1 files changed, 175 insertions, 172 deletions

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