BulletSim: distribute vehicle physical settings to all members of

a linkset. Enables constraint based linksets.
Rename some internal variables to clarify whether values world or
vehicle relative.

1 files changed, 15 insertions, 3 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 960c0b4..7f94666 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,16 +309,18 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
-                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
                     member.Inertia = inertia * inertiaFactor;
-                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                    DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
+
                 }
                 return false;   // 'false' says to continue looping
             }
@@ -334,6 +336,16 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         ForEachMember((member) =>