2012-07-25 21:59:00 +00:00
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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2012-08-09 22:01:05 +00:00
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public abstract class BSConstraint : IDisposable
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2012-07-25 21:59:00 +00:00
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{
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2012-08-09 22:01:05 +00:00
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protected BulletSim m_world;
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protected BulletBody m_body1;
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protected BulletBody m_body2;
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protected BulletConstraint m_constraint;
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protected bool m_enabled = false;
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2012-07-25 21:59:00 +00:00
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2012-08-09 22:01:05 +00:00
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public BSConstraint()
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2012-07-25 21:59:00 +00:00
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{
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}
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2012-08-09 22:01:05 +00:00
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public virtual void Dispose()
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2012-07-25 21:59:00 +00:00
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{
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if (m_enabled)
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{
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// BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
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2012-08-10 23:22:44 +00:00
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bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
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m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
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m_constraint.Ptr = System.IntPtr.Zero;
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2012-07-25 21:59:00 +00:00
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m_enabled = false;
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}
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}
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public BulletBody Body1 { get { return m_body1; } }
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public BulletBody Body2 { get { return m_body2; } }
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2012-08-09 22:01:05 +00:00
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public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
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2012-07-25 21:59:00 +00:00
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{
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bool ret = false;
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if (m_enabled)
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ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
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return ret;
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}
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2012-08-09 22:01:05 +00:00
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public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
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2012-07-25 21:59:00 +00:00
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{
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bool ret = false;
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if (m_enabled)
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ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
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return ret;
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}
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2012-08-09 22:01:05 +00:00
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public virtual bool CalculateTransforms()
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2012-07-25 21:59:00 +00:00
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{
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bool ret = false;
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if (m_enabled)
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{
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2012-08-14 23:24:34 +00:00
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// Recompute the internal transforms
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2012-07-25 21:59:00 +00:00
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BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
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ret = true;
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}
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return ret;
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}
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2012-08-14 23:24:34 +00:00
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// Reset this constraint making sure it has all its internal structures
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// recomputed and is enabled and ready to go.
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public virtual bool RecomputeConstraintVariables(float mass)
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{
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bool ret = false;
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if (m_enabled)
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{
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ret = CalculateTransforms();
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if (ret)
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{
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2012-08-15 18:33:38 +00:00
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// m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}",
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// BSScene.DetailLogZero, Body1.ID, Body2.ID);
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2012-08-14 23:24:34 +00:00
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BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
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}
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2012-08-15 18:33:38 +00:00
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else
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{
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m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
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}
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2012-08-14 23:24:34 +00:00
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}
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return ret;
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}
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2012-07-25 21:59:00 +00:00
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}
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}
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