BulletSim: fix compound linkset crash by not freeing shape of child prims.

Remove all compilation warnings (mostly 'protected' in sealed classes.)
Add the dynamicAabbEnable parameter to creation of compound shapes.

6 files changed, 25 insertions, 17 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 38609e3..819635a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -89,7 +89,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         //Angular properties
         private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
-        private int m_angularMotorApply = 0;                            // application frame counter
+        // private int m_angularMotorApply = 0;                            // application frame counter
         private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
         private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
         private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
@@ -199,7 +199,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_angularMotorApply = 100;
+                    // m_angularMotorApply = 100;
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
@@ -229,7 +229,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
                     pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotorApply = 100;
+                    // m_angularMotorApply = 100;
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 6e68695..12c6d7a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -83,8 +83,8 @@ public sealed class BSLinksetCompound : BSLinkset
     public override bool MakeDynamic(BSPhysObject child)
     {
         bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,isChild={1}", child.LocalID, HasChild(child));
-        if (HasChild(child))
+        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (!IsRoot(child))
         {
             // Physical children are removed from the world as the shape ofthe root compound
             //     shape takes over.
@@ -103,8 +103,8 @@ public sealed class BSLinksetCompound : BSLinkset
     public override bool MakeStatic(BSPhysObject child)
     {
         bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeStatic,call,hasChild={1}", child.LocalID, HasChild(child));
-        if (HasChild(child))
+        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (!IsRoot(child))
         {
             // The non-physical children can come back to life.
             BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
@@ -240,6 +240,7 @@ public sealed class BSLinksetCompound : BSLinkset
                     // A mesh or hull is created because scale is not available on a native shape.
                     //     (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
                     BulletShape saveShape = cPrim.PhysShape;
+                    cPrim.PhysShape.ptr = IntPtr.Zero;  // Don't let the create free the child's shape
                     PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
                     BulletShape newShape = cPrim.PhysShape;
                     cPrim.PhysShape = saveShape;
@@ -263,7 +264,7 @@ public sealed class BSLinksetCompound : BSLinkset
         float linksetMass = LinksetMass;
         LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
 
-            // DEBUG: see of inter-linkset collisions are causing problems
+        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
         // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
         //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index af403aa..aaa0d93 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -703,6 +703,9 @@ public sealed class BSPrim : BSPhysObject
             // For good measure, make sure the transform is set through to the motion state
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
+            // Center of mass is at the center of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c2e0ef1..740f339 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1391,7 +1391,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
+    private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
         List<uint> objectIDs = new List<uint>();
         switch (localID)
@@ -1416,7 +1416,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
+    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
         float xval = val;
         List<uint> xlIDs = lIDs;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 4a31c7d..29a23c0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -38,7 +38,7 @@ public sealed class BSShapeCollection : IDisposable
 {
     private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
 
-    protected BSScene PhysicsScene { get; set; }
+    private BSScene PhysicsScene { get; set; }
 
     private Object m_collectionActivityLock = new Object();
 
@@ -103,11 +103,12 @@ public sealed class BSShapeCollection : IDisposable
         {
             // Do we have the correct geometry for this type of object?
             // Updates prim.BSShape with information/pointers to shape.
-            // CreateGeom returns 'true' of BSShape as changed to a new shape.
+            // Returns 'true' of BSShape is changed to a new shape.
             bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
             // Updates prim.BSBody with information/pointers to requested body
+            // Returns 'true' if BSBody was changed.
             bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
                                     prim.PhysShape, bodyCallback);
             ret = newGeom || newBody;
@@ -431,6 +432,7 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
     private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
@@ -797,15 +799,17 @@ public sealed class BSShapeCollection : IDisposable
     private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         // Remove reference to the old shape
-        // Don't need to do this as the shape is freed when we create the new root shape below.
+        // Don't need to do this as the shape is freed when the new root shape is created below.
         // DereferenceShape(prim.PhysShape, true, shapeCallback);
 
         BulletShape cShape = new BulletShape(
-            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr), ShapeData.PhysicsShapeType.SHAPE_COMPOUND);
+            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND);
 
-        // Create the shape for the root prim and add it to the compound shape
-        CreateGeomNonSpecial(true, prim, null);
+        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
+        CreateGeomMeshOrHull(prim, shapeCallback);
         BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
+        DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+                                    prim.LocalID, cShape, prim.PhysShape);
 
         prim.PhysShape = cShape;
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index ac6d2b2..702bd77 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -614,7 +614,7 @@ public static extern bool IsNativeShape2(IntPtr shape);
 public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim);
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);