BulletSim: Add RawPosition and RawOrientation to BSPhysObject and rename MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the body to eliminate exception from referencing the physical body before it has been created.

5 files changed, 39 insertions, 17 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2a634b9..9e1206a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -97,7 +97,7 @@ public sealed class BSCharacter : BSPhysObject
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
@@ -141,7 +141,7 @@ public sealed class BSCharacter : BSPhysObject
             BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
         }
 
-        UpdatePhysicalMassProperties(MassRaw);
+        UpdatePhysicalMassProperties(RawMass);
 
         // Make so capsule does not fall over
         BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
@@ -181,12 +181,12 @@ public sealed class BSCharacter : BSPhysObject
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
-                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
+                            LocalID, Scale, _avatarDensity, _avatarVolume, RawMass);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
                 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                UpdatePhysicalMassProperties(MassRaw);
+                UpdatePhysicalMassProperties(RawMass);
             });
 
         }
@@ -231,6 +231,11 @@ public sealed class BSCharacter : BSPhysObject
 
     public override void LockAngularMotion(OMV.Vector3 axis) { return; }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
             // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
@@ -316,7 +321,7 @@ public sealed class BSCharacter : BSPhysObject
     public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { 
+    public override float RawMass { 
         get {return _mass; }
     }
     public override void UpdatePhysicalMassProperties(float physMass)
@@ -405,6 +410,11 @@ public sealed class BSCharacter : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get { return _orientation; }
         set {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index f56851f..9e0f499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -106,7 +106,7 @@ public abstract class BSLinkset
         PhysicsScene = scene;
         LinksetRoot = parent;
         m_children = new HashSet<BSPhysObject>();
-        m_mass = parent.MassRaw;
+        m_mass = parent.RawMass;
     }
 
     // Link to a linkset where the child knows the parent.
@@ -242,14 +242,14 @@ public abstract class BSLinkset
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
-        float mass = LinksetRoot.MassRaw;
+        float mass = LinksetRoot.RawMass;
         if (HasAnyChildren)
         {
             lock (m_linksetActivityLock)
             {
                 foreach (BSPhysObject bp in m_children)
                 {
-                    mass += bp.MassRaw;
+                    mass += bp.RawMass;
                 }
             }
         }
@@ -261,13 +261,13 @@ public abstract class BSLinkset
         OMV.Vector3 com;
         lock (m_linksetActivityLock)
         {
-            com = LinksetRoot.Position * LinksetRoot.MassRaw;
-            float totalMass = LinksetRoot.MassRaw;
+            com = LinksetRoot.Position * LinksetRoot.RawMass;
+            float totalMass = LinksetRoot.RawMass;
 
             foreach (BSPhysObject bp in m_children)
             {
-                com += bp.Position * bp.MassRaw;
-                totalMass += bp.MassRaw;
+                com += bp.Position * bp.RawMass;
+                totalMass += bp.RawMass;
             }
             if (totalMass != 0f)
                 com /= totalMass;
@@ -285,7 +285,7 @@ public abstract class BSLinkset
 
             foreach (BSPhysObject bp in m_children)
             {
-                com += bp.Position * bp.MassRaw;
+                com += bp.Position * bp.RawMass;
             }
             com /= (m_children.Count + 1);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 7d91468..65d7f34 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -63,7 +63,7 @@ public abstract class BSPhysObject : PhysicsActor
     public BSLinkset Linkset { get; set; }
 
     // Return the object mass without calculating it or having side effects
-    public abstract float MassRaw { get; }
+    public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
     public abstract void UpdatePhysicalMassProperties(float mass);
 
@@ -105,8 +105,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public abstract void Destroy();
 
+    public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     public abstract OMV.Vector3 ForceVelocity { get; set; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8ce960d..1754be6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -256,6 +256,11 @@ public sealed class BSPrim : BSPhysObject
         return;
     }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
             if (!Linkset.IsRoot(this))
@@ -366,7 +371,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { 
+    public override float RawMass { 
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
@@ -530,6 +535,11 @@ public sealed class BSPrim : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get {
             if (!Linkset.IsRoot(this))
@@ -703,7 +713,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(MassRaw);
+            UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 478924a..e131919 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -811,7 +811,7 @@ public sealed class BSShapeCollection : IDisposable
             if (prim.IsSolid)
             {
                 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
+                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
             else