BulletSim: Add C# classes for storing and tracking constraints.
Robert Adams
parent
5707e171f4
commit
2d05e16f7e
|
|
@ -0,0 +1,123 @@
|
|||
/*
|
||||
* 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,178 @@
|
|||
/*
|
||||
* 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 log4net;
|
||||
using OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
{
|
||||
|
||||
public class BSConstraintCollection : IDisposable
|
||||
{
|
||||
// private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
|
||||
// private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
|
||||
|
||||
delegate bool ConstraintAction(BSConstraint constrain);
|
||||
|
||||
private List<BSConstraint> m_constraints;
|
||||
private BulletSim m_world;
|
||||
|
||||
public BSConstraintCollection(BulletSim world)
|
||||
{
|
||||
m_world = world;
|
||||
m_constraints = new List<BSConstraint>();
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
this.Clear();
|
||||
}
|
||||
|
||||
public void Clear()
|
||||
{
|
||||
foreach (BSConstraint cons in m_constraints)
|
||||
{
|
||||
cons.Dispose();
|
||||
}
|
||||
m_constraints.Clear();
|
||||
}
|
||||
|
||||
public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
|
||||
Vector3 frame1, Quaternion frame1rot,
|
||||
Vector3 frame2, Quaternion frame2rot)
|
||||
{
|
||||
BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
|
||||
|
||||
this.AddConstraint(constrain);
|
||||
return constrain;
|
||||
}
|
||||
|
||||
public bool AddConstraint(BSConstraint cons)
|
||||
{
|
||||
// There is only one constraint between any bodies. Remove any old just to make sure.
|
||||
RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
|
||||
|
||||
m_constraints.Add(cons);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// Get the constraint between two bodies. There can be only one the way we're using them.
|
||||
public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
|
||||
{
|
||||
bool found = false;
|
||||
BSConstraint foundConstraint = null;
|
||||
|
||||
uint lookingID1 = body1.ID;
|
||||
uint lookingID2 = body2.ID;
|
||||
ForEachConstraint(delegate(BSConstraint constrain)
|
||||
{
|
||||
if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
|
||||
|| (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
|
||||
{
|
||||
foundConstraint = constrain;
|
||||
found = true;
|
||||
}
|
||||
return found;
|
||||
});
|
||||
returnConstraint = foundConstraint;
|
||||
return found;
|
||||
}
|
||||
|
||||
public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
|
||||
{
|
||||
// return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
|
||||
|
||||
bool ret = false;
|
||||
BSConstraint constrain;
|
||||
|
||||
if (this.TryGetConstraint(body1, body2, out constrain))
|
||||
{
|
||||
// remove the constraint from our collection
|
||||
m_constraints.Remove(constrain);
|
||||
// tell the engine that all its structures need to be freed
|
||||
constrain.Dispose();
|
||||
// we destroyed something
|
||||
ret = true;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
public bool RemoveAndDestroyConstraint(BulletBody body1)
|
||||
{
|
||||
// return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
|
||||
|
||||
List<BSConstraint> toRemove = new List<BSConstraint>();
|
||||
uint lookingID = body1.ID;
|
||||
ForEachConstraint(delegate(BSConstraint constrain)
|
||||
{
|
||||
if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
|
||||
{
|
||||
toRemove.Add(constrain);
|
||||
}
|
||||
return false;
|
||||
});
|
||||
lock (m_constraints)
|
||||
{
|
||||
foreach (BSConstraint constrain in toRemove)
|
||||
{
|
||||
m_constraints.Remove(constrain);
|
||||
constrain.Dispose();
|
||||
}
|
||||
}
|
||||
return (toRemove.Count > 0);
|
||||
}
|
||||
|
||||
public bool RecalculateAllConstraints()
|
||||
{
|
||||
foreach (BSConstraint constrain in m_constraints)
|
||||
{
|
||||
constrain.CalculateTransforms();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
// Lock the constraint list and loop through it.
|
||||
// The constraint action returns 'true' if it wants the loop aborted.
|
||||
private void ForEachConstraint(ConstraintAction action)
|
||||
{
|
||||
lock (m_constraints)
|
||||
{
|
||||
foreach (BSConstraint constrain in m_constraints)
|
||||
{
|
||||
if (action(constrain))
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue