4 files changed, 128 insertions, 11 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index b241059..9d8838b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -43,7 +43,9 @@ public enum ConstraintType : int
         SLIDER_CONSTRAINT_TYPE,
         CONTACT_CONSTRAINT_TYPE,
         D6_SPRING_CONSTRAINT_TYPE,
-        MAX_CONSTRAINT_TYPE
+        MAX_CONSTRAINT_TYPE,            // last type defined by Bullet
+    //
+    FIXED_CONSTRAINT_TYPE = 1234    // BulletSim constraint that is fixed and unmoving
 }
 
 // ===============================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index d4b1c1e..2058e3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -79,6 +79,8 @@ public abstract class BSLinkset
         }
         public virtual void ResetLink() { }
         public virtual void SetLinkParameters(BSConstraint constrain) { }
+        // Returns 'true' if physical property updates from the child should be reported to the simulator
+        public virtual bool ShouldUpdateChildProperties() { return false; }
     }
 
     public LinksetImplementation LinksetImpl { get; protected set; }
@@ -224,6 +226,21 @@ public abstract class BSLinkset
         return ret;
     }
 
+    // Check the type of the link and return 'true' if the link is flexible and the
+    //    updates from the child should be sent to the simulator so things change.
+    public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child)
+    {
+        bool ret = false;
+
+        BSLinkInfo linkInfo;
+        if (m_children.TryGetValue(child, out linkInfo))
+        {
+            ret = linkInfo.ShouldUpdateChildProperties();
+        }
+
+        return ret;
+    }
+
     // Called after a simulation step to post a collision with this object.
     // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
     //     anything to add for the collision and it should be passed through normal processing.
@@ -432,6 +449,13 @@ public abstract class BSLinkset
         return com;
     }
 
+    #region Extension
+    public virtual object Extension(string pFunct, params object[] pParams)
+    {
+        return null;
+    }
+    #endregion // Extension
+
     // Invoke the detailed logger and output something if it's enabled.
     protected void DetailLog(string msg, params Object[] args)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index db323c2..17fec9d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -60,8 +60,6 @@ public sealed class BSLinksetConstraints : BSLinkset
         public float springDamping;
         public float springStiffness;
 
-
-
         public BSLinkInfoConstraint(BSPrimLinkable pMember)
             : base(pMember)
         {
@@ -72,7 +70,8 @@ public sealed class BSLinksetConstraints : BSLinkset
         // Set all the parameters for this constraint to a fixed, non-movable constraint.
         public override void ResetLink()
         {
-            constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
+            // constraintType = ConstraintType.D6_CONSTRAINT_TYPE;
+            constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE;
             linearLimitLow = OMV.Vector3.Zero;
             linearLimitHigh = OMV.Vector3.Zero;
             angularLimitLow = OMV.Vector3.Zero;
@@ -97,6 +96,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         {
             switch (constraintType)
             {
+                case ConstraintType.FIXED_CONSTRAINT_TYPE:
                 case ConstraintType.D6_CONSTRAINT_TYPE:
                     BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
                     if (constrain6dof != null)
@@ -145,6 +145,20 @@ public sealed class BSLinksetConstraints : BSLinkset
                     break;
             }
         }
+
+        // Return 'true' if the property updates from the physics engine should be reported
+        //    to the simulator.
+        // If the constraint is fixed, we don't need to report as the simulator and viewer will
+        //    report the right things.
+        public override bool ShouldUpdateChildProperties()
+        {
+            bool ret = true;
+
+            if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE)
+                ret = false;
+
+            return ret;
+        }
     }
 
     public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
@@ -316,6 +330,7 @@ public sealed class BSLinksetConstraints : BSLinkset
 
         switch (linkInfo.constraintType)
         {
+            case ConstraintType.FIXED_CONSTRAINT_TYPE:
             case ConstraintType.D6_CONSTRAINT_TYPE:
                 // Relative position normalized to the root prim
                 // Essentually a vector pointing from center of rootPrim to center of li.member
@@ -466,5 +481,86 @@ public sealed class BSLinksetConstraints : BSLinkset
             Rebuilding = false;
         }
     }
+
+    #region Extension
+    public override object Extension(string pFunct, params object[] pParams)
+    {
+        object ret = null;
+        switch (pFunct)
+        {
+            // pParams = (int linkNUm, PhysActor linkChild)
+            case BSScene.PhysFunctChangeLinkFixed:
+                if (pParams.Length > 1)
+                {
+                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
+                    if (child != null)
+                    {
+                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
+                        {
+                            // Pick up all the constraints currently created.
+                            RemoveDependencies(child);
+
+                            BSLinkInfo linkInfo = null;
+                            if (m_children.TryGetValue(child, out linkInfo))
+                            {
+                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                                if (linkInfoC != null)
+                                {
+                                    // Setting to fixed is easy. The reset state is the fixed link configuration.
+                                    linkInfoC.ResetLink();
+                                    ret = (object)true;
+                                }
+                            }
+                            // Cause the whole linkset to be rebuilt in post-taint time.
+                            Refresh(child);
+                        });
+                    }
+                }
+                break;
+            case BSScene.PhysFunctChangeLinkSpring:
+                if (pParams.Length > 11)
+                {
+                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
+                    if (child != null)
+                    {
+                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
+                        {
+                            // Pick up all the constraints currently created.
+                            RemoveDependencies(child);
+
+                            BSLinkInfo linkInfo = null;
+                            if (m_children.TryGetValue(child, out linkInfo))
+                            {
+                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                                if (linkInfoC != null)
+                                {
+                                    // Start with a reset link definition
+                                    linkInfoC.ResetLink();
+                                    linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE;
+                                    linkInfoC.frameInAloc = (OMV.Vector3)pParams[2];
+                                    linkInfoC.frameInArot = (OMV.Quaternion)pParams[3];
+                                    linkInfoC.frameInBloc = (OMV.Vector3)pParams[4];
+                                    linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5];
+                                    linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6];
+                                    linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7];
+                                    linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8];
+                                    linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9];
+                                    ret = (object)true;
+                                }
+                            }
+                            // Cause the whole linkset to be rebuilt in post-taint time.
+                            Refresh(child);
+                        });
+                    }
+                }
+                break;
+            default:
+                ret = base.Extension(pFunct, pParams);
+                break;
+        }
+        return ret;
+    }
+    #endregion // Extension
+
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 77d8246..4c384a6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -179,7 +179,7 @@ public class BSPrimLinkable : BSPrimDisplaced
     // Do any filtering/modification needed for linksets.
     public override void UpdateProperties(EntityProperties entprop)
     {
-        if (Linkset.IsRoot(this))
+        if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
         {
             // Properties are only updated for the roots of a linkset.
             // TODO: this will have to change when linksets are articulated.
@@ -316,12 +316,7 @@ public class BSPrimLinkable : BSPrimDisplaced
             // Params: int linkNum, PhysActor linkedPrim
             case BSScene.PhysFunctChangeLinkFixed:
             {
-                if (pParams.Length > 1)
-                {
-                    int linkNum = (int)pParams[0];
-                    Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1];
-                    Linkset.Refresh(this);
-                }
+                Linkset.Extension(pFunct, pParams);
                 break;
             }
             default: