BulletSim: separate out the constraints by type. The linksets use
6dof constraint but eventually others will be exposed so future features can use all the Bullet capabilities. Force children to generate a position update when unlinked.integration
Robert Adams
parent
5ab151c2d6
commit
38e79b80a8
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@ -0,0 +1,80 @@
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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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public class BS6DofConstraint : BSConstraint
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{
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// Create a btGeneric6DofConstraint
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public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1, Quaternion frame1rot,
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Vector3 frame2, Quaternion frame2rot )
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{
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m_world = world;
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m_body1 = obj1;
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m_body2 = obj2;
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m_constraint = new BulletConstraint(
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BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
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frame1, frame1rot,
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frame2, frame2rot,
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true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
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m_enabled = true;
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}
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public bool SetCFMAndERP(float cfm, float erp)
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{
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bool ret = true;
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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return ret;
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}
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public bool UseFrameOffset(bool useOffset)
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{
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bool ret = false;
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float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
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if (m_enabled)
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ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
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return ret;
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}
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public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
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{
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bool ret = false;
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float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
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if (m_enabled)
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ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
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return ret;
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}
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}
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}
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@ -32,30 +32,19 @@ using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSConstraint : IDisposable
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public abstract class BSConstraint : IDisposable
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{
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private BulletSim m_world;
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private BulletBody m_body1;
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private BulletBody m_body2;
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private BulletConstraint m_constraint;
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private bool m_enabled = false;
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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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public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1, Quaternion frame1rot,
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Vector3 frame2, Quaternion frame2rot
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)
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public BSConstraint()
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{
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m_world = world;
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m_body1 = obj1;
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m_body2 = obj2;
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m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
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frame1, frame1rot,
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frame2, frame2rot,
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true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
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m_enabled = true;
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}
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public void Dispose()
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public virtual void Dispose()
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{
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if (m_enabled)
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{
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@ -68,7 +57,7 @@ public class BSConstraint : IDisposable
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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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public bool SetLinearLimits(Vector3 low, Vector3 high)
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public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
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{
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bool ret = false;
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if (m_enabled)
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@ -76,7 +65,7 @@ public class BSConstraint : IDisposable
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return ret;
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}
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public bool SetAngularLimits(Vector3 low, Vector3 high)
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public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
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{
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bool ret = false;
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if (m_enabled)
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@ -84,34 +73,7 @@ public class BSConstraint : IDisposable
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return ret;
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}
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public bool SetCFMAndERP(float cfm, float erp)
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{
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bool ret = true;
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
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BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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return ret;
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}
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public bool UseFrameOffset(bool useOffset)
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{
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bool ret = false;
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float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
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if (m_enabled)
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ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
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return ret;
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}
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public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
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{
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bool ret = false;
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float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
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if (m_enabled)
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ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
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return ret;
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}
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public bool CalculateTransforms()
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public virtual bool CalculateTransforms()
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{
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bool ret = false;
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if (m_enabled)
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@ -63,16 +63,6 @@ public class BSConstraintCollection : IDisposable
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m_constraints.Clear();
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}
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public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1, Quaternion frame1rot,
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Vector3 frame2, Quaternion frame2rot)
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{
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BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot);
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this.AddConstraint(constrain);
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return constrain;
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}
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public bool AddConstraint(BSConstraint cons)
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{
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// There is only one constraint between any bodies. Remove any old just to make sure.
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@ -101,7 +101,7 @@ public class BSLinkset
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{
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// Note that we don't do a foreach because the remove routine
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// takes it out of the list.
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RemoveChildFromLinkset(m_children[0]);
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RemoveChildFromOtherLinkset(m_children[0]);
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}
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m_children.Clear(); // just to make sure
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}
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@ -124,6 +124,7 @@ public class BSLinkset
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lock (m_linksetActivityLock)
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{
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// The body pointer is refetched in case anything has moved.
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System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID);
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if (aPtr == System.IntPtr.Zero)
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{
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@ -155,7 +156,7 @@ public class BSLinkset
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}
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foreach (BSPrim bsp in toRemove)
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{
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RemoveChildFromLinkset(bsp);
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RemoveChildFromOtherLinkset(bsp);
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}
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}
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}
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@ -208,7 +209,8 @@ public class BSLinkset
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com += bp.Position * bp.MassRaw;
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totalMass += bp.MassRaw;
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}
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com /= totalMass;
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if (totalMass != 0f)
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com /= totalMass;
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return com;
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}
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@ -221,7 +223,7 @@ public class BSLinkset
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{
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com += bp.Position * bp.MassRaw;
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}
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com /= m_children.Count + 1;
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com /= (m_children.Count + 1);
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return com;
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}
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@ -237,13 +239,24 @@ public class BSLinkset
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m_scene.TaintedObject(delegate()
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{
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DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
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DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
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DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
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PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child
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});
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}
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return;
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}
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// Forcefully removing a child from a linkset.
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// This is not being called by the child so we have to make sure the child doesn't think
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// it's still connected to the linkset.
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// Normal OpenSimulator operation will never do this because other SceneObjectPart information
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// has to be updated also (like pointer to prim's parent).
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public void RemoveChildFromOtherLinkset(BSPrim pchild)
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{
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pchild.Linkset = new BSLinkset(m_scene, pchild);
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RemoveChildFromLinkset(pchild);
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}
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// I am the root of a linkset and one of my children is being removed.
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// Safe to call even if the child is not really in my linkset.
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public void RemoveChildFromLinkset(BSPrim pchild)
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@ -255,7 +268,7 @@ public class BSLinkset
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m_scene.TaintedObject(delegate()
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{
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DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
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DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
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DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
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if (m_children.Count == 0)
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{
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@ -294,13 +307,14 @@ public class BSLinkset
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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// DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
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DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
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BSConstraint constrain = m_scene.Constraints.CreateConstraint(
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BS6DofConstraint constrain = new BS6DofConstraint(
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m_scene.World, m_linksetRoot.Body, childPrim.Body,
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childRelativePosition,
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childRelativeRotation,
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OMV.Vector3.Zero,
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-childRelativeRotation
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);
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m_scene.Constraints.AddConstraint(constrain);
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// zero linear and angular limits makes the objects unable to move in relation to each other
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constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
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@ -319,11 +333,13 @@ public class BSLinkset
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// Called at taint time!
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private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
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{
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DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}",
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LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
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// DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}",
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// LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
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DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
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// BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
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m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
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// Make the child refresh its location
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BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
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}
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// Remove linkage between myself and any possible children I might have
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@ -332,8 +348,8 @@ public class BSLinkset
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{
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// DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
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DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
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m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
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// BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
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}
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// Invoke the detailed logger and output something if it's enabled.
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@ -224,10 +224,12 @@ public sealed class BSPrim : PhysicsActor
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// link me to the specified parent
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public override void link(PhysicsActor obj) {
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BSPrim parent = obj as BSPrim;
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DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
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DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
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_linkset = _linkset.AddMeToLinkset(this, parent);
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if (parent != null)
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{
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DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
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DetailLog("{0},link,parent={1}", LocalID, parent.LocalID);
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_linkset = _linkset.AddMeToLinkset(this, parent);
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}
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return;
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}
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@ -478,7 +480,6 @@ public sealed class BSPrim : PhysicsActor
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// Make gravity work if the object is physical and not selected
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// No locking here because only called when it is safe
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// Only called at taint time so it is save to call into Bullet.
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private void SetObjectDynamic()
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{
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// RA: remove this for the moment.
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@ -982,7 +983,7 @@ public sealed class BSPrim : PhysicsActor
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// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
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if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
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{
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DetailLog("{0},CreateGeom,sphere", LocalID);
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DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild);
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_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
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// Bullet native objects are scaled by the Bullet engine so pass the size in
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_scale = _size;
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@ -996,7 +997,7 @@ public sealed class BSPrim : PhysicsActor
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// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
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if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
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{
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DetailLog("{0},CreateGeom,box", LocalID);
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DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild);
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_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
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_scale = _size;
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// TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
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@ -363,7 +363,7 @@ public static extern IntPtr GetSimHandle2(uint worldID);
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public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
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public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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@ -372,40 +372,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
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int maxUpdates, IntPtr updateArray);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value);
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public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap2(IntPtr sim, float[] heightmap);
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public static extern void SetHeightmap2(IntPtr world, float[] heightmap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown2(IntPtr sim);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep,
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public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool PushUpdate2(IntPtr obj);
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/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices );
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public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices );
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern bool BuildHull2(IntPtr sim, IntPtr mesh);
|
||||
public static extern bool BuildHull2(IntPtr world, IntPtr mesh);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh);
|
||||
public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh);
|
||||
public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
|
||||
public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData);
|
||||
*/
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
|
||||
public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
|
||||
Vector3 frame1loc, Quaternion frame1rot,
|
||||
Vector3 frame2loc, Quaternion frame2rot,
|
||||
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
|
||||
|
|
@ -429,7 +432,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain);
|
|||
public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain);
|
||||
public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetPosition2(IntPtr obj);
|
||||
|
|
@ -509,12 +518,6 @@ public static extern bool SetMargin2(IntPtr obj, float val);
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyObject2(IntPtr world, uint id);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue