BulletSim: add parameters and API calls for setting ERP and CFM.

Set ERP and CFM in linkset constraints.
Reorder rebuilding of object bodies so they are not rebuilt everytime
   something is linked and unlinked.

1 files changed, 26 insertions, 12 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7590d93..50d11e6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -103,7 +103,10 @@ public sealed class BSPrim : PhysicsActor
     long _collidingGroundStep;
 
     private BulletBody m_body;
-    public BulletBody Body { get { return m_body; } }
+    public BulletBody Body { 
+        get { return m_body; }
+        set { m_body = value; }
+    }
 
     private BSDynamics _vehicle;
 
@@ -477,9 +480,11 @@ public sealed class BSPrim : PhysicsActor
     // Only called at taint time so it is save to call into Bullet.
     private void SetObjectDynamic()
     {
-        // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
-
-        RecreateGeomAndObject();
+        // RA: remove this for the moment.
+        // The problem is that dynamic objects are hulls so if we are becoming physical
+        //    the shape has to be checked and possibly built.
+        //    Maybe a VerifyCorrectPhysicalShape() routine?
+        // RecreateGeomAndObject();
 
         float mass = _mass;
         // Bullet wants static objects have a mass of zero
@@ -971,21 +976,23 @@ public sealed class BSPrim : PhysicsActor
                     {
                         DetailLog("{0},CreateGeom,sphere", LocalID);
                         _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
-                        ret = true;
                         // Bullet native objects are scaled by the Bullet engine so pass the size in
                         _scale = _size;
+                        // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
+                        ret = true;
                     }
                 }
             }
             else
             {
-                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
+                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
                 if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)
                 {
                     DetailLog("{0},CreateGeom,box", LocalID);
                     _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
-                    ret = true;
                     _scale = _size;
+                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
+                    ret = true;
                 }
             }
         }
@@ -1203,11 +1210,9 @@ public sealed class BSPrim : PhysicsActor
         FillShapeInfo(out shape);
         // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
         BulletSimAPI.CreateObject(_scene.WorldID, shape);
+
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
         m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
-
-        // The root object could have been recreated. Make sure everything linksety is up to date.
-        _linkset.RefreshLinkset(this);
     }
 
     // Copy prim's info into the BulletSim shape description structure
@@ -1236,8 +1241,8 @@ public sealed class BSPrim : PhysicsActor
     private void RecreateGeomAndObject()
     {
         // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID);
-        CreateGeom(true);
-        CreateObject();
+        if (CreateGeom(true))
+            CreateObject();
         return;
     }
 
@@ -1322,6 +1327,15 @@ public sealed class BSPrim : PhysicsActor
 
             base.RequestPhysicsterseUpdate();
         }
+            /*
+        else
+        {
+            // For debugging, we can also report the movement of children
+            DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
+                    entprop.Acceleration, entprop.RotationalVelocity);
+        }
+             */
     }
 
     // I've collided with something