BulletSim: debugging of compound shape implementation of linksets.

Add compound shape creation and freeing in shape manager.
Add optional taint-time execution method and update code to use it.
Add API2 linkage for more compound shape methods (get num, get/remove by index, ...)
Modify perferred shape return so linkset children can have differet shapes than root.
Add Position and Orientation calls to linksets so children can be moved around by
    the linkset by its own calculation. Allows for very general linkset implementations.

1 files changed, 14 insertions, 5 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 9e0f499..8f973f4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -48,7 +48,8 @@ public abstract class BSLinkset
          */
 
         // at the moment, there is only one
-        ret = new BSLinksetConstraints(physScene, parent);
+        // ret = new BSLinksetConstraints(physScene, parent);
+        ret = new BSLinksetCompound(physScene, parent);
 
         return ret;
     }
@@ -69,10 +70,19 @@ public abstract class BSLinkset
     protected object m_linksetActivityLock = new Object();
 
     // Some linksets have a preferred physical shape.
-    // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
-        { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } }
+    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
+    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    {
+        return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+    }
 
+    // Linksets move around the children so the linkset might need to compute the child position
+    public virtual OMV.Vector3 Position(BSPhysObject member)
+        { return member.RawPosition; }
+    public virtual OMV.Quaternion Orientation(BSPhysObject member)
+        { return member.RawOrientation; }
+    // TODO: does this need to be done for Velocity and RotationalVelocityy?
+    
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
     protected float m_mass;
     public float LinksetMass
@@ -177,7 +187,6 @@ public abstract class BSLinkset
     }
 
     // Perform an action on each member of the linkset including root prim.
-    // The action is performed only on the objects that are physically in the linkset.
     // Depends on the action on whether this should be done at taint time.
     public delegate bool ForEachMemberAction(BSPhysObject obj);
     public virtual bool ForEachMember(ForEachMemberAction action)