BulletSim: add user setting of friction, density and restitution.

1 files changed, 79 insertions, 20 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 54bf063..a86932a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject
     private OMV.Vector3 _position;
 
     private float _mass;    // the mass of this object
-    private float _density;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
@@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
-    private float _friction;
-    private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
 
-        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
-        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
-        _density = PhysicsScene.Params.defaultDensity;
-        _friction = PhysicsScene.Params.defaultFriction;
-        _restitution = PhysicsScene.Params.defaultRestitution;
-
         VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
 
         _mass = CalculateMass();
@@ -457,11 +448,6 @@ public sealed class BSPrim : BSPhysObject
                 {
                     AddObjectToPhysicalWorld();
                 }
-
-                // Must set gravity after it has been added to the world because, for unknown reasons,
-                //     adding the object resets the object's gravity to world gravity
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
-
             }
         }
     }
@@ -469,7 +455,7 @@ public sealed class BSPrim : BSPhysObject
     // Return what gravity should be set to this very moment
     public OMV.Vector3 ComputeGravity(float buoyancy)
     {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
 
         if (!IsStatic)
             ret *= (1f - buoyancy);
@@ -596,6 +582,74 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public override void SetMaterial(int material)
+    {
+        base.SetMaterial(material);
+        PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+    public override float Friction
+    {
+        get { return base.Friction; }
+        set
+        {
+            if (base.Friction != value)
+            {
+                base.Friction = value;
+                PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Restitution
+    {
+        get { return base.Restitution; }
+        set
+        {
+            if (base.Restitution != value)
+            {
+                base.Restitution = value;
+                PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Density
+    {
+        get { return base.Density; }
+        set
+        {
+            if (base.Density != value)
+            {
+                base.Density = value;
+                PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float GravityModifier
+    {
+        get { return base.GravityModifier; }
+        set
+        {
+            if (base.GravityModifier != value)
+            {
+                base.GravityModifier = value;
+                PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
     public override OMV.Vector3 RawVelocity
     {
         get { return _velocity; }
@@ -810,8 +864,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
@@ -840,8 +894,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -940,6 +994,11 @@ public sealed class BSPrim : BSPhysObject
         if (PhysBody.HasPhysicalBody)
         {
             PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+
+            // Must set gravity after it has been added to the world because, for unknown reasons,
+            //     adding the object resets the object's gravity to world gravity
+            OMV.Vector3 grav = ComputeGravity(Buoyancy);
+            PhysicsScene.PE.SetGravity(PhysBody, grav);
         }
         else
         {
@@ -1581,7 +1640,7 @@ public sealed class BSPrim : BSPhysObject
         profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
-        returnMass = _density * volume;
+        returnMass = Density * volume;
 
         /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)