181 lines
8.4 KiB
C#
Executable File
181 lines
8.4 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.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 BSConstraint6Dof : BSConstraint
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{
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private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
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public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
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public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
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{
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m_body1 = obj1;
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m_body2 = obj2;
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m_enabled = false;
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}
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// Create a btGeneric6DofConstraint
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public BSConstraint6Dof(BulletWorld 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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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
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: base(world)
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{
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m_body1 = obj1;
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m_body2 = obj2;
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m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
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frame1, frame1rot,
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frame2, frame2rot,
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useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
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m_enabled = true;
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PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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m_body1.ID, world.worldID,
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obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
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m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
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}
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// 6 Dof constraint based on a midpoint between the two constrained bodies
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public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 joinPoint,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
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: base(world)
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{
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m_body1 = obj1;
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m_body2 = obj2;
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if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
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{
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world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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BSScene.DetailLogZero, world.worldID,
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obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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m_enabled = false;
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}
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else
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{
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m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
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joinPoint,
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useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
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PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
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m_body1.ID, world.worldID, m_constraint.AddrString,
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obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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if (!m_constraint.HasPhysicalConstraint)
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{
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world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
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LogHeader, obj1.ID, obj2.ID);
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m_enabled = false;
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}
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else
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{
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m_enabled = true;
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}
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}
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}
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// A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
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public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
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bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
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: base(world)
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{
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m_body1 = obj1;
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m_body2 = obj1; // Look out for confusion down the road
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m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
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frameInBloc, frameInBrot,
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useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
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m_enabled = true;
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PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
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m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
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PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}",
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m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
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}
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public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
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{
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bool ret = false;
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if (m_enabled)
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{
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PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
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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 bool SetCFMAndERP(float cfm, float erp)
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{
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bool ret = false;
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if (m_enabled)
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{
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PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
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PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
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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 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 = PhysicsScene.PE.UseFrameOffset(m_constraint, 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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{
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ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
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m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
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BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
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}
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return ret;
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}
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public bool SetBreakingImpulseThreshold(float threshold)
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{
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bool ret = false;
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if (m_enabled)
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ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
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return ret;
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}
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}
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}
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