4 files changed, 96 insertions, 20 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index adf4aff..6e68695 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -134,7 +134,7 @@ public sealed class BSLinksetCompound : BSLinkset
     }
 
     // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in-physical world relationships, do nothing unless it's a child changing.
+    // Since we don't keep in world relationships, do nothing unless it's a child changing.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
     public override bool RemoveBodyDependencies(BSPrim child)
@@ -221,10 +221,12 @@ public sealed class BSLinksetCompound : BSLinkset
         DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
                         LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
 
+        // Add a shape for each of the other children in the linkset
         ForEachMember(delegate(BSPhysObject cPrim)
         {
             if (!IsRoot(cPrim))
             {
+                // Each child position and rotation is given relative to the root.
                 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
                 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
                 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
@@ -245,7 +247,7 @@ public sealed class BSLinksetCompound : BSLinkset
                 }
                 else
                 {
-                    // For the shared shapes (meshes and hulls) just use the shape in the child
+                    // For the shared shapes (meshes and hulls), just use the shape in the child.
                     if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
                     {
                         PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
@@ -254,10 +256,10 @@ public sealed class BSLinksetCompound : BSLinkset
                     BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
                 }
             }
-            return false;
+            return false;   // 'false' says to move onto the next child in the list
         });
 
-
+        // With all of the linkset packed into the root prim, it has the mass of everyone.
         float linksetMass = LinksetMass;
         LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 67a59ef..d2387fb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -294,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         float linksetMass = LinksetMass;
         LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
 
-            // DEBUG: see of inter-linkset collisions are causing problems
+        // DEBUG: see of inter-linkset collisions are causing problems
         // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
         //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index de35359..c2e0ef1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1472,7 +1472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes to get all the messages written out.
+        // Add the Flush() if debugging crashes. Gets all the messages written out.
         PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 662b19d..4a31c7d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -48,6 +48,7 @@ public sealed class BSShapeCollection : IDisposable
         public IntPtr ptr;
         public int referenceCount;
         public DateTime lastReferenced;
+        public UInt64 shapeKey;
     }
 
     // Description of a hull.
@@ -57,6 +58,7 @@ public sealed class BSShapeCollection : IDisposable
         public IntPtr ptr;
         public int referenceCount;
         public DateTime lastReferenced;
+        public UInt64 shapeKey;
     }
 
     // The sharable set of meshes and hulls. Indexed by their shape hash.
@@ -116,7 +118,7 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Track another user of a body
+    // Track another user of a body.
     // We presume the caller has allocated the body.
     // Bodies only have one user so the body is just put into the world if not already there.
     public void ReferenceBody(BulletBody body, bool inTaintTime)
@@ -146,13 +148,16 @@ public sealed class BSShapeCollection : IDisposable
         {
             PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
             {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
-                                            body.ID, body.ptr.ToString("X"), inTaintTime);
+                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
+                                            body.ID, body, inTaintTime);
                 // If the caller needs to know the old body is going away, pass the event up.
                 if (bodyCallback != null) bodyCallback(body);
 
-                // It may have already been removed from the world in which case the next is a NOOP.
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                if (BulletSimAPI.IsInWorld2(body.ptr))
+                {
+                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                    DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+                }
 
                 // Zero any reference to the shape so it is not freed when the body is deleted.
                 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
@@ -185,6 +190,7 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // This is a new reference to a mesh
                     meshDesc.ptr = shape.ptr;
+                    meshDesc.shapeKey = shape.shapeKey;
                     // We keep a reference to the underlying IMesh data so a hull can be built
                     meshDesc.referenceCount = 1;
                     DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
@@ -207,6 +213,7 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     // This is a new reference to a hull
                     hullDesc.ptr = shape.ptr;
+                    hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
                     DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
@@ -306,7 +313,7 @@ public sealed class BSShapeCollection : IDisposable
 
     // Remove a reference to a compound shape.
     // Taking a compound shape apart is a little tricky because if you just delete the
-    //      physical object, it will free all the underlying children. We can't do that because
+    //      physical shape, it will free all the underlying children. We can't do that because
     //      they could be shared. So, this removes each of the children from the compound and
     //      dereferences them separately before destroying the compound collision object itself.
     // Called at taint-time.
@@ -335,22 +342,53 @@ public sealed class BSShapeCollection : IDisposable
 
     // Sometimes we have a pointer to a collision shape but don't know what type it is.
     // Figure out type and call the correct dereference routine.
-    // This is coming from a compound shape that we created so we know it is either native or mesh.
     // Called at taint-time.
     private void DereferenceAnonCollisionShape(IntPtr cShape)
     {
-        BulletShape shapeInfo = new BulletShape(cShape, ShapeData.PhysicsShapeType.SHAPE_MESH);
-        if (BulletSimAPI.IsCompound2(cShape))
-            shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
+        MeshDesc meshDesc;
+        HullDesc hullDesc;
 
-        if (BulletSimAPI.IsNativeShape2(cShape))
+        BulletShape shapeInfo = new BulletShape(cShape);
+        if (TryGetMeshByPtr(cShape, out meshDesc))
+        {
+            shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH;
+            shapeInfo.shapeKey = meshDesc.shapeKey;
+        }
+        else
         {
-            shapeInfo.isNativeShape = true;
-            shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
+            if (TryGetHullByPtr(cShape, out hullDesc))
+            {
+                shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL;
+                shapeInfo.shapeKey = hullDesc.shapeKey;
+            }
+            else
+            {
+                if (BulletSimAPI.IsCompound2(cShape))
+                {
+                    shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
+                }
+                else
+                {
+                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    {
+                        shapeInfo.isNativeShape = true;
+                        shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
+                    }
+                }
+            }
         }
+
         DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
 
-        DereferenceShape(shapeInfo, true, null);
+        if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN)
+        {
+            DereferenceShape(shapeInfo, true, null);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
+                                    LogHeader, PhysicsScene.RegionName, cShape.ToString("X"));
+        }
     }
 
     // Create the geometry information in Bullet for later use.
@@ -913,6 +951,42 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    {
+        bool ret = false;
+        MeshDesc foundDesc = new MeshDesc();
+        foreach (MeshDesc md in Meshes.Values)
+        {
+            if (md.ptr == addr)
+            {
+                foundDesc = md;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
+    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    {
+        bool ret = false;
+        HullDesc foundDesc = new HullDesc();
+        foreach (HullDesc hd in Hulls.Values)
+        {
+            if (hd.ptr == addr)
+            {
+                foundDesc = hd;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
     private void DetailLog(string msg, params Object[] args)
     {
         if (PhysicsScene.PhysicsLogging.Enabled)