BulletSim: fix line endings in BSActor*
Robert Adams
parent
747ece59d2
commit
75b8cf428e
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@ -1,168 +1,171 @@
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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
|
||||
* 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
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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.Linq;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorLockAxis : BSActor
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{
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bool TryExperimentalLockAxisCode = false;
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BSConstraint LockAxisConstraint = null;
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public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
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: base(physicsScene, pObj,actorName)
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{
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LockAxisConstraint = null;
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}
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// BSActor.isActive
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public override bool isActive
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{
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get { return Enabled && Prim.IsPhysicallyActive; }
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}
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// Release any connections and resources used by the actor.
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// BSActor.Release()
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public override void Release()
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{
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RemoveAxisLockConstraint();
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}
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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// Called at taint-time.
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// BSActor.Refresh()
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public override void Refresh()
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{
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// If all the axis are free, we don't need to exist
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if (Prim.LockedAxis == Prim.LockedAxisFree)
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{
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Prim.PhysicalActors.RemoveAndRelease(ActorName);
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return;
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}
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// If the object is physically active, add the axis locking constraint
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if (Enabled
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&& Prim.IsPhysicallyActive
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&& TryExperimentalLockAxisCode
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&& Prim.LockedAxis != Prim.LockedAxisFree)
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{
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if (LockAxisConstraint != null)
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AddAxisLockConstraint();
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}
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else
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{
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RemoveAxisLockConstraint();
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}
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}
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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// Called at taint-time.
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// BSActor.RemoveBodyDependencies()
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public override void RemoveBodyDependencies()
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{
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if (LockAxisConstraint != null)
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{
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// If a constraint is set up, remove it from the physical scene
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RemoveAxisLockConstraint();
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// Schedule a call before the next simulation step to restore the constraint.
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PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
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{
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Refresh();
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});
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}
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}
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private void AddAxisLockConstraint()
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{
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// Lock that axis by creating a 6DOF constraint that has one end in the world and
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// the other in the object.
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
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// Remove any existing axis constraint (just to be sure)
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RemoveAxisLockConstraint();
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BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody,
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OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
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true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
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LockAxisConstraint = axisConstrainer;
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PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
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// The constraint is tied to the world and oriented to the prim.
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// Free to move linearly
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OMV.Vector3 linearLow = OMV.Vector3.Zero;
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OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
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axisConstrainer.SetLinearLimits(linearLow, linearHigh);
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// Angular with some axis locked
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float f2PI = (float)Math.PI * 2f;
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OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
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OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
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if (Prim.LockedAxis.X != 1f)
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{
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angularLow.X = 0f;
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angularHigh.X = 0f;
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}
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if (Prim.LockedAxis.Y != 1f)
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{
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angularLow.Y = 0f;
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angularHigh.Y = 0f;
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}
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if (Prim.LockedAxis.Z != 1f)
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{
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angularLow.Z = 0f;
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angularHigh.Z = 0f;
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}
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axisConstrainer.SetAngularLimits(angularLow, angularHigh);
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PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
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Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
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// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
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axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
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axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
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}
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private void RemoveAxisLockConstraint()
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{
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if (LockAxisConstraint != null)
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{
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
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LockAxisConstraint = null;
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PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
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}
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}
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}
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}
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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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||||
*
|
||||
* 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.
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorLockAxis : BSActor
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{
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bool TryExperimentalLockAxisCode = false;
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BSConstraint LockAxisConstraint = null;
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public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
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: base(physicsScene, pObj,actorName)
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{
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PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID);
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LockAxisConstraint = null;
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}
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// BSActor.isActive
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public override bool isActive
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{
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get { return Enabled && Prim.IsPhysicallyActive; }
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}
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// Release any connections and resources used by the actor.
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// BSActor.Dispose()
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public override void Dispose()
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{
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RemoveAxisLockConstraint();
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}
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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// Called at taint-time.
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// BSActor.Refresh()
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public override void Refresh()
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{
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PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
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Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive);
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// If all the axis are free, we don't need to exist
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if (Prim.LockedAxis == Prim.LockedAxisFree)
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{
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Prim.PhysicalActors.RemoveAndRelease(ActorName);
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return;
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}
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// If the object is physically active, add the axis locking constraint
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if (Enabled
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&& Prim.IsPhysicallyActive
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&& TryExperimentalLockAxisCode
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&& Prim.LockedAxis != Prim.LockedAxisFree)
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{
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if (LockAxisConstraint != null)
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AddAxisLockConstraint();
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}
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else
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{
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RemoveAxisLockConstraint();
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}
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}
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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// Called at taint-time.
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// BSActor.RemoveBodyDependencies()
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public override void RemoveBodyDependencies()
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{
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if (LockAxisConstraint != null)
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{
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// If a constraint is set up, remove it from the physical scene
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RemoveAxisLockConstraint();
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// Schedule a call before the next simulation step to restore the constraint.
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PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
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{
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Refresh();
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});
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}
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}
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private void AddAxisLockConstraint()
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{
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// Lock that axis by creating a 6DOF constraint that has one end in the world and
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// the other in the object.
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
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// Remove any existing axis constraint (just to be sure)
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RemoveAxisLockConstraint();
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BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody,
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OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
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true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
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LockAxisConstraint = axisConstrainer;
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PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
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// The constraint is tied to the world and oriented to the prim.
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// Free to move linearly
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OMV.Vector3 linearLow = OMV.Vector3.Zero;
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OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
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axisConstrainer.SetLinearLimits(linearLow, linearHigh);
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// Angular with some axis locked
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float f2PI = (float)Math.PI * 2f;
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OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
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OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
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if (Prim.LockedAxis.X != 1f)
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{
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angularLow.X = 0f;
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angularHigh.X = 0f;
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}
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if (Prim.LockedAxis.Y != 1f)
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{
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angularLow.Y = 0f;
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angularHigh.Y = 0f;
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}
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if (Prim.LockedAxis.Z != 1f)
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{
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angularLow.Z = 0f;
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angularHigh.Z = 0f;
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}
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axisConstrainer.SetAngularLimits(angularLow, angularHigh);
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PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
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Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
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// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
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axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
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axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
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}
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private void RemoveAxisLockConstraint()
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{
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if (LockAxisConstraint != null)
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{
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
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LockAxisConstraint = null;
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PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
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}
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}
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}
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}
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@ -1,123 +1,131 @@
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/*
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* 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.
|
||||
*/
|
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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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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorCollection
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{
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private BSScene PhysicsScene { get; set; }
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private Dictionary<string, BSActor> m_actors;
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public BSActorCollection(BSScene physicsScene)
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{
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PhysicsScene = physicsScene;
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m_actors = new Dictionary<string, BSActor>();
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}
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public void Add(string name, BSActor actor)
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{
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m_actors[name] = actor;
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}
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public bool RemoveAndRelease(string name)
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{
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bool ret = false;
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if (m_actors.ContainsKey(name))
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{
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BSActor beingRemoved = m_actors[name];
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beingRemoved.Release();
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m_actors.Remove(name);
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ret = true;
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}
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return ret;
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}
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public void Clear()
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{
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Release();
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m_actors.Clear();
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}
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public bool HasActor(string name)
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{
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return m_actors.ContainsKey(name);
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}
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public void ForEachActor(Action<BSActor> act)
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{
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foreach (KeyValuePair<string, BSActor> kvp in m_actors)
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act(kvp.Value);
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}
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public void Release()
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{
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ForEachActor(a => a.Release());
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}
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public void Refresh()
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{
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ForEachActor(a => a.Refresh());
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}
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public void RemoveBodyDependencies()
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{
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ForEachActor(a => a.RemoveBodyDependencies());
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}
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}
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// =============================================================================
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public abstract class BSActor
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{
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protected BSScene PhysicsScene { get; private set; }
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protected BSPhysObject Prim { get; private set; }
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protected bool Enabled { get; set; }
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public string ActorName { get; private set; }
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public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
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{
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PhysicsScene = physicsScene;
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Prim = pObj;
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ActorName = actorName;
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Enabled = true;
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}
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// Return 'true' if activily updating the prim
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public virtual bool isActive
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{
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get { return Enabled; }
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}
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// Turn the actor on an off.
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public virtual void Enable(bool setEnabled)
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{
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Enabled = setEnabled;
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}
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// Release any connections and resources used by the actor.
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public abstract void Release();
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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public abstract void Refresh();
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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public abstract void RemoveBodyDependencies();
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}
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}
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/*
|
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* 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;
|
||||
|
||||
namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
{
|
||||
public class BSActorCollection
|
||||
{
|
||||
private BSScene PhysicsScene { get; set; }
|
||||
private Dictionary<string, BSActor> m_actors;
|
||||
|
||||
public BSActorCollection(BSScene physicsScene)
|
||||
{
|
||||
PhysicsScene = physicsScene;
|
||||
m_actors = new Dictionary<string, BSActor>();
|
||||
}
|
||||
public void Add(string name, BSActor actor)
|
||||
{
|
||||
m_actors[name] = actor;
|
||||
}
|
||||
public bool RemoveAndRelease(string name)
|
||||
{
|
||||
bool ret = false;
|
||||
if (m_actors.ContainsKey(name))
|
||||
{
|
||||
BSActor beingRemoved = m_actors[name];
|
||||
beingRemoved.Dispose();
|
||||
m_actors.Remove(name);
|
||||
ret = true;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
public void Clear()
|
||||
{
|
||||
Release();
|
||||
m_actors.Clear();
|
||||
}
|
||||
public bool HasActor(string name)
|
||||
{
|
||||
return m_actors.ContainsKey(name);
|
||||
}
|
||||
public void ForEachActor(Action<BSActor> act)
|
||||
{
|
||||
foreach (KeyValuePair<string, BSActor> kvp in m_actors)
|
||||
act(kvp.Value);
|
||||
}
|
||||
|
||||
public void Release()
|
||||
{
|
||||
ForEachActor(a => a.Dispose());
|
||||
}
|
||||
public void Refresh()
|
||||
{
|
||||
ForEachActor(a => a.Refresh());
|
||||
}
|
||||
public void RemoveBodyDependencies()
|
||||
{
|
||||
ForEachActor(a => a.RemoveBodyDependencies());
|
||||
}
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
/// <summary>
|
||||
/// Each physical object can have 'actors' who are pushing the object around.
|
||||
/// This can be used for hover, locking axis, making vehicles, etc.
|
||||
/// Each physical object can have multiple actors acting on it.
|
||||
///
|
||||
/// An actor usually registers itself with physics scene events (pre-step action)
|
||||
/// and modifies the parameters on the host physical object.
|
||||
/// </summary>
|
||||
public abstract class BSActor
|
||||
{
|
||||
protected BSScene PhysicsScene { get; private set; }
|
||||
protected BSPhysObject Prim { get; private set; }
|
||||
protected bool Enabled { get; set; }
|
||||
public string ActorName { get; private set; }
|
||||
|
||||
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
|
||||
{
|
||||
PhysicsScene = physicsScene;
|
||||
Prim = pObj;
|
||||
ActorName = actorName;
|
||||
Enabled = true;
|
||||
}
|
||||
|
||||
// Return 'true' if activily updating the prim
|
||||
public virtual bool isActive
|
||||
{
|
||||
get { return Enabled; }
|
||||
}
|
||||
// Turn the actor on an off.
|
||||
public virtual void Enable(bool setEnabled)
|
||||
{
|
||||
Enabled = setEnabled;
|
||||
}
|
||||
// Release any connections and resources used by the actor.
|
||||
public abstract void Dispose();
|
||||
// Called when physical parameters (properties set in Bullet) need to be re-applied.
|
||||
public abstract void Refresh();
|
||||
// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
|
||||
// Register a prestep action to restore physical requirements before the next simulation step.
|
||||
public abstract void RemoveBodyDependencies();
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue