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, 8 insertions, 3 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 33ae5a5..6359046 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
     }
-    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
-        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
         LinksetRoot.Inertia = inertia * inertiaFactor;
-        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
         m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
     }
     public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
@@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
     }
+    public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
     public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         if (LinksetRoot.PhysBody.HasPhysicalBody)