124 lines
4.6 KiB
C#
124 lines
4.6 KiB
C#
|
/*
|
|||
|
* Copyright (c) Contributors, http://opensimulator.org/
|
|||
|
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|||
|
*
|
|||
|
* Redistribution and use in source and binary forms, with or without
|
|||
|
* modification, are permitted provided that the following conditions are met:
|
|||
|
* * Redistributions of source code must retain the above copyright
|
|||
|
* notice, this list of conditions and the following disclaimer.
|
|||
|
* * Redistributions in binary form must reproduce the above copyrightD
|
|||
|
* notice, this list of conditions and the following disclaimer in the
|
|||
|
* documentation and/or other materials provided with the distribution.
|
|||
|
* * Neither the name of the OpenSimulator Project nor the
|
|||
|
* names of its contributors may be used to endorse or promote products
|
|||
|
* derived from this software without specific prior written permission.
|
|||
|
*
|
|||
|
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|||
|
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|||
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|||
|
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|||
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|||
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|||
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|||
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|||
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|||
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|||
|
*/
|
|||
|
using System;
|
|||
|
using System.Collections.Generic;
|
|||
|
using System.Text;
|
|||
|
using OpenMetaverse;
|
|||
|
|
|||
|
namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
|
{
|
|||
|
|
|||
|
public class BSConstraint : IDisposable
|
|||
|
{
|
|||
|
private BulletSim m_world;
|
|||
|
private BulletBody m_body1;
|
|||
|
private BulletBody m_body2;
|
|||
|
private BulletConstraint m_constraint;
|
|||
|
private bool m_enabled = false;
|
|||
|
|
|||
|
public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
|
|||
|
Vector3 frame1, Quaternion frame1rot,
|
|||
|
Vector3 frame2, Quaternion frame2rot
|
|||
|
)
|
|||
|
{
|
|||
|
m_world = world;
|
|||
|
m_body1 = obj1;
|
|||
|
m_body2 = obj2;
|
|||
|
/*
|
|||
|
BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID,
|
|||
|
frame1, frame1rot,
|
|||
|
frame2, frame2rot,
|
|||
|
linearLow, linearHigh,
|
|||
|
angularLow, angularHigh
|
|||
|
);
|
|||
|
*/
|
|||
|
m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
|
|||
|
frame1, frame1rot,
|
|||
|
frame2, frame2rot));
|
|||
|
m_enabled = true;
|
|||
|
}
|
|||
|
|
|||
|
public void Dispose()
|
|||
|
{
|
|||
|
if (m_enabled)
|
|||
|
{
|
|||
|
// BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
|
|||
|
BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
|
|||
|
m_enabled = false;
|
|||
|
}
|
|||
|
}
|
|||
|
|
|||
|
public BulletBody Body1 { get { return m_body1; } }
|
|||
|
public BulletBody Body2 { get { return m_body2; } }
|
|||
|
|
|||
|
public bool SetLinearLimits(Vector3 low, Vector3 high)
|
|||
|
{
|
|||
|
bool ret = false;
|
|||
|
if (m_enabled)
|
|||
|
ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
|
|||
|
return ret;
|
|||
|
}
|
|||
|
|
|||
|
public bool SetAngularLimits(Vector3 low, Vector3 high)
|
|||
|
{
|
|||
|
bool ret = false;
|
|||
|
if (m_enabled)
|
|||
|
ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
|
|||
|
return ret;
|
|||
|
}
|
|||
|
|
|||
|
public bool UseFrameOffset(bool useOffset)
|
|||
|
{
|
|||
|
bool ret = false;
|
|||
|
float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
|
|||
|
if (m_enabled)
|
|||
|
ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
|
|||
|
return ret;
|
|||
|
}
|
|||
|
|
|||
|
public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
|
|||
|
{
|
|||
|
bool ret = false;
|
|||
|
float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
|
|||
|
if (m_enabled)
|
|||
|
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
|
|||
|
return ret;
|
|||
|
}
|
|||
|
|
|||
|
public bool CalculateTransforms()
|
|||
|
{
|
|||
|
bool ret = false;
|
|||
|
if (m_enabled)
|
|||
|
{
|
|||
|
BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
|
|||
|
ret = true;
|
|||
|
}
|
|||
|
return ret;
|
|||
|
}
|
|||
|
}
|
|||
|
}
|