BulletSim: Remove use of shapeData in ShapeCollection and rely on the available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.

7 files changed, 256 insertions, 266 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8c7061d..2a634b9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -99,26 +99,12 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
-        ShapeData shapeData = new ShapeData();
-        shapeData.ID = LocalID;
-        shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
-        shapeData.Position = _position;
-        shapeData.Rotation = _orientation;
-        shapeData.Velocity = _velocity;
-        shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
-        shapeData.Scale = Scale;
-        shapeData.Mass = _mass;
-        shapeData.Buoyancy = _buoyancy;
-        shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
-        shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
-
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
             // New body and shape into BSBody and BSShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
 
             SetPhysicalProperties();
         });
@@ -212,6 +198,9 @@ public sealed class BSCharacter : BSPhysObject
     {
         set { BaseShape = value; }
     }
+    // I want the physics engine to make an avatar capsule
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } }
 
     public override bool Grabbed {
         set { _grabbed = value; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 525ec28..f56851f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -68,6 +68,11 @@ public abstract class BSLinkset
     //    to the physical representation is done via the tainting mechenism.
     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; } }
+
     // 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
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1c569b5..638fae1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -1,173 +1,176 @@
-/*

- * Copyright (c) Contributors, http://opensimulator.org/

- * See CONTRIBUTORS.TXT for a full list of copyright holders.

- *

- * Redistribution and use in source and binary forms, with or without

- * modification, are permitted provided that the following conditions are met:

- *     * Redistributions of source code must retain the above copyright

- *       notice, this list of conditions and the following disclaimer.

- *     * Redistributions in binary form must reproduce the above copyrightD

- *       notice, this list of conditions and the following disclaimer in the

- *       documentation and/or other materials provided with the distribution.

- *     * Neither the name of the OpenSimulator Project nor the

- *       names of its contributors may be used to endorse or promote products

- *       derived from this software without specific prior written permission.

- *

- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY

- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY

- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

- */

-using System;

-using System.Collections.Generic;

-using System.Text;

-

-using OMV = OpenMetaverse;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public sealed class BSLinksetCompound : BSLinkset

-{

-    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";

-

-    public BSLinksetCompound(BSScene scene, BSPhysObject parent)

-    {

-        base.Initialize(scene, parent);

-    }

-

-    // When physical properties are changed the linkset needs to recalculate

-    //   its internal properties.

-    // This is queued in the 'post taint' queue so the

-    //   refresh will happen once after all the other taints are applied.

-    public override void Refresh(BSPhysObject requestor)

-    {

-        // Queue to happen after all the other taint processing

-        PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()

-            {

-                if (HasAnyChildren && IsRoot(requestor))

-                    RecomputeLinksetCompound();

-            });

-    }

-

-    // The object is going dynamic (physical). Do any setup necessary

-    //     for a dynamic linkset.

-    // Only the state of the passed object can be modified. The rest of the linkset

-    //     has not yet been fully constructed.

-    // Return 'true' if any properties updated on the passed object.

-    // Called at taint-time!

-    public override bool MakeDynamic(BSPhysObject child)

-    {

-        // What is done for each object in BSPrim is what we want.

-        return false;

-    }

-

-    // The object is going static (non-physical). Do any setup necessary for a static linkset.

-    // Return 'true' if any properties updated on the passed object.

-    // This doesn't normally happen -- OpenSim removes the objects from the physical

-    //     world if it is a static linkset.

-    // Called at taint-time!

-    public override bool MakeStatic(BSPhysObject child)

-    {

-        // What is done for each object in BSPrim is what we want.

-        return false;

-    }

-

-    // Called at taint-time!!

-    public override void UpdateProperties(BSPhysObject updated)

-    {

-        // Nothing to do for constraints on property updates

-    }

-

-    // Routine called when rebuilding the body of some member of the linkset.

-    // Destroy all the constraints have have been made to root and set

-    //     up to rebuild the constraints before the next simulation step.

-    // Returns 'true' of something was actually removed and would need restoring

-    // Called at taint-time!!

-    public override bool RemoveBodyDependencies(BSPrim child)

-    {

-        bool ret = false;

-

-        DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",

-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));

-

-        // Cause the current shape to be freed and the new one to be built.

-        Refresh(LinksetRoot);

-

-        return ret;

-    }

-

-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',

-    // this routine will restore the removed constraints.

-    // Called at taint-time!!

-    public override void RestoreBodyDependencies(BSPrim child)

-    {

-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.

-    }

-

-    // ================================================================

-

-    // Add a new child to the linkset.

-    // Called while LinkActivity is locked.

-    protected override void AddChildToLinkset(BSPhysObject child)

-    {

-        if (!HasChild(child))

-        {

-            m_children.Add(child);

-

-            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);

-

-            // Cause constraints and assorted properties to be recomputed before the next simulation step.

-            Refresh(LinksetRoot);

-        }

-        return;

-    }

-

-    // Remove the specified child from the linkset.

-    // Safe to call even if the child is not really in my linkset.

-    protected override void RemoveChildFromLinkset(BSPhysObject child)

-    {

-        if (m_children.Remove(child))

-        {

-            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",

-                            child.LocalID,

-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),

-                            child.LocalID, child.PhysBody.ptr.ToString("X"));

-

-            // See that the linkset parameters are recomputed at the end of the taint time.

-            Refresh(LinksetRoot);

-        }

-        else

-        {

-            // Non-fatal occurance.

-            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);

-        }

-        return;

-    }

-

-

-    // Call each of the constraints that make up this linkset and recompute the

-    //    various transforms and variables. Create constraints of not created yet.

-    // Called before the simulation step to make sure the constraint based linkset

-    //    is all initialized.

-    // Called at taint time!!

-    private void RecomputeLinksetCompound()

-    {

-        float linksetMass = LinksetMass;

-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);

-

-            // DEBUG: see of inter-linkset collisions are causing problems

-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 

-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);

-        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",

-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);

-

-

-    }

-}

+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSLinksetCompound : BSLinkset
+{
+    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
+
+    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
+    {
+        base.Initialize(scene, parent);
+    }
+
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // This is queued in the 'post taint' queue so the
+    //   refresh will happen once after all the other taints are applied.
+    public override void Refresh(BSPhysObject requestor)
+    {
+        // Queue to happen after all the other taint processing
+        PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()
+            {
+                if (HasAnyChildren && IsRoot(requestor))
+                    RecomputeLinksetCompound();
+            });
+    }
+
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public override bool MakeDynamic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
+    // Called at taint-time!
+    public override bool MakeStatic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+
+    // Called at taint-time!!
+    public override void UpdateProperties(BSPhysObject updated)
+    {
+        // Nothing to do for constraints on property updates
+    }
+
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Destroy all the constraints have have been made to root and set
+    //     up to rebuild the constraints before the next simulation step.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public override bool RemoveBodyDependencies(BSPrim child)
+    {
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+
+        // Cause the current shape to be freed and the new one to be built.
+        Refresh(LinksetRoot);
+
+        return ret;
+    }
+
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public override void RestoreBodyDependencies(BSPrim child)
+    {
+        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+    }
+
+    // ================================================================
+
+    // Add a new child to the linkset.
+    // Called while LinkActivity is locked.
+    protected override void AddChildToLinkset(BSPhysObject child)
+    {
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+
+            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+
+            // Cause constraints and assorted properties to be recomputed before the next simulation step.
+            Refresh(LinksetRoot);
+        }
+        return;
+    }
+
+    // Remove the specified child from the linkset.
+    // Safe to call even if the child is not really in my linkset.
+    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    {
+        if (m_children.Remove(child))
+        {
+            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+                            child.LocalID,
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
+                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+
+            // See that the linkset parameters are recomputed at the end of the taint time.
+            Refresh(LinksetRoot);
+        }
+        else
+        {
+            // Non-fatal occurance.
+            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+        }
+        return;
+    }
+
+
+    // Call each of the constraints that make up this linkset and recompute the
+    //    various transforms and variables. Create constraints of not created yet.
+    // Called before the simulation step to make sure the constraint based linkset
+    //    is all initialized.
+    // Called at taint time!!
+    private void RecomputeLinksetCompound()
+    {
+        // Release the existing shape
+        PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null);
+        
+        float linksetMass = LinksetMass;
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+
+            // DEBUG: see of inter-linkset collisions are causing problems
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+
+
+    }
+}
 }
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 6220b21..7d91468 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
 
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
+    // Some types of objects have preferred physical representations.
+    // Returns SHAPE_UNKNOWN if there is no preference.
+    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } }
 
     // When the physical properties are updated, an EntityProperty holds the update values.
     // Keep the current and last EntityProperties to enable computation of differences
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8dd48ca..8ce960d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -171,6 +171,10 @@ public sealed class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
+    // Whatever the linkset wants is what I want.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape; } }
+
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
@@ -1310,34 +1314,11 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-    // Copy prim's info into the BulletSim shape description structure
-    public void FillShapeInfo(out ShapeData shape)
-    {
-        shape.ID = LocalID;
-        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
-        shape.Position = _position;
-        shape.Rotation = _orientation;
-        shape.Velocity = _velocity;
-        shape.Size = _size;
-        shape.Scale = Scale;
-        shape.Mass = _isPhysical ? _mass : 0f;
-        shape.Buoyancy = _buoyancy;
-        shape.HullKey = 0;
-        shape.MeshKey = 0;
-        shape.Friction = _friction;
-        shape.Restitution = _restitution;
-        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
-        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-    }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        ShapeData shapeData;
-        FillShapeInfo(out shapeData);
-
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
         bool needToRestoreLinkset = false;
@@ -1346,8 +1327,7 @@ public sealed class BSPrim : BSPhysObject
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
         // Returns 'true' if either the body or the shape was changed.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
-                        null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index a38e650..478924a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -90,7 +90,6 @@ public sealed class BSShapeCollection : IDisposable
     //    remove the physical constraints before the body is destroyed.
     // Called at taint-time!!
     public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
-                    ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
@@ -101,12 +100,12 @@ public sealed class BSShapeCollection : IDisposable
             // Do we have the correct geometry for this type of object?
             // Updates prim.BSShape with information/pointers to shape.
             // CreateGeom returns 'true' of BSShape as changed to a new shape.
-            bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
+            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
             // Updates prim.BSBody with information/pointers to requested body
             bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
-                                    prim.PhysShape, shapeData, bodyCallback);
+                                    prim.PhysShape, bodyCallback);
             ret = newGeom || newBody;
         }
         DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@@ -261,6 +260,9 @@ public sealed class BSShapeCollection : IDisposable
                         case ShapeData.PhysicsShapeType.SHAPE_MESH:
                             DereferenceMesh(shape, shapeCallback);
                             break;
+                        case ShapeData.PhysicsShapeType.SHAPE_COMPOUND:
+                            DereferenceCompound(shape, shapeCallback);
+                            break;
                         case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
                             break;
                         default:
@@ -317,6 +319,13 @@ public sealed class BSShapeCollection : IDisposable
         }
     }
 
+    // Remove a reference to a compound shape.
+    // Called at taint-time.
+    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
+    {
+        // Compound shape is made of a bunch of meshes and natives.
+    }
+
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
     // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
@@ -325,17 +334,17 @@ public sealed class BSShapeCollection : IDisposable
     // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
-                            PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
+        PrimitiveBaseShape pbs = prim.BaseShape;
 
-        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
             // an avatar capsule is close to a native shape (it is not shared)
-            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
+            ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
                             ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
             DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
             ret = true;
@@ -359,11 +368,11 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != shapeData.Size
+                        || prim.Scale != prim.Size
                         || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
                         )
                 {
-                    ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
+                    ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
                                             ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
                     DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
                                         prim.LocalID, forceRebuild, prim.PhysShape);
@@ -373,11 +382,11 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != shapeData.Size
+                        || prim.Scale != prim.Size
                         || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
                         )
                 {
-                    ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
+                    ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX,
                                             ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
                     DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
                                         prim.LocalID, forceRebuild, prim.PhysShape);
@@ -392,15 +401,15 @@ public sealed class BSShapeCollection : IDisposable
             if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
             {
                 // Update prim.BSShape to reference a hull of this shape.
-                ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
+                ret = GetReferenceToHull(prim,shapeCallback);
                 DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
-                                        shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
+                                        prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
             }
             else
             {
-                ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
+                ret = GetReferenceToMesh(prim, shapeCallback);
                 DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
-                                        shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
+                                        prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
             }
         }
         return ret;
@@ -408,44 +417,45 @@ public sealed class BSShapeCollection : IDisposable
 
     // Creates a native shape and assignes it to prim.BSShape.
     // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
-    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
+    private bool GetReferenceToNativeShape(BSPhysObject prim,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
         // release any previous shape
         DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        shapeData.Type = shapeType;
         // Bullet native objects are scaled by the Bullet engine so pass the size in
-        prim.Scale = shapeData.Size;
-        shapeData.Scale = shapeData.Size;
+        prim.Scale = prim.Size;
 
-        BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
+        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
         DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
-                                shapeData.ID, newShape, shapeData.Scale);
+                                prim.LocalID, newShape, prim.Scale);
 
         prim.PhysShape = newShape;
         return true;
     }
 
-    private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
-                        ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
+    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType,
+                                    ShapeData.FixedShapeKey shapeKey)
     {
         BulletShape newShape;
         // Need to make sure the passed shape information is for the native type.
-        ShapeData nativeShapeData = shapeData;
+        ShapeData nativeShapeData = new ShapeData();
         nativeShapeData.Type = shapeType;
+        nativeShapeData.ID = prim.LocalID;
+        nativeShapeData.Scale = prim.Scale;
+        nativeShapeData.Size = prim.Scale;
         nativeShapeData.MeshKey = (ulong)shapeKey;
         nativeShapeData.HullKey = (ulong)shapeKey;
 
         if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
             newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
                         , shapeType);
-            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
+            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
@@ -454,7 +464,7 @@ public sealed class BSShapeCollection : IDisposable
         if (newShape.ptr == IntPtr.Zero)
         {
             PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, nativeShapeData.ID, nativeShapeData.Type);
+                                    LogHeader, prim.LocalID, shapeType);
         }
         newShape.shapeKey = (System.UInt64)shapeKey;
         newShape.isNativeShape = true;
@@ -466,13 +476,12 @@ public sealed class BSShapeCollection : IDisposable
     // Dereferences previous shape in BSShape and adds a reference for this new shape.
     // Returns 'true' of a mesh was actually built. Otherwise .
     // Called at taint-time!
-    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
-                                ShapeDestructionCallback shapeCallback)
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
 
         float lod;
-        System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
         // if this new shape is the same as last time, don't recreate the mesh
         if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
@@ -484,9 +493,9 @@ public sealed class BSShapeCollection : IDisposable
         // Since we're recreating new, get rid of the reference to the previous shape
         DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
+        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
         // Take evasive action if the mesh was not constructed.
-        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
+        newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
@@ -541,13 +550,12 @@ public sealed class BSShapeCollection : IDisposable
 
     // See that hull shape exists in the physical world and update prim.BSShape.
     // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
-                                ShapeDestructionCallback shapeCallback)
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
 
         float lod;
-        System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
@@ -559,8 +567,8 @@ public sealed class BSShapeCollection : IDisposable
         // Remove usage of the previous shape.
         DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
-        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
+        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
@@ -687,7 +695,7 @@ public sealed class BSShapeCollection : IDisposable
 
     // Create a hash of all the shape parameters to be used as a key
     //    for this particular shape.
-    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
+    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
         float lod = PhysicsScene.MeshLOD;
@@ -695,40 +703,40 @@ public sealed class BSShapeCollection : IDisposable
             lod = PhysicsScene.SculptLOD;
 
         // Mega prims usually get more detail because one can interact with shape approximations at this size.
-        float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
+        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
         if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         retLod = lod;
-        return pbs.GetMeshKey(shapeData.Size, lod);
+        return pbs.GetMeshKey(size, lod);
     }
     // For those who don't want the LOD
-    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
+    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
     {
         float lod;
-        return ComputeShapeKey(shapeData, pbs, out lod);
+        return ComputeShapeKey(size, pbs, out lod);
     }
 
     // The creation of a mesh or hull can fail if an underlying asset is not available.
     // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
-    //     and 2) the asset cannot be converted (like decompressing JPEG2000s).
-    //     The first case causes the asset to be fetched. The second case just requires
+    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
+    //     The first case causes the asset to be fetched. The second case requires
     //     us to not loop forever.
     // Called after creating a physical mesh or hull. If the physical shape was created,
     //     just return.
-    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
     {
         // If the shape was successfully created, nothing more to do
         if (newShape.ptr != IntPtr.Zero)
             return newShape;
 
         // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-        if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
+        if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
         {
             prim.LastAssetBuildFailed = true;
             BSPhysObject xprim = prim;
             DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
+                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
             Util.FireAndForget(delegate
                 {
                     RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@@ -745,7 +753,7 @@ public sealed class BSShapeCollection : IDisposable
                             yprim.BaseShape.SculptData = asset.Data;
                             // This will cause the prim to see that the filler shape is not the right
                             //    one and try again to build the object.
-                            // No race condition with the native sphere setting since the rebuild is at taint time.
+                            // No race condition with the normal shape setting since the rebuild is at taint time.
                             yprim.ForceBodyShapeRebuild(false);
 
                         });
@@ -757,13 +765,13 @@ public sealed class BSShapeCollection : IDisposable
             if (prim.LastAssetBuildFailed)
             {
                 PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
-                                            LogHeader, shapeData.ID, pbs.SculptTexture);
+                                            LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
             }
         }
 
         // While we figure out the real problem, stick a simple native shape on the object.
         BulletShape fillinShape =
-            BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
+            BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
 
         return fillinShape;
     }
@@ -773,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
     private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
-                            ShapeData shapeData, BodyDestructionCallback bodyCallback)
+                            BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
@@ -803,16 +811,16 @@ public sealed class BSShapeCollection : IDisposable
             if (prim.IsSolid)
             {
                 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        shapeData.ID, shapeData.Position, shapeData.Rotation);
+                                        prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
                 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
             else
             {
                 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        shapeData.ID, shapeData.Position, shapeData.Rotation);
+                                        prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
                 DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
-            aBody = new BulletBody(shapeData.ID, bodyPtr);
+            aBody = new BulletBody(prim.LocalID, bodyPtr);
 
             ReferenceBody(aBody, true);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 9b7ba03..3b6355c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -194,6 +194,7 @@ public struct ShapeData
         // following defined by BulletSim
                 SHAPE_GROUNDPLANE  = 20,
                 SHAPE_TERRAIN   = 21,
+                SHAPE_COMPOUND  = 22,
     };
     public uint ID;
     public PhysicsShapeType Type;