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

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

namespace OpenSim.Region.PhysicsModule.BulletS
{
    public sealed class BSConstraintSpring : BSConstraint6Dof
    {
        public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } }

        public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
                        Vector3 frame1Loc, Quaternion frame1Rot,
                        Vector3 frame2Loc, Quaternion frame2Rot,
                        bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
            :base(world, obj1, obj2)
        {
            m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
                                    frame1Loc, frame1Rot, frame2Loc, frame2Rot,
                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
            m_enabled = true;

            PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                                obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
            PhysicsScene.DetailLog("{0},BSConstraintSpring,create,  f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
                        m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
        }

        public bool SetAxisEnable(int pIndex, bool pAxisEnable)
        {
            PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
                                            m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
            PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable));
            return true;
        }

        public bool SetStiffness(int pIndex, float pStiffness)
        {
            PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}",
                                            m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
            PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
            return true;
        }

        public bool SetDamping(int pIndex, float pDamping)
        {
            PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}",
                                            m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
            PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
            return true;
        }

        public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
        {
            PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}",
                                            m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
            return true;
        }

        public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
        {
            PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
                                            m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
            PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
            return true;
        }
    }
}