188 lines
7.8 KiB
C#
Executable File
188 lines
7.8 KiB
C#
Executable File
/*
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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.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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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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m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.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 && m_controllingPrim.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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m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
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m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
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// If all the axis are free, we don't need to exist
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if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree)
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{
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Enabled = false;
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}
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// If the object is physically active, add the axis locking constraint
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if (isActive)
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{
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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.RemoveDependencies()
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public override void RemoveDependencies()
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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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m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.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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if (LockAxisConstraint == null)
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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(m_physicsScene.World, m_controllingPrim.PhysBody,
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OMV.Vector3.Zero, OMV.Quaternion.Identity,
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false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
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LockAxisConstraint = axisConstrainer;
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m_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 in the region
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OMV.Vector3 linearLow = OMV.Vector3.Zero;
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OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
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if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis)
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{
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linearLow.X = m_controllingPrim.RawPosition.X;
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linearHigh.X = m_controllingPrim.RawPosition.X;
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}
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if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis)
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{
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linearLow.Y = m_controllingPrim.RawPosition.Y;
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linearHigh.Y = m_controllingPrim.RawPosition.Y;
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}
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if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis)
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{
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linearLow.Z = m_controllingPrim.RawPosition.Z;
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linearHigh.Z = m_controllingPrim.RawPosition.Z;
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}
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axisConstrainer.SetLinearLimits(linearLow, linearHigh);
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// Angular with some axis locked
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float fPI = (float)Math.PI;
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OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
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OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
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if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis)
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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 (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis)
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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 (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis)
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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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if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
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{
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m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
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}
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m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
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m_controllingPrim.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(m_controllingPrim.RawMass);
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}
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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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m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
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LockAxisConstraint = null;
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m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
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}
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}
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}
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}
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