mirror of
https://github.com/opensim/opensim.git
synced 2026-08-13 05:05:43 +08:00
Remove tabs, indent code properly
Signed-off-by: UbitUmarov <ajlduarte@sapo.pt>
This commit is contained in:
Vincent Sylvester
committed by
UbitUmarov
UbitUmarov
parent
e1ce7408da
commit
13dbbc2683
@@ -34,186 +34,186 @@ using OMV = OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.PhysicsModule.BulletS
|
||||
{
|
||||
public class BSActorLockAxis : BSActor
|
||||
{
|
||||
private BSConstraint LockAxisConstraint = null;
|
||||
private bool HaveRegisteredForBeforeStepCallback = false;
|
||||
|
||||
// The lock access flags (which axises were locked) when the contraint was built.
|
||||
// Used to see if locking has changed since when the constraint was built.
|
||||
OMV.Vector3 LockAxisLinearFlags;
|
||||
OMV.Vector3 LockAxisAngularFlags;
|
||||
|
||||
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
|
||||
: base(physicsScene, pObj, actorName)
|
||||
public class BSActorLockAxis : BSActor
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
|
||||
LockAxisConstraint = null;
|
||||
HaveRegisteredForBeforeStepCallback = false;
|
||||
}
|
||||
private BSConstraint LockAxisConstraint = null;
|
||||
private bool HaveRegisteredForBeforeStepCallback = false;
|
||||
|
||||
// BSActor.isActive
|
||||
public override bool isActive
|
||||
{
|
||||
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
|
||||
}
|
||||
// The lock access flags (which axises were locked) when the contraint was built.
|
||||
// Used to see if locking has changed since when the constraint was built.
|
||||
OMV.Vector3 LockAxisLinearFlags;
|
||||
OMV.Vector3 LockAxisAngularFlags;
|
||||
|
||||
// Release any connections and resources used by the actor.
|
||||
// BSActor.Dispose()
|
||||
public override void Dispose()
|
||||
{
|
||||
Enabled = false;
|
||||
UnRegisterForBeforeStepCallback();
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
// Called when physical parameters (properties set in Bullet) need to be re-applied.
|
||||
// Called at taint-time.
|
||||
// BSActor.Refresh()
|
||||
public override void Refresh()
|
||||
{
|
||||
// Since the axis logging is done with a constraint, Refresh() time is good for
|
||||
// changing parameters but this needs to wait until the prim/linkset is physically
|
||||
// constructed. Therefore, the constraint itself is placed at pre-step time.
|
||||
|
||||
// If all the axis are free, we don't need to exist
|
||||
// Refresh() only turns off. Enabling is done by InitializeAxisActor()
|
||||
// whenever parameters are changed.
|
||||
// This leaves 'enable' free to turn off an actor when it is not wanted to run.
|
||||
if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
|
||||
&& m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
|
||||
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
|
||||
: base(physicsScene, pObj, actorName)
|
||||
{
|
||||
Enabled = false;
|
||||
}
|
||||
|
||||
if (isActive)
|
||||
{
|
||||
RegisterForBeforeStepCallback();
|
||||
}
|
||||
else
|
||||
{
|
||||
RemoveDependencies();
|
||||
UnRegisterForBeforeStepCallback();
|
||||
}
|
||||
}
|
||||
|
||||
// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
|
||||
// Register a prestep action to restore physical requirements before the next simulation step.
|
||||
// Called at taint-time.
|
||||
// BSActor.RemoveDependencies()
|
||||
public override void RemoveDependencies()
|
||||
{
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
private void RegisterForBeforeStepCallback()
|
||||
{
|
||||
if (!HaveRegisteredForBeforeStepCallback)
|
||||
{
|
||||
m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
|
||||
HaveRegisteredForBeforeStepCallback = true;
|
||||
}
|
||||
}
|
||||
|
||||
private void UnRegisterForBeforeStepCallback()
|
||||
{
|
||||
if (HaveRegisteredForBeforeStepCallback)
|
||||
{
|
||||
m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep;
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
|
||||
LockAxisConstraint = null;
|
||||
HaveRegisteredForBeforeStepCallback = false;
|
||||
}
|
||||
}
|
||||
|
||||
private void PhysicsScene_BeforeStep(float timestep)
|
||||
{
|
||||
// If all the axis are free, we don't need to exist
|
||||
if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
|
||||
&& m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
|
||||
// BSActor.isActive
|
||||
public override bool isActive
|
||||
{
|
||||
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
|
||||
}
|
||||
|
||||
// Release any connections and resources used by the actor.
|
||||
// BSActor.Dispose()
|
||||
public override void Dispose()
|
||||
{
|
||||
Enabled = false;
|
||||
UnRegisterForBeforeStepCallback();
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
// If the object is physically active, add the axis locking constraint
|
||||
if (isActive)
|
||||
// Called when physical parameters (properties set in Bullet) need to be re-applied.
|
||||
// Called at taint-time.
|
||||
// BSActor.Refresh()
|
||||
public override void Refresh()
|
||||
{
|
||||
// Check to see if the locking parameters have changed
|
||||
if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
|
||||
|| m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
|
||||
// Since the axis logging is done with a constraint, Refresh() time is good for
|
||||
// changing parameters but this needs to wait until the prim/linkset is physically
|
||||
// constructed. Therefore, the constraint itself is placed at pre-step time.
|
||||
|
||||
// If all the axis are free, we don't need to exist
|
||||
// Refresh() only turns off. Enabling is done by InitializeAxisActor()
|
||||
// whenever parameters are changed.
|
||||
// This leaves 'enable' free to turn off an actor when it is not wanted to run.
|
||||
if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
|
||||
&& m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
|
||||
{
|
||||
Enabled = false;
|
||||
}
|
||||
|
||||
if (isActive)
|
||||
{
|
||||
RegisterForBeforeStepCallback();
|
||||
}
|
||||
else
|
||||
{
|
||||
RemoveDependencies();
|
||||
UnRegisterForBeforeStepCallback();
|
||||
}
|
||||
}
|
||||
|
||||
// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
|
||||
// Register a prestep action to restore physical requirements before the next simulation step.
|
||||
// Called at taint-time.
|
||||
// BSActor.RemoveDependencies()
|
||||
public override void RemoveDependencies()
|
||||
{
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
private void RegisterForBeforeStepCallback()
|
||||
{
|
||||
if (!HaveRegisteredForBeforeStepCallback)
|
||||
{
|
||||
m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
|
||||
HaveRegisteredForBeforeStepCallback = true;
|
||||
}
|
||||
}
|
||||
|
||||
private void UnRegisterForBeforeStepCallback()
|
||||
{
|
||||
if (HaveRegisteredForBeforeStepCallback)
|
||||
{
|
||||
m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep;
|
||||
HaveRegisteredForBeforeStepCallback = false;
|
||||
}
|
||||
}
|
||||
|
||||
private void PhysicsScene_BeforeStep(float timestep)
|
||||
{
|
||||
// If all the axis are free, we don't need to exist
|
||||
if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree
|
||||
&& m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree)
|
||||
{
|
||||
Enabled = false;
|
||||
}
|
||||
|
||||
// If the object is physically active, add the axis locking constraint
|
||||
if (isActive)
|
||||
{
|
||||
// Check to see if the locking parameters have changed
|
||||
if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags
|
||||
|| m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags)
|
||||
{
|
||||
// The locking has changed. Remove the old constraint and build a new one
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
AddAxisLockConstraint();
|
||||
}
|
||||
else
|
||||
{
|
||||
// The locking has changed. Remove the old constraint and build a new one
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
|
||||
AddAxisLockConstraint();
|
||||
}
|
||||
else
|
||||
|
||||
// Note that this relies on being called at TaintTime
|
||||
private void AddAxisLockConstraint()
|
||||
{
|
||||
RemoveAxisLockConstraint();
|
||||
}
|
||||
}
|
||||
|
||||
// Note that this relies on being called at TaintTime
|
||||
private void AddAxisLockConstraint()
|
||||
{
|
||||
if (LockAxisConstraint == null)
|
||||
{
|
||||
// Lock that axis by creating a 6DOF constraint that has one end in the world and
|
||||
// the other in the object.
|
||||
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
|
||||
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
|
||||
|
||||
// Remove any existing axis constraint (just to be sure)
|
||||
RemoveAxisLockConstraint();
|
||||
|
||||
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
|
||||
OMV.Vector3.Zero, OMV.Quaternion.Identity,
|
||||
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
|
||||
LockAxisConstraint = axisConstrainer;
|
||||
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
|
||||
|
||||
// Remember the clocking being inforced so we can notice if they have changed
|
||||
LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
|
||||
LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
|
||||
|
||||
// The constraint is tied to the world and oriented to the prim.
|
||||
|
||||
if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
|
||||
if (LockAxisConstraint == null)
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
|
||||
m_controllingPrim.LocalID);
|
||||
// Lock that axis by creating a 6DOF constraint that has one end in the world and
|
||||
// the other in the object.
|
||||
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
|
||||
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
|
||||
|
||||
// Remove any existing axis constraint (just to be sure)
|
||||
RemoveAxisLockConstraint();
|
||||
|
||||
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
|
||||
OMV.Vector3.Zero, OMV.Quaternion.Identity,
|
||||
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
|
||||
LockAxisConstraint = axisConstrainer;
|
||||
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
|
||||
|
||||
// Remember the clocking being inforced so we can notice if they have changed
|
||||
LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis;
|
||||
LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis;
|
||||
|
||||
// The constraint is tied to the world and oriented to the prim.
|
||||
|
||||
if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh))
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits",
|
||||
m_controllingPrim.LocalID);
|
||||
}
|
||||
|
||||
if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
|
||||
m_controllingPrim.LocalID);
|
||||
}
|
||||
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
|
||||
m_controllingPrim.LocalID,
|
||||
m_controllingPrim.LockedLinearAxisLow,
|
||||
m_controllingPrim.LockedLinearAxisHigh,
|
||||
m_controllingPrim.LockedAngularAxisLow,
|
||||
m_controllingPrim.LockedAngularAxisHigh);
|
||||
|
||||
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
|
||||
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
|
||||
|
||||
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
|
||||
|
||||
RegisterForBeforeStepCallback();
|
||||
}
|
||||
|
||||
if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh))
|
||||
{
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits",
|
||||
m_controllingPrim.LocalID);
|
||||
}
|
||||
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
|
||||
m_controllingPrim.LocalID,
|
||||
m_controllingPrim.LockedLinearAxisLow,
|
||||
m_controllingPrim.LockedLinearAxisHigh,
|
||||
m_controllingPrim.LockedAngularAxisLow,
|
||||
m_controllingPrim.LockedAngularAxisHigh);
|
||||
|
||||
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
|
||||
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
|
||||
|
||||
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
|
||||
|
||||
RegisterForBeforeStepCallback();
|
||||
}
|
||||
}
|
||||
|
||||
private void RemoveAxisLockConstraint()
|
||||
{
|
||||
UnRegisterForBeforeStepCallback();
|
||||
if (LockAxisConstraint != null)
|
||||
private void RemoveAxisLockConstraint()
|
||||
{
|
||||
m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
|
||||
LockAxisConstraint = null;
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
|
||||
UnRegisterForBeforeStepCallback();
|
||||
if (LockAxisConstraint != null)
|
||||
{
|
||||
m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
|
||||
LockAxisConstraint = null;
|
||||
m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user