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101 | } |
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102 | else |
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103 | { |
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104 | m_enabled = true; |
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105 | } |
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106 | } |
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107 | } |
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108 | |||
109 | // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object |
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110 | public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, |
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111 | bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) |
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112 | : base(world) |
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113 | { |
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114 | m_body1 = obj1; |
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115 | m_body2 = obj1; // Look out for confusion down the road |
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116 | m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, |
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117 | frameInBloc, frameInBrot, |
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118 | useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); |
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119 | m_enabled = true; |
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120 | PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", |
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121 | m_body1.ID, world.worldID, obj1.ID, obj1.AddrString); |
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122 | PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}", |
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123 | m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); |
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124 | } |
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125 | |||
126 | public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) |
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127 | { |
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128 | bool ret = false; |
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129 | if (m_enabled) |
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130 | { |
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131 | PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot); |
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132 | ret = true; |
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133 | } |
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134 | return ret; |
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135 | } |
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136 | |||
137 | public bool SetCFMAndERP(float cfm, float erp) |
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138 | { |
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139 | bool ret = false; |
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140 | if (m_enabled) |
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141 | { |
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142 | PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); |
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143 | PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); |
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144 | PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); |
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145 | ret = true; |
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146 | } |
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147 | return ret; |
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148 | } |
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149 | |||
150 | public bool UseFrameOffset(bool useOffset) |
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151 | { |
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152 | bool ret = false; |
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153 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
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154 | if (m_enabled) |
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155 | ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff); |
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156 | return ret; |
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157 | } |
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158 | |||
159 | public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) |
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160 | { |
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161 | bool ret = false; |
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162 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
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163 | if (m_enabled) |
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164 | { |
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165 | ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce); |
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166 | m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", |
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167 | BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); |
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168 | } |
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169 | return ret; |
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170 | } |
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171 | |||
172 | public bool SetBreakingImpulseThreshold(float threshold) |
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173 | { |
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174 | bool ret = false; |
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175 | if (m_enabled) |
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176 | ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold); |
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177 | return ret; |
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178 | } |
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179 | } |
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180 | } |