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BulletSim: add hinge constraint.

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Update BulletSimAPI with new constraint related function calls.
Reorganize locking in BS6DofConstraint.
Update BS6DofConstraint to do constraint reset correctly.
Add new 'midpoint' construction of 6Dof constraint.
This commit is contained in:
Robert Adams
2012-08-15 11:36:50 -07:00
parent 9efe7bf7ba
commit dd10cf01e7
3 changed files with 126 additions and 6 deletions
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27
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -415,6 +415,27 @@ public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, Int
Vector3 frame2loc, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
Vector3 pivotinA, Vector3 pivotinB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetFrames2(IntPtr constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
@@ -427,6 +448,9 @@ public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CalculateTransforms2(IntPtr constrain);
@@ -517,6 +541,9 @@ public static extern bool SetGravity2(IntPtr obj, Vector3 val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr ClearForces2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr ClearAllForces2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetMargin2(IntPtr obj, float val);