OpenSim-Test/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs

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using System;
using System.Collections.Generic;
using System.Text;
using OpenMetaverse;

namespace OpenSim.Region.Physics.BulletSPlugin
{

public abstract class BSConstraint : IDisposable
{
    private static string LogHeader = "[BULLETSIM CONSTRAINT]";

    protected BulletSim m_world;
    protected BulletBody m_body1;
    protected BulletBody m_body2;
    protected BulletConstraint m_constraint;
    protected bool m_enabled = false;

    public BSConstraint()
    {
    }

    public virtual void Dispose()
    {
        if (m_enabled)
        {
            m_enabled = false;
            if (m_constraint.ptr != IntPtr.Zero)
            {
                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
                m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
                                    BSScene.DetailLogZero,
                                    m_body1.ID, m_body1.ptr.ToString("X"),
                                    m_body2.ID, m_body2.ptr.ToString("X"),
                                    success);
                m_constraint.ptr = System.IntPtr.Zero;
            }
        }
    }

    public BulletBody Body1 { get { return m_body1; } }
    public BulletBody Body2 { get { return m_body2; } }
    public BulletConstraint Constraint { get { return m_constraint; } }
    public abstract ConstraintType Type { get; }


    public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
    {
        bool ret = false;
        if (m_enabled)
            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
        return ret;
    }

    public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
    {
        bool ret = false;
        if (m_enabled)
            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
        return ret;
    }

    public virtual bool SetSolverIterations(float cnt)
    {
        bool ret = false;
        if (m_enabled)
        {
            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
            ret = true;
        }
        return ret;
    }

    public virtual bool CalculateTransforms()
    {
        bool ret = false;
        if (m_enabled)
        {
            // Recompute the internal transforms
            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
            ret = true;
        }
        return ret;
    }

    // Reset this constraint making sure it has all its internal structures
    //    recomputed and is enabled and ready to go.
    public virtual bool RecomputeConstraintVariables(float mass)
    {
        bool ret = false;
        if (m_enabled)
        {
            ret = CalculateTransforms();
            if (ret)
            {
                // Setting an object's mass to zero (making it static like when it's selected)
                //     automatically disables the constraints.
                // If the link is enabled, be sure to set the constraint itself to enabled.
                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
            }
            else
            {
                m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
            }
        }
        return ret;
    }
}
}