opensim – Blame information for rev 1

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