BulletSim: add spring constraint to linkset constraint types.

OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs

@@ -0,0 +1,85 @@
+/*
+ * 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 sealed class BSConstraintSpring : BSConstraint6Dof
+{
+    public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } }
+
+    public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1Loc, Quaternion frame1Rot,
+                    Vector3 frame2Loc, Quaternion frame2Rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        :base(world, obj1, obj2)
+    {
+        m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
+                                frame1Loc, frame1Rot, frame2Loc, frame2Rot,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+
+        world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
+                            BSScene.DetailLogZero, world.worldID,
+                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
+    }
+
+    public bool SetEnable(int index, bool axisEnable)
+    {
+        bool ret = false;
+
+        return ret;
+    }
+
+    public bool SetStiffness(int index, float stiffness)
+    {
+        bool ret = false;
+
+        return ret;
+    }
+
+    public bool SetDamping(int index, float damping)
+    {
+        bool ret = false;
+
+        return ret;
+    }
+
+    public bool SetEquilibriumPoint(int index, float eqPoint)
+    {
+        bool ret = false;
+
+        return ret;
+    }
+
+}
+
+}