1 files changed, 74 insertions, 62 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 7219617..8b0fdeb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -36,11 +36,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public class BSActorLockAxis : BSActor
 {
-    bool TryExperimentalLockAxisCode = true;
     BSConstraint LockAxisConstraint = null;
 
     public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
-        : base(physicsScene, pObj,actorName)
+        : base(physicsScene, pObj, actorName)
     {
         m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
         LockAxisConstraint = null;
@@ -64,23 +63,18 @@ public class BSActorLockAxis : BSActor
     // BSActor.Refresh()
     public override void Refresh()
     {
-        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", 
-                                    m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
+        m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}",
+                                    m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive);
         // If all the axis are free, we don't need to exist
-        if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
+        if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree)
         {
-            m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName);
-            m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
-            return;
+            Enabled = false;
         }
+
         // If the object is physically active, add the axis locking constraint
-        if (Enabled
-                && m_controllingPrim.IsPhysicallyActive
-                && TryExperimentalLockAxisCode
-                && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree)
+        if (isActive)
         {
-            if (LockAxisConstraint == null)
-                AddAxisLockConstraint();
+            AddAxisLockConstraint();
         }
         else
         {
@@ -91,15 +85,15 @@ public class BSActorLockAxis : BSActor
     // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
     //     Register a prestep action to restore physical requirements before the next simulation step.
     // Called at taint-time.
-    // BSActor.RemoveBodyDependencies()
-    public override void RemoveBodyDependencies()
+    // BSActor.RemoveDependencies()
+    public override void RemoveDependencies()
     {
         if (LockAxisConstraint != null)
         {
             // If a constraint is set up, remove it from the physical scene
             RemoveAxisLockConstraint();
             // Schedule a call before the next simulation step to restore the constraint.
-            m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate()
+            m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate()
             {
                 Refresh();
             });
@@ -108,58 +102,76 @@ public class BSActorLockAxis : BSActor
 
     private void AddAxisLockConstraint()
     {
-        // Lock that axis by creating a 6DOF constraint that has one end in the world and
-        //    the other in the object.
-        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
-        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
-
-        // Remove any existing axis constraint (just to be sure)
-        RemoveAxisLockConstraint();
+        if (LockAxisConstraint == null)
+        {
+            // Lock that axis by creating a 6DOF constraint that has one end in the world and
+            //    the other in the object.
+            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
 
-        BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, 
-                            OMV.Vector3.Zero, OMV.Quaternion.Identity,
-                            false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
-        LockAxisConstraint = axisConstrainer;
-        m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
+            // Remove any existing axis constraint (just to be sure)
+            RemoveAxisLockConstraint();
 
-        // The constraint is tied to the world and oriented to the prim.
+            BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
+                                OMV.Vector3.Zero, OMV.Quaternion.Identity,
+                                false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+            LockAxisConstraint = axisConstrainer;
+            m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
 
-        // Free to move linearly in the region
-        OMV.Vector3 linearLow = OMV.Vector3.Zero;
-        OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
-        axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+            // The constraint is tied to the world and oriented to the prim.
 
-        // Angular with some axis locked
-        float fPI = (float)Math.PI;
-        OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
-        OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
-        if (m_controllingPrim.LockedAxis.X != 1f)
-        {
-            angularLow.X = 0f;
-            angularHigh.X = 0f;
-        }
-        if (m_controllingPrim.LockedAxis.Y != 1f)
-        {
-            angularLow.Y = 0f;
-            angularHigh.Y = 0f;
-        }
-        if (m_controllingPrim.LockedAxis.Z != 1f)
-        {
-            angularLow.Z = 0f;
-            angularHigh.Z = 0f;
-        }
-        if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
-        {
-            m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
-        }
+            // Free to move linearly in the region
+            OMV.Vector3 linearLow = OMV.Vector3.Zero;
+            OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
+            if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis)
+            {
+                linearLow.X = m_controllingPrim.RawPosition.X;
+                linearHigh.X = m_controllingPrim.RawPosition.X;
+            }
+            if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis)
+            {
+                linearLow.Y = m_controllingPrim.RawPosition.Y;
+                linearHigh.Y = m_controllingPrim.RawPosition.Y;
+            }
+            if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis)
+            {
+                linearLow.Z = m_controllingPrim.RawPosition.Z;
+                linearHigh.Z = m_controllingPrim.RawPosition.Z;
+            }
+            axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+
+            // Angular with some axis locked
+            float fPI = (float)Math.PI;
+            OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
+            OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
+            if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis)
+            {
+                angularLow.X = 0f;
+                angularHigh.X = 0f;
+            }
+            if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis)
+            {
+                angularLow.Y = 0f;
+                angularHigh.Y = 0f;
+            }
+            if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis)
+            {
+                angularLow.Z = 0f;
+                angularHigh.Z = 0f;
+            }
+            if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
+            {
+                m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
+            }
 
-        m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
-                                    m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+            m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+                                        m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
 
-        // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
-        axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
+            // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+            axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
 
-        axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
+            axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
+        }
     }
 
     private void RemoveAxisLockConstraint()