opensim/OpenSim/Region/PhysicsModules/BulletS/BSConstraint.cs

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

namespace OpenSim.Region.PhysicsModule.BulletS
{
    public abstract class BSConstraint : IDisposable
    {
        private static string LogHeader = "[BULLETSIM CONSTRAINT]";

        protected BulletWorld m_world;
        protected BSScene PhysicsScene;
        protected BulletBody m_body1;
        protected BulletBody m_body2;
        protected BulletConstraint m_constraint;
        protected bool m_enabled = false;

        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 bool IsEnabled { get { return m_enabled; } }

        public BSConstraint(BulletWorld world)
        {
            m_world = world;
            PhysicsScene = m_world.physicsScene;
        }

        public virtual void Dispose()
        {
            if (m_enabled)
            {
                m_enabled = false;
                if (m_constraint.HasPhysicalConstraint)
                {
                    bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
                    m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
                                        m_body1.ID,
                                        m_body1.ID, m_body1.AddrString,
                                        m_body2.ID, m_body2.AddrString,
                                        success);
                    m_constraint.Clear();
                }
            }
        }

        public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
        {
            bool ret = false;
            if (m_enabled)
            {
                m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high);
                ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
            }
            return ret;
        }

        public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
        {
            bool ret = false;
            if (m_enabled)
            {
                m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high);
                ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
            }
            return ret;
        }

        public virtual bool SetSolverIterations(float cnt)
        {
            bool ret = false;
            if (m_enabled)
            {
                PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
                ret = true;
            }
            return ret;
        }

        public virtual bool CalculateTransforms()
        {
            bool ret = false;
            if (m_enabled)
            {
                // Recompute the internal transforms
                PhysicsScene.PE.CalculateTransforms(m_constraint);
                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.
                    PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
                }
                else
                {
                    m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
                }
            }
            return ret;
        }
    }
}