1 files changed, 300 insertions, 145 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 087b9bb..43b1262 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -34,16 +34,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public class BSLinkset
 {
-    private static string LogHeader = "[BULLETSIM LINKSET]";
+    // private static string LogHeader = "[BULLETSIM LINKSET]";
 
-    private BSPrim m_linksetRoot;
-    public BSPrim LinksetRoot { get { return m_linksetRoot; } }
+    public BSPhysObject LinksetRoot { get; protected set; }
 
-    private BSScene m_physicsScene;
-    public BSScene PhysicsScene { get { return m_physicsScene; } }
+    public BSScene PhysicsScene { get; private set; }
 
-    // The children under the root in this linkset
-    private List<BSPrim> m_children;
+    static int m_nextLinksetID = 1;
+    public int LinksetID { get; private set; }
+
+    // The children under the root in this linkset.
+    // There are two lists of children: the current children at runtime
+    //    and the children at taint-time. For instance, if you delink a
+    //    child from the linkset, the child is removed from m_children
+    //    but the constraint won't be removed until taint time.
+    //    Two lists lets this track the 'current' children and
+    //    the physical 'taint' children separately.
+    // After taint processing and before the simulation step, these
+    //    two lists must be the same.
+    private HashSet<BSPhysObject> m_children;
+    private HashSet<BSPhysObject> m_taintChildren;
 
     // We lock the diddling of linkset classes to prevent any badness.
     // This locks the modification of the instances of this class. Changes
@@ -52,9 +62,9 @@ public class BSLinkset
 
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
     private float m_mass;
-    public float LinksetMass 
-    { 
-        get 
+    public float LinksetMass
+    {
+        get
         {
             m_mass = ComputeLinksetMass();
             return m_mass;
@@ -71,23 +81,31 @@ public class BSLinkset
         get { return ComputeLinksetGeometricCenter(); }
     }
 
-    public BSLinkset(BSScene scene, BSPrim parent)
+    public BSLinkset(BSScene scene, BSPhysObject parent)
     {
         // A simple linkset of one (no children)
-        m_physicsScene = scene;
-        m_linksetRoot = parent;
-        m_children = new List<BSPrim>();
+        LinksetID = m_nextLinksetID++;
+        // We create LOTS of linksets.
+        if (m_nextLinksetID <= 0)
+            m_nextLinksetID = 1;
+        PhysicsScene = scene;
+        LinksetRoot = parent;
+        m_children = new HashSet<BSPhysObject>();
+        m_taintChildren = new HashSet<BSPhysObject>();
         m_mass = parent.MassRaw;
     }
 
     // Link to a linkset where the child knows the parent.
     // Parent changing should not happen so do some sanity checking.
     // We return the parent's linkset so the child can track its membership.
-    public BSLinkset AddMeToLinkset(BSPrim child)
+    // Called at runtime.
+    public BSLinkset AddMeToLinkset(BSPhysObject child)
     {
         lock (m_linksetActivityLock)
         {
-            AddChildToLinkset(child);
+            // Don't add the root to its own linkset
+            if (!IsRoot(child))
+                AddChildToLinkset(child);
         }
         return this;
     }
@@ -95,26 +113,18 @@ public class BSLinkset
     // Remove a child from a linkset.
     // Returns a new linkset for the child which is a linkset of one (just the
     //    orphened child).
-    public BSLinkset RemoveMeFromLinkset(BSPrim child)
+    // Called at runtime.
+    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
     {
         lock (m_linksetActivityLock)
         {
             if (IsRoot(child))
             {
-                // if root of linkset, take the linkset apart
-                while (m_children.Count > 0)
-                {
-                    // Note that we don't do a foreach because the remove routine
-                    //    takes it out of the list.
-                    RemoveChildFromOtherLinkset(m_children[0]);
-                }
-                m_children.Clear(); // just to make sure
-            }
-            else
-            {
-                // Just removing a child from an existing linkset
-                RemoveChildFromLinkset(child);
+                // Cannot remove the root from a linkset.
+                return this;
             }
+
+            RemoveChildFromLinkset(child);
         }
 
         // The child is down to a linkset of just itself
@@ -122,9 +132,9 @@ public class BSLinkset
     }
 
     // Return 'true' if the passed object is the root object of this linkset
-    public bool IsRoot(BSPrim requestor)
+    public bool IsRoot(BSPhysObject requestor)
     {
-        return (requestor.LocalID == m_linksetRoot.LocalID);
+        return (requestor.LocalID == LinksetRoot.LocalID);
     }
 
     public int NumberOfChildren { get { return m_children.Count; } }
@@ -133,12 +143,12 @@ public class BSLinkset
     public bool HasAnyChildren { get { return (m_children.Count > 0); } }
 
     // Return 'true' if this child is in this linkset
-    public bool HasChild(BSPrim child)
+    public bool HasChild(BSPhysObject child)
     {
         bool ret = false;
         lock (m_linksetActivityLock)
         {
-            foreach (BSPrim bp in m_children)
+            foreach (BSPhysObject bp in m_children)
             {
                 if (child.LocalID == bp.LocalID)
                 {
@@ -150,117 +160,204 @@ public class BSLinkset
         return ret;
     }
 
-    private float ComputeLinksetMass()
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // May be called at runtime or taint-time (just pass the appropriate flag).
+    public void Refresh(BSPhysObject requestor, bool inTaintTime)
+    {
+        // If there are no children, not physical or not root, I am not the one that recomputes the constraints
+        // (For the moment, static linksets do create constraints so remove the test for physical.)
+        if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
+            return;
+
+        BSScene.TaintCallback refreshOperation = delegate()
+            {
+                RecomputeLinksetConstraintVariables();
+                DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", 
+                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+            };
+        if (inTaintTime)
+            refreshOperation();
+        else
+            PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
+    }
+
+    // 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 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.
+    // Called at taint-time!
+    public bool MakeStatic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+
+    // If the software is handling the movement of all the objects in a linkset
+    // (like if one doesn't use constraints for static linksets), this is called
+    // when an update for the root of the linkset is received.
+    // Called at taint-time!!
+    public void UpdateProperties(BSPhysObject physObject)
     {
-        float mass = m_linksetRoot.MassRaw;
-        foreach (BSPrim bp in m_children)
+        // The root local properties have been updated. Apply to the children if appropriate.
+        if (IsRoot(physObject) && HasAnyChildren)
         {
-            mass += bp.MassRaw;
+            if (!physObject.IsPhysical)
+            {
+                // TODO: implement software linkset update for static object linksets
+            }
         }
-        return mass;
     }
 
-    private OMV.Vector3 ComputeLinksetCenterOfMass()
+    // Routine used when rebuilding the body of the root of the linkset
+    // Destroy all the constraints have have been made to root.
+    // This is called when the root body is changing.
+    // Returns 'true' of something eas actually removed and would need restoring
+    // Called at taint-time!!
+    public bool RemoveBodyDependencies(BSPrim child)
     {
-        OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
-        float totalMass = m_linksetRoot.MassRaw;
+        bool ret = false;
 
         lock (m_linksetActivityLock)
         {
-            foreach (BSPrim bp in m_children)
+            if (IsRoot(child))
             {
-                com += bp.Position * bp.MassRaw;
-                totalMass += bp.MassRaw;
+                // If the one with the dependency is root, must undo all children
+                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                                child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+
+                ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
+            }
+            else
+            {
+                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
+                                                child.LocalID,
+                                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
+                                                child.LocalID, child.BSBody.ptr.ToString("X"));
+                // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
+                // Despite the function name, this removes any link to the specified object.
+                ret = PhysicallyUnlinkAllChildrenFromRoot(child);
             }
-            if (totalMass != 0f)
-                com /= totalMass;
         }
-
-        return com;
+        return ret;
     }
 
-    private OMV.Vector3 ComputeLinksetGeometricCenter()
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public void RestoreBodyDependencies(BSPrim child)
     {
-        OMV.Vector3 com = m_linksetRoot.Position;
-
         lock (m_linksetActivityLock)
         {
-            foreach (BSPrim bp in m_children)
+            if (IsRoot(child))
             {
-                com += bp.Position * bp.MassRaw;
+                DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
+                                                child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
+                foreach (BSPhysObject bpo in m_taintChildren)
+                {
+                    PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
+                }
+            }
+            else
+            {
+                DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
+                                                LinksetRoot.LocalID,
+                                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
+                                                child.LocalID, child.BSBody.ptr.ToString("X"));
+                PhysicallyLinkAChildToRoot(LinksetRoot, child);
             }
-            com /= (m_children.Count + 1);
         }
-
-        return com;
     }
 
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    public void Refresh(BSPrim requestor)
+    // ================================================================
+    // Below this point is internal magic
+
+    private float ComputeLinksetMass()
     {
-        // If there are no children, there aren't any constraints to recompute
-        if (!HasAnyChildren)
-            return;
+        float mass;
+        lock (m_linksetActivityLock)
+        {
+            mass = LinksetRoot.MassRaw;
+            foreach (BSPhysObject bp in m_taintChildren)
+            {
+                mass += bp.MassRaw;
+            }
+        }
+        return mass;
+    }
 
-        // Only the root does the recomputation
-        if (IsRoot(requestor))
+    private OMV.Vector3 ComputeLinksetCenterOfMass()
+    {
+        OMV.Vector3 com;
+        lock (m_linksetActivityLock)
         {
-            PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
+            com = LinksetRoot.Position * LinksetRoot.MassRaw;
+            float totalMass = LinksetRoot.MassRaw;
+
+            foreach (BSPhysObject bp in m_taintChildren)
             {
-                RecomputeLinksetConstraintVariables();
-            });
+                com += bp.Position * bp.MassRaw;
+                totalMass += bp.MassRaw;
+            }
+            if (totalMass != 0f)
+                com /= totalMass;
         }
+
+        return com;
     }
 
-    // Call each of the constraints that make up this linkset and recompute the
-    //    various transforms and variables. Used when objects are added or removed
-    //    from a linkset to make sure the constraints know about the new mass and
-    //    geometry.
-    // Must only be called at taint time!!
-    private bool RecomputeLinksetConstraintVariables()
+    private OMV.Vector3 ComputeLinksetGeometricCenter()
     {
-        float linksetMass = LinksetMass;
+        OMV.Vector3 com;
         lock (m_linksetActivityLock)
         {
-            foreach (BSPrim child in m_children)
+            com = LinksetRoot.Position;
+
+            foreach (BSPhysObject bp in m_taintChildren)
             {
-                BSConstraint constrain;
-                if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain))
-                {
-                    // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", 
-                    //         LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
-                    constrain.RecomputeConstraintVariables(linksetMass);
-                }
-                else
-                {
-                    // Non-fatal error that can happen when children are being added to the linkset but
-                    //    their constraints have not been created yet.
-                    // Caused by the fact that m_children is built at run time but building constraints
-                    //    happens at taint time.
-                    // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}",
-                    //                                 m_linksetRoot.Body.ID, child.Body.ID);
-                }
+                com += bp.Position * bp.MassRaw;
             }
+            com /= (m_taintChildren.Count + 1);
         }
-        return false;
+
+        return com;
     }
 
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
-    private void AddChildToLinkset(BSPrim child)
+    private void AddChildToLinkset(BSPhysObject child)
     {
         if (!HasChild(child))
         {
             m_children.Add(child);
 
-            BSPrim rootx = LinksetRoot; // capture the root as of now
-            BSPrim childx = child;
-            m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
+            BSPhysObject rootx = LinksetRoot; // capture the root as of now
+            BSPhysObject childx = child;
+
+            DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+
+            PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
             {
-                // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
-                // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
-                PhysicallyLinkAChildToRoot(rootx, childx);     // build the physical binding between me and the child
+                DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", 
+                                rootx.LocalID,
+                                rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
+                                childx.LocalID, childx.BSBody.ptr.ToString("X"));
+                // Since this is taint-time, the body and shape could have changed for the child
+                rootx.ForcePosition = rootx.Position;   // DEBUG
+                childx.ForcePosition = childx.Position;   // DEBUG
+                PhysicallyLinkAChildToRoot(rootx, childx);
+                m_taintChildren.Add(child);
             });
         }
         return;
@@ -270,30 +367,34 @@ public class BSLinkset
     // This is not being called by the child so we have to make sure the child doesn't think
     //    it's still connected to the linkset.
     // Normal OpenSimulator operation will never do this because other SceneObjectPart information
-    //    has to be updated also (like pointer to prim's parent).
-    private void RemoveChildFromOtherLinkset(BSPrim pchild)
+    //    also has to be updated (like pointer to prim's parent).
+    private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
     {
-        pchild.Linkset = new BSLinkset(m_physicsScene, pchild);
+        pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
         RemoveChildFromLinkset(pchild);
     }
 
     // I am the root of a linkset and one of my children is being removed.
     // Safe to call even if the child is not really in my linkset.
-    private void RemoveChildFromLinkset(BSPrim child)
+    private void RemoveChildFromLinkset(BSPhysObject child)
     {
         if (m_children.Remove(child))
         {
-            BSPrim rootx = LinksetRoot; // capture the root as of now
-            BSPrim childx = child;
-            m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
-            {
-                // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
-                // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
+            BSPhysObject childx = child;
+
+            DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 
+                            childx.LocalID,
+                            rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
+                            childx.LocalID, childx.BSBody.ptr.ToString("X"));
 
+            PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
+            {
+                m_taintChildren.Remove(child);
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
+                RecomputeLinksetConstraintVariables();
             });
 
-            RecomputeLinksetConstraintVariables();
         }
         else
         {
@@ -305,7 +406,7 @@ public class BSLinkset
 
     // Create a constraint between me (root of linkset) and the passed prim (the child).
     // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim)
+    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
         // Zero motion for children so they don't interpolate
         childPrim.ZeroMotion();
@@ -317,21 +418,22 @@ public class BSLinkset
         // real world coordinate of midpoint between the two objects
         OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
 
+        DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+                                        rootPrim.LocalID,
+                                        rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+                                        childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
+                                        rootPrim.Position, childPrim.Position, midPoint);
+
         // create a constraint that allows no freedom of movement between the two objects
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
-        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 
-            rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
+
         BS6DofConstraint constrain = new BS6DofConstraint(
-                        m_physicsScene.World, rootPrim.Body, childPrim.Body,
-                        midPoint,
-                        true,
-                        true
-                        );
-        /* NOTE: attempt to build constraint with full frame computation, etc.
-         *     Using the midpoint is easier since it lets the Bullet code use the transforms
+                            PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
+
+        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
+         *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
          *     of the objects.
-         * Code left here as an example.
+         * Code left as a warning to future programmers.
         // ==================================================================================
         // relative position normalized to the root prim
         OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -343,8 +445,7 @@ public class BSLinkset
 
         // create a constraint that allows no freedom of movement between the two objects
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
-        DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+        DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
         BS6DofConstraint constrain = new BS6DofConstraint(
                         PhysicsScene.World, rootPrim.Body, childPrim.Body,
                         OMV.Vector3.Zero,
@@ -362,7 +463,7 @@ public class BSLinkset
         // ==================================================================================
         */
 
-        m_physicsScene.Constraints.AddConstraint(constrain);
+        PhysicsScene.Constraints.AddConstraint(constrain);
 
         // zero linear and angular limits makes the objects unable to move in relation to each other
         constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -374,46 +475,100 @@ public class BSLinkset
                         PhysicsScene.Params.linkConstraintTransMotorMaxVel,
                         PhysicsScene.Params.linkConstraintTransMotorMaxForce);
         constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
-
-        RecomputeLinksetConstraintVariables();
+        if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
+        {
+            constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
+        }
     }
 
     // Remove linkage between myself and a particular child
+    // The root and child bodies are passed in because we need to remove the constraint between
+    //      the bodies that were at unlink time.
     // Called at taint time!
-    private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim)
+    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
-        // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", 
-        //             LogHeader, rootPrim.LocalID, childPrim.LocalID);
-        DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+        bool ret = false;
+        DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
+                            rootPrim.LocalID,
+                            rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+                            childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
+        {
+            // Make the child refresh its location
+            BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+            ret = true;
+        }
 
-        // Make the child refresh its location
-        BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
+        return ret;
     }
 
-    // Remove linkage between myself and any possible children I might have
+    // Remove linkage between myself and any possible children I might have.
     // Called at taint time!
-    private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim)
+    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
     {
-        // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
-        DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+        DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+        bool ret = false;
 
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
+        {
+            ret = true;
+        }
+        return ret;
     }
 
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DebugLog(string msg, params Object[] args)
+    // Call each of the constraints that make up this linkset and recompute the
+    //    various transforms and variables. Used when objects are added or removed
+    //    from a linkset to make sure the constraints know about the new mass and
+    //    geometry.
+    // Must only be called at taint time!!
+    private void RecomputeLinksetConstraintVariables()
     {
-        if (m_physicsScene.ShouldDebugLog)
-            m_physicsScene.Logger.DebugFormat(msg, args);
+        float linksetMass = LinksetMass;
+        foreach (BSPhysObject child in m_taintChildren)
+        {
+            BSConstraint constrain;
+            if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
+            {
+                // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
+                //         LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
+                constrain.RecomputeConstraintVariables(linksetMass);
+            }
+            else
+            {
+                // Non-fatal error that happens when children are being added to the linkset but
+                //    their constraints have not been created yet.
+                break;
+            }
+        }
+
+        // If the whole linkset is not here, doesn't make sense to recompute linkset wide values
+        if (m_children.Count == m_taintChildren.Count)
+        {
+            // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
+            OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
+            BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, 
+                                centerOfMass, OMV.Quaternion.Identity);
+            DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
+                                LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
+            foreach (BSPhysObject child in m_taintChildren)
+            {
+                BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, 
+                                centerOfMass, OMV.Quaternion.Identity);
+            }
+
+            // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr);  // DEBUG DEBUG DEBUG
+        }
+        return;
     }
 
+
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        m_physicsScene.PhysicsLogging.Write(msg, args);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
     }
 
 }