opensim/OpenSim/Region/PhysicsModules/BulletS/BSConstraint6Dof.cs

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

namespace OpenSim.Region.PhysicsModule.BulletS
{
    public class BSConstraint6Dof : BSConstraint
    {
        private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";

        public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }

        public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
        {
            m_body1 = obj1;
            m_body2 = obj2;
            m_enabled = false;
        }

        // Create a btGeneric6DofConstraint
        public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                        Vector3 frame1, Quaternion frame1rot,
                        Vector3 frame2, Quaternion frame2rot,
                        bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
            : base(world)
        {
            m_body1 = obj1;
            m_body2 = obj2;
            m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                                    frame1, frame1rot,
                                    frame2, frame2rot,
                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
            m_enabled = true;
            PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                                m_body1.ID, world.worldID,
                                obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
            PhysicsScene.DetailLog("{0},BS6DofConstraint,create,  f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
                                m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
        }

        // 6 Dof constraint based on a midpoint between the two constrained bodies
        public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                        Vector3 joinPoint,
                        bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
            : base(world)
        {
            m_body1 = obj1;
            m_body2 = obj2;
            if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
            {
                world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                                BSScene.DetailLogZero, world.worldID,
                                obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
                world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                                LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
                m_enabled = false;
            }
            else
            {
                m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                        joinPoint,
                                        useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);

                PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
                                    m_body1.ID, world.worldID, m_constraint.AddrString,
                                    obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);

                if (!m_constraint.HasPhysicalConstraint)
                {
                    world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
                                    LogHeader, obj1.ID, obj2.ID);
                    m_enabled = false;
                }
                else
                {
                    m_enabled = true;
                }
            }
        }

        // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
        public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
                        bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
            : base(world)
        {
            m_body1 = obj1;
            m_body2 = obj1; // Look out for confusion down the road
            m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
                                    frameInBloc, frameInBrot,
                                    useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
            m_enabled = true;
            PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
                                        m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
            PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,  fBLoc={1},fBRot={2},usefA={3},disCol={4}",
                                m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
        }

        public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
        {
            bool ret = false;
            if (m_enabled)
            {
                PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
                ret = true;
            }
            return ret;
        }

        public bool SetCFMAndERP(float cfm, float erp)
        {
            bool ret = false;
            if (m_enabled)
            {
                PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
                PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
                PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
                ret = true;
            }
            return ret;
        }

        public bool UseFrameOffset(bool useOffset)
        {
            bool ret = false;
            float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
            if (m_enabled)
                ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
            return ret;
        }

        public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
        {
            bool ret = false;
            float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
            if (m_enabled)
            {
                ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
                m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
                                BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
            }
            return ret;
        }

        public bool SetBreakingImpulseThreshold(float threshold)
        {
            bool ret = false;
            if (m_enabled)
                ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
            return ret;
        }
    }
}