103 lines
5.3 KiB
C#
Executable File
103 lines
5.3 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 sealed class BSConstraintSpring : BSConstraint6Dof
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{
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public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } }
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public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1Loc, Quaternion frame1Rot,
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Vector3 frame2Loc, Quaternion frame2Rot,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
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:base(world, obj1, obj2)
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{
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m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
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frame1Loc, frame1Rot, frame2Loc, frame2Rot,
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useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
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m_enabled = true;
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PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
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PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
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m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
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}
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public bool SetAxisEnable(int pIndex, bool pAxisEnable)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
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PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable));
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return true;
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}
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public bool SetStiffness(int pIndex, float pStiffness)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
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PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
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return true;
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}
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public bool SetDamping(int pIndex, float pDamping)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
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PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
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return true;
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}
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public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
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return true;
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}
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public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
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{
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PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
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m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
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PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
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return true;
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}
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}
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} |