BulletSim: Add logic to linksets to change physical properties for

whole linkset.
Override physical property setting for BSLinksetCompound as there are
not children to the compound spape.

3 files changed, 59 insertions, 7 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index fff63e4..e0ccc50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -69,7 +69,7 @@ public class BSActorCollection
     {
         lock (m_actors)
         {
-            Release();
+            ForEachActor(a => a.Dispose());
             m_actors.Clear();
         }
     }
@@ -98,10 +98,6 @@ public class BSActorCollection
     {
         ForEachActor(a => a.SetEnabled(enabl));
     }
-    public void Release()
-    {
-        ForEachActor(a => a.Dispose());
-    }
     public void Refresh()
     {
         ForEachActor(a => a.Refresh());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 78c0af7..960c0b4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,14 +309,14 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia()
+    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
                     OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
-                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    member.Inertia = inertia * inertiaFactor;
                     m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
                 }
@@ -324,6 +324,26 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 3668456..33ae5a5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
     {
     }
 
+    // ================================================================
+    // Changing the physical property of the linkset only needs to change the root
+    public override void SetPhysicalFriction(float friction)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
+    }
+    public override void SetPhysicalRestitution(float restitution)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
+    }
+    public override void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
+    }
+    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    {
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        LinksetRoot.Inertia = inertia * inertiaFactor;
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
+    }
+    public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    // ================================================================
+
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     public override void Refresh(BSPrimLinkable requestor)