aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim
diff options
context:
space:
mode:
Diffstat (limited to '')
-rw-r--r--OpenSim/Data/MSSQL/MSSQLSimulationData.cs21
-rw-r--r--OpenSim/Data/MSSQL/Resources/RegionStore.migrations12
-rw-r--r--OpenSim/Data/MySQL/MySQLSimulationData.cs19
-rw-r--r--OpenSim/Data/MySQL/Resources/RegionStore.migrations2
-rw-r--r--OpenSim/Data/SQLite/Resources/RegionStore.migrations12
-rw-r--r--OpenSim/Data/SQLite/SQLiteSimulationData.cs18
-rw-r--r--OpenSim/Framework/PrimitiveBaseShape.cs11
-rwxr-xr-xOpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs171
-rw-r--r--OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs7
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs1
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs51
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs52
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs32
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs30
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs8
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs27
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs195
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs118
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs179
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs6
-rw-r--r--OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs2
22 files changed, 697 insertions, 279 deletions
diff --git a/OpenSim/Data/MSSQL/MSSQLSimulationData.cs b/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
index 276a190..476f57a 100644
--- a/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
+++ b/OpenSim/Data/MSSQL/MSSQLSimulationData.cs
@@ -351,7 +351,8 @@ IF EXISTS (SELECT UUID FROM prims WHERE UUID = @UUID)
351 ScriptAccessPin = @ScriptAccessPin, AllowedDrop = @AllowedDrop, DieAtEdge = @DieAtEdge, SalePrice = @SalePrice, 351 ScriptAccessPin = @ScriptAccessPin, AllowedDrop = @AllowedDrop, DieAtEdge = @DieAtEdge, SalePrice = @SalePrice,
352 SaleType = @SaleType, ColorR = @ColorR, ColorG = @ColorG, ColorB = @ColorB, ColorA = @ColorA, ParticleSystem = @ParticleSystem, 352 SaleType = @SaleType, ColorR = @ColorR, ColorG = @ColorG, ColorB = @ColorB, ColorA = @ColorA, ParticleSystem = @ParticleSystem,
353 ClickAction = @ClickAction, Material = @Material, CollisionSound = @CollisionSound, CollisionSoundVolume = @CollisionSoundVolume, PassTouches = @PassTouches, 353 ClickAction = @ClickAction, Material = @Material, CollisionSound = @CollisionSound, CollisionSoundVolume = @CollisionSoundVolume, PassTouches = @PassTouches,
354 LinkNumber = @LinkNumber, MediaURL = @MediaURL, DynAttrs = @DynAttrs 354 LinkNumber = @LinkNumber, MediaURL = @MediaURL, DynAttrs = @DynAttrs,
355 PhysicsShapeType = @PhysicsShapeType, Density = @Density, GravityModifier = @GravityModifier, Friction = @Friction, Restitution = @Restitution
355 WHERE UUID = @UUID 356 WHERE UUID = @UUID
356 END 357 END
357ELSE 358ELSE
@@ -366,7 +367,8 @@ ELSE
366 PayPrice, PayButton1, PayButton2, PayButton3, PayButton4, LoopedSound, LoopedSoundGain, TextureAnimation, OmegaX, 367 PayPrice, PayButton1, PayButton2, PayButton3, PayButton4, LoopedSound, LoopedSoundGain, TextureAnimation, OmegaX,
367 OmegaY, OmegaZ, CameraEyeOffsetX, CameraEyeOffsetY, CameraEyeOffsetZ, CameraAtOffsetX, CameraAtOffsetY, CameraAtOffsetZ, 368 OmegaY, OmegaZ, CameraEyeOffsetX, CameraEyeOffsetY, CameraEyeOffsetZ, CameraAtOffsetX, CameraAtOffsetY, CameraAtOffsetZ,
368 ForceMouselook, ScriptAccessPin, AllowedDrop, DieAtEdge, SalePrice, SaleType, ColorR, ColorG, ColorB, ColorA, 369 ForceMouselook, ScriptAccessPin, AllowedDrop, DieAtEdge, SalePrice, SaleType, ColorR, ColorG, ColorB, ColorA,
369 ParticleSystem, ClickAction, Material, CollisionSound, CollisionSoundVolume, PassTouches, LinkNumber, MediaURL, DynAttrs 370 ParticleSystem, ClickAction, Material, CollisionSound, CollisionSoundVolume, PassTouches, LinkNumber, MediaURL, DynAttrs,
371 PhysicsShapeType, Density, GravityModifier, Friction, Restitution
370 ) VALUES ( 372 ) VALUES (
371 @UUID, @CreationDate, @Name, @Text, @Description, @SitName, @TouchName, @ObjectFlags, @OwnerMask, @NextOwnerMask, @GroupMask, 373 @UUID, @CreationDate, @Name, @Text, @Description, @SitName, @TouchName, @ObjectFlags, @OwnerMask, @NextOwnerMask, @GroupMask,
372 @EveryoneMask, @BaseMask, @PositionX, @PositionY, @PositionZ, @GroupPositionX, @GroupPositionY, @GroupPositionZ, @VelocityX, 374 @EveryoneMask, @BaseMask, @PositionX, @PositionY, @PositionZ, @GroupPositionX, @GroupPositionY, @GroupPositionZ, @VelocityX,
@@ -376,7 +378,8 @@ ELSE
376 @PayPrice, @PayButton1, @PayButton2, @PayButton3, @PayButton4, @LoopedSound, @LoopedSoundGain, @TextureAnimation, @OmegaX, 378 @PayPrice, @PayButton1, @PayButton2, @PayButton3, @PayButton4, @LoopedSound, @LoopedSoundGain, @TextureAnimation, @OmegaX,
377 @OmegaY, @OmegaZ, @CameraEyeOffsetX, @CameraEyeOffsetY, @CameraEyeOffsetZ, @CameraAtOffsetX, @CameraAtOffsetY, @CameraAtOffsetZ, 379 @OmegaY, @OmegaZ, @CameraEyeOffsetX, @CameraEyeOffsetY, @CameraEyeOffsetZ, @CameraAtOffsetX, @CameraAtOffsetY, @CameraAtOffsetZ,
378 @ForceMouselook, @ScriptAccessPin, @AllowedDrop, @DieAtEdge, @SalePrice, @SaleType, @ColorR, @ColorG, @ColorB, @ColorA, 380 @ForceMouselook, @ScriptAccessPin, @AllowedDrop, @DieAtEdge, @SalePrice, @SaleType, @ColorR, @ColorG, @ColorB, @ColorA,
379 @ParticleSystem, @ClickAction, @Material, @CollisionSound, @CollisionSoundVolume, @PassTouches, @LinkNumber, @MediaURL, @DynAttrs 381 @ParticleSystem, @ClickAction, @Material, @CollisionSound, @CollisionSoundVolume, @PassTouches, @LinkNumber, @MediaURL, @DynAttrs,
382 @PhysicsShapeType, @Density, @GravityModifier, @Friction, @Restitution
380 ) 383 )
381 END"; 384 END";
382 385
@@ -1697,6 +1700,12 @@ VALUES
1697 else 1700 else
1698 prim.DynAttrs = new DAMap(); 1701 prim.DynAttrs = new DAMap();
1699 1702
1703 prim.PhysicsShapeType = Convert.ToByte(primRow["PhysicsShapeType"]);
1704 prim.Density = Convert.ToSingle(primRow["Density"]);
1705 prim.GravityModifier = Convert.ToSingle(primRow["GravityModifier"]);
1706 prim.Friction = Convert.ToSingle(primRow["Friction"]);
1707 prim.Restitution = Convert.ToSingle(primRow["Restitution"]);
1708
1700 return prim; 1709 return prim;
1701 } 1710 }
1702 1711
@@ -2095,6 +2104,12 @@ VALUES
2095 parameters.Add(_Database.CreateParameter("DynAttrs", prim.DynAttrs.ToXml())); 2104 parameters.Add(_Database.CreateParameter("DynAttrs", prim.DynAttrs.ToXml()));
2096 else 2105 else
2097 parameters.Add(_Database.CreateParameter("DynAttrs", null)); 2106 parameters.Add(_Database.CreateParameter("DynAttrs", null));
2107
2108 parameters.Add(_Database.CreateParameter("PhysicsShapeType", prim.PhysicsShapeType));
2109 parameters.Add(_Database.CreateParameter("Density", (double)prim.Density));
2110 parameters.Add(_Database.CreateParameter("GravityModifier", (double)prim.GravityModifier));
2111 parameters.Add(_Database.CreateParameter("Friction", (double)prim.Friction));
2112 parameters.Add(_Database.CreateParameter("Restitution", (double)prim.Restitution));
2098 2113
2099 return parameters.ToArray(); 2114 return parameters.ToArray();
2100 } 2115 }
diff --git a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
index 92cc38a..b84c2a4 100644
--- a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
+++ b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations
@@ -1156,3 +1156,15 @@ BEGIN TRANSACTION
1156ALTER TABLE prims ADD COLUMN DynAttrs TEXT; 1156ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
1157 1157
1158COMMIT 1158COMMIT
1159
1160:VERSION 39 #---------------- Extra physics params
1161
1162BEGIN TRANSACTION
1163
1164ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0';
1165ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000';
1166ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1';
1167ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
1168ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
1169
1170COMMIT
diff --git a/OpenSim/Data/MySQL/MySQLSimulationData.cs b/OpenSim/Data/MySQL/MySQLSimulationData.cs
index 1b02b4f..9cc6f40 100644
--- a/OpenSim/Data/MySQL/MySQLSimulationData.cs
+++ b/OpenSim/Data/MySQL/MySQLSimulationData.cs
@@ -173,9 +173,9 @@ namespace OpenSim.Data.MySQL
173 "ParticleSystem, ClickAction, Material, " + 173 "ParticleSystem, ClickAction, Material, " +
174 "CollisionSound, CollisionSoundVolume, " + 174 "CollisionSound, CollisionSoundVolume, " +
175 "PassTouches, " + 175 "PassTouches, " +
176 "LinkNumber, MediaURL, " + 176 "LinkNumber, MediaURL, DynAttrs, " +
177 "PhysicsShapeType, Density, GravityModifier, " + 177 "PhysicsShapeType, Density, GravityModifier, " +
178 "Friction, Restitution, DynAttrs " + 178 "Friction, Restitution " +
179 ") values (" + "?UUID, " + 179 ") values (" + "?UUID, " +
180 "?CreationDate, ?Name, ?Text, " + 180 "?CreationDate, ?Name, ?Text, " +
181 "?Description, ?SitName, ?TouchName, " + 181 "?Description, ?SitName, ?TouchName, " +
@@ -208,9 +208,9 @@ namespace OpenSim.Data.MySQL
208 "?ColorB, ?ColorA, ?ParticleSystem, " + 208 "?ColorB, ?ColorA, ?ParticleSystem, " +
209 "?ClickAction, ?Material, ?CollisionSound, " + 209 "?ClickAction, ?Material, ?CollisionSound, " +
210 "?CollisionSoundVolume, ?PassTouches, " + 210 "?CollisionSoundVolume, ?PassTouches, " +
211 "?LinkNumber, ?MediaURL, " + 211 "?LinkNumber, ?MediaURL, ?DynAttrs, " +
212 "?PhysicsShapeType, ?Density, ?GravityModifier, " + 212 "?PhysicsShapeType, ?Density, ?GravityModifier, " +
213 "?Friction, ?Restitution, ?DynAttrs)"; 213 "?Friction, ?Restitution)";
214 214
215 FillPrimCommand(cmd, prim, obj.UUID, regionUUID); 215 FillPrimCommand(cmd, prim, obj.UUID, regionUUID);
216 216
@@ -1659,16 +1659,17 @@ namespace OpenSim.Data.MySQL
1659 cmd.Parameters.AddWithValue("LinkNumber", prim.LinkNum); 1659 cmd.Parameters.AddWithValue("LinkNumber", prim.LinkNum);
1660 cmd.Parameters.AddWithValue("MediaURL", prim.MediaUrl); 1660 cmd.Parameters.AddWithValue("MediaURL", prim.MediaUrl);
1661 1661
1662 cmd.Parameters.AddWithValue("PhysicsShapeType", prim.PhysicsShapeType);
1663 cmd.Parameters.AddWithValue("Density", (double)prim.Density);
1664 cmd.Parameters.AddWithValue("GravityModifier", (double)prim.GravityModifier);
1665 cmd.Parameters.AddWithValue("Friction", (double)prim.Friction);
1666 cmd.Parameters.AddWithValue("Restitution", (double)prim.Restitution);
1667 1662
1668 if (prim.DynAttrs.Count > 0) 1663 if (prim.DynAttrs.Count > 0)
1669 cmd.Parameters.AddWithValue("DynAttrs", prim.DynAttrs.ToXml()); 1664 cmd.Parameters.AddWithValue("DynAttrs", prim.DynAttrs.ToXml());
1670 else 1665 else
1671 cmd.Parameters.AddWithValue("DynAttrs", null); 1666 cmd.Parameters.AddWithValue("DynAttrs", null);
1667
1668 cmd.Parameters.AddWithValue("PhysicsShapeType", prim.PhysicsShapeType);
1669 cmd.Parameters.AddWithValue("Density", (double)prim.Density);
1670 cmd.Parameters.AddWithValue("GravityModifier", (double)prim.GravityModifier);
1671 cmd.Parameters.AddWithValue("Friction", (double)prim.Friction);
1672 cmd.Parameters.AddWithValue("Restitution", (double)prim.Restitution);
1672 } 1673 }
1673 1674
1674 /// <summary> 1675 /// <summary>
diff --git a/OpenSim/Data/MySQL/Resources/RegionStore.migrations b/OpenSim/Data/MySQL/Resources/RegionStore.migrations
index 48cd60b..513c784 100644
--- a/OpenSim/Data/MySQL/Resources/RegionStore.migrations
+++ b/OpenSim/Data/MySQL/Resources/RegionStore.migrations
@@ -911,7 +911,7 @@ ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
911 911
912COMMIT; 912COMMIT;
913 913
914:VERSION 47 #---------------- Extra prim params 914:VERSION 47 #---------------- Extra physics params
915 915
916BEGIN; 916BEGIN;
917 917
diff --git a/OpenSim/Data/SQLite/Resources/RegionStore.migrations b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
index e583dc2..c6f4b48 100644
--- a/OpenSim/Data/SQLite/Resources/RegionStore.migrations
+++ b/OpenSim/Data/SQLite/Resources/RegionStore.migrations
@@ -580,3 +580,15 @@ COMMIT;
580BEGIN; 580BEGIN;
581ALTER TABLE prims ADD COLUMN DynAttrs TEXT; 581ALTER TABLE prims ADD COLUMN DynAttrs TEXT;
582COMMIT; 582COMMIT;
583
584:VERSION 28
585
586BEGIN;
587
588ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0';
589ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000';
590ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1';
591ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6';
592ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5';
593
594COMMIT;
diff --git a/OpenSim/Data/SQLite/SQLiteSimulationData.cs b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
index 91fc704..d4734a6 100644
--- a/OpenSim/Data/SQLite/SQLiteSimulationData.cs
+++ b/OpenSim/Data/SQLite/SQLiteSimulationData.cs
@@ -1235,6 +1235,12 @@ namespace OpenSim.Data.SQLite
1235 1235
1236 createCol(prims, "DynAttrs", typeof(String)); 1236 createCol(prims, "DynAttrs", typeof(String));
1237 1237
1238 createCol(prims, "PhysicsShapeType", typeof(Byte));
1239 createCol(prims, "Density", typeof(Double));
1240 createCol(prims, "GravityModifier", typeof(Double));
1241 createCol(prims, "Friction", typeof(Double));
1242 createCol(prims, "Restitution", typeof(Double));
1243
1238 // Add in contraints 1244 // Add in contraints
1239 prims.PrimaryKey = new DataColumn[] { prims.Columns["UUID"] }; 1245 prims.PrimaryKey = new DataColumn[] { prims.Columns["UUID"] };
1240 1246
@@ -1724,6 +1730,12 @@ namespace OpenSim.Data.SQLite
1724 prim.DynAttrs = new DAMap(); 1730 prim.DynAttrs = new DAMap();
1725 } 1731 }
1726 1732
1733 prim.PhysicsShapeType = Convert.ToByte(row["PhysicsShapeType"]);
1734 prim.Density = Convert.ToSingle(row["Density"]);
1735 prim.GravityModifier = Convert.ToSingle(row["GravityModifier"]);
1736 prim.Friction = Convert.ToSingle(row["Friction"]);
1737 prim.Restitution = Convert.ToSingle(row["Restitution"]);
1738
1727 return prim; 1739 return prim;
1728 } 1740 }
1729 1741
@@ -2150,6 +2162,12 @@ namespace OpenSim.Data.SQLite
2150 row["DynAttrs"] = prim.DynAttrs.ToXml(); 2162 row["DynAttrs"] = prim.DynAttrs.ToXml();
2151 else 2163 else
2152 row["DynAttrs"] = null; 2164 row["DynAttrs"] = null;
2165
2166 row["PhysicsShapeType"] = prim.PhysicsShapeType;
2167 row["Density"] = (double)prim.Density;
2168 row["GravityModifier"] = (double)prim.GravityModifier;
2169 row["Friction"] = (double)prim.Friction;
2170 row["Restitution"] = (double)prim.Restitution;
2153 } 2171 }
2154 2172
2155 /// <summary> 2173 /// <summary>
diff --git a/OpenSim/Framework/PrimitiveBaseShape.cs b/OpenSim/Framework/PrimitiveBaseShape.cs
index 4c36819..c1e1a4f 100644
--- a/OpenSim/Framework/PrimitiveBaseShape.cs
+++ b/OpenSim/Framework/PrimitiveBaseShape.cs
@@ -622,6 +622,8 @@ namespace OpenSim.Framework
622 } 622 }
623 } 623 }
624 624
625 // This is only used at runtime. For sculpties this holds the texture data, and for meshes
626 // the mesh data.
625 public byte[] SculptData 627 public byte[] SculptData
626 { 628 {
627 get 629 get
@@ -1147,14 +1149,13 @@ namespace OpenSim.Framework
1147 1149
1148 public void ReadSculptData(byte[] data, int pos) 1150 public void ReadSculptData(byte[] data, int pos)
1149 { 1151 {
1150 byte[] SculptTextureUUID = new byte[16]; 1152 UUID SculptUUID;
1151 UUID SculptUUID = UUID.Zero; 1153 byte SculptTypel;
1152 byte SculptTypel = data[16+pos];
1153 1154
1154 if (data.Length+pos >= 17) 1155 if (data.Length-pos >= 17)
1155 { 1156 {
1156 _sculptEntry = true; 1157 _sculptEntry = true;
1157 SculptTextureUUID = new byte[16]; 1158 byte[] SculptTextureUUID = new byte[16];
1158 SculptTypel = data[16 + pos]; 1159 SculptTypel = data[16 + pos];
1159 Array.Copy(data, pos, SculptTextureUUID,0, 16); 1160 Array.Copy(data, pos, SculptTextureUUID,0, 16);
1160 SculptUUID = new UUID(SculptTextureUUID, 0); 1161 SculptUUID = new UUID(SculptTextureUUID, 0);
diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
new file mode 100755
index 0000000..6009dc5
--- /dev/null
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -0,0 +1,171 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Linq;
30using System.Reflection;
31using System.Text;
32
33using OpenSim.Framework;
34using OpenSim.Region.Framework;
35using OpenSim.Region.Framework.Interfaces;
36using OpenSim.Region.Framework.Scenes;
37using OpenSim.Region.CoreModules;
38
39using Mono.Addins;
40using Nini.Config;
41using log4net;
42using OpenMetaverse;
43
44namespace OpenSim.Region.OptionalModules.Scripting
45{
46[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
47public class ExtendedPhysics : INonSharedRegionModule
48{
49 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
50 private static string LogHeader = "[EXTENDED PHYSICS]";
51
52 private IConfig Configuration { get; set; }
53 private bool Enabled { get; set; }
54 private Scene BaseScene { get; set; }
55 private IScriptModuleComms Comms { get; set; }
56
57 #region INonSharedRegionModule
58
59 public string Name { get { return this.GetType().Name; } }
60
61 public void Initialise(IConfigSource config)
62 {
63 BaseScene = null;
64 Enabled = false;
65 Configuration = null;
66 Comms = null;
67
68 try
69 {
70 if ((Configuration = config.Configs["ExtendedPhysics"]) != null)
71 {
72 Enabled = Configuration.GetBoolean("Enabled", Enabled);
73 }
74 }
75 catch (Exception e)
76 {
77 m_log.ErrorFormat("{0} Initialization error: {0}", LogHeader, e);
78 }
79
80 m_log.InfoFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
81 }
82
83 public void Close()
84 {
85 if (BaseScene != null)
86 {
87 BaseScene.EventManager.OnObjectAddedToScene -= EventManager_OnObjectAddedToScene;
88 BaseScene.EventManager.OnSceneObjectPartUpdated -= EventManager_OnSceneObjectPartUpdated;
89 BaseScene = null;
90 }
91 }
92
93 public void AddRegion(Scene scene)
94 {
95 }
96
97 public void RemoveRegion(Scene scene)
98 {
99 if (BaseScene != null && BaseScene == scene)
100 {
101 Close();
102 }
103 }
104
105 public void RegionLoaded(Scene scene)
106 {
107 if (!Enabled) return;
108
109 BaseScene = scene;
110
111 Comms = BaseScene.RequestModuleInterface<IScriptModuleComms>();
112 if (Comms == null)
113 {
114 m_log.WarnFormat("{0} ScriptModuleComms interface not defined", LogHeader);
115 Enabled = false;
116
117 return;
118 }
119
120 // Register as LSL functions all the [ScriptInvocation] marked methods.
121 Comms.RegisterScriptInvocations(this);
122
123 // When an object is modified, we might need to update its extended physics parameters
124 BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
125 BaseScene.EventManager.OnSceneObjectPartUpdated += EventManager_OnSceneObjectPartUpdated;
126
127 }
128
129 public Type ReplaceableInterface { get { return null; } }
130
131 #endregion // INonSharedRegionModule
132
133 private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
134 {
135 throw new NotImplementedException();
136 }
137
138 // Event generated when some property of a prim changes.
139 private void EventManager_OnSceneObjectPartUpdated(SceneObjectPart sop, bool isFullUpdate)
140 {
141 }
142
143 [ScriptConstant]
144 public static int PHYS_CENTER_OF_MASS = 1 << 0;
145
146 [ScriptConstant]
147 public static int PHYS_LINKSET_TYPE_CONSTRAINT = 1;
148 [ScriptConstant]
149 public static int PHYS_LINKSET_TYPE_COMPOUND = 2;
150 [ScriptConstant]
151 public static int PHYS_LINKSET_TYPE_MANUAL = 3;
152
153 [ScriptInvocation]
154 public string physGetEngineType(UUID hostID, UUID scriptID)
155 {
156 string ret = string.Empty;
157
158 if (BaseScene.PhysicsScene != null)
159 {
160 ret = BaseScene.PhysicsScene.EngineType;
161 }
162
163 return ret;
164 }
165
166 [ScriptInvocation]
167 public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
168 {
169 }
170}
171}
diff --git a/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
index ca88d1a..af97ac7 100644
--- a/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/JsonStore/Tests/JsonStoreScriptModuleTests.cs
@@ -144,8 +144,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
144 144
145 int dsrv = (int)InvokeOp("JsonDestroyStore", fakeStoreId); 145 int dsrv = (int)InvokeOp("JsonDestroyStore", fakeStoreId);
146 146
147 // XXX: Current returns 'true' even though no such store existed. Need to ask if this is best behaviour. 147 Assert.That(dsrv, Is.EqualTo(0));
148 Assert.That(dsrv, Is.EqualTo(1));
149 } 148 }
150 149
151 [Test] 150 [Test]
@@ -211,9 +210,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore.Tests
211 210
212 // Test remove of non-existing value 211 // Test remove of non-existing value
213 int fakeValueRemove = (int)InvokeOp("JsonRemoveValue", storeId, "Hello"); 212 int fakeValueRemove = (int)InvokeOp("JsonRemoveValue", storeId, "Hello");
214 213 Assert.That(fakeValueRemove, Is.EqualTo(0));
215 // XXX: Is this the best response to removing a value that isn't there?
216 Assert.That(fakeValueRemove, Is.EqualTo(1));
217 214
218 // Test get from non-existing store 215 // Test get from non-existing store
219 UUID fakeStoreId = TestHelpers.ParseTail(0x500); 216 UUID fakeStoreId = TestHelpers.ParseTail(0x500);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 5e06c1e..7ab86d2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -183,6 +183,7 @@ public struct ConfigurationParameters
183 public float shouldEnableFrictionCaching; 183 public float shouldEnableFrictionCaching;
184 public float numberOfSolverIterations; 184 public float numberOfSolverIterations;
185 public float useSingleSidedMeshes; 185 public float useSingleSidedMeshes;
186 public float globalContactBreakingThreshold;
186 187
187 public float physicsLoggingFrames; 188 public float physicsLoggingFrames;
188 189
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index d694a6a..f781aea 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -45,7 +45,6 @@ public sealed class BSCharacter : BSPhysObject
45 private bool _selected; 45 private bool _selected;
46 private OMV.Vector3 _position; 46 private OMV.Vector3 _position;
47 private float _mass; 47 private float _mass;
48 private float _avatarDensity;
49 private float _avatarVolume; 48 private float _avatarVolume;
50 private OMV.Vector3 _force; 49 private OMV.Vector3 _force;
51 private OMV.Vector3 _velocity; 50 private OMV.Vector3 _velocity;
@@ -63,9 +62,6 @@ public sealed class BSCharacter : BSPhysObject
63 private bool _kinematic; 62 private bool _kinematic;
64 private float _buoyancy; 63 private float _buoyancy;
65 64
66 // The friction and velocity of the avatar is modified depending on whether walking or not.
67 private float _currentFriction; // the friction currently being used (changed by setVelocity).
68
69 private BSVMotor _velocityMotor; 65 private BSVMotor _velocityMotor;
70 66
71 private OMV.Vector3 _PIDTarget; 67 private OMV.Vector3 _PIDTarget;
@@ -86,8 +82,8 @@ public sealed class BSCharacter : BSPhysObject
86 _orientation = OMV.Quaternion.Identity; 82 _orientation = OMV.Quaternion.Identity;
87 _velocity = OMV.Vector3.Zero; 83 _velocity = OMV.Vector3.Zero;
88 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 84 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
89 _currentFriction = BSParam.AvatarStandingFriction; 85 Friction = BSParam.AvatarStandingFriction;
90 _avatarDensity = BSParam.AvatarDensity; 86 Density = BSParam.AvatarDensity;
91 87
92 // Old versions of ScenePresence passed only the height. If width and/or depth are zero, 88 // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
93 // replace with the default values. 89 // replace with the default values.
@@ -104,7 +100,7 @@ public sealed class BSCharacter : BSPhysObject
104 SetupMovementMotor(); 100 SetupMovementMotor();
105 101
106 DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", 102 DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
107 LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); 103 LocalID, _size, Scale, Density, _avatarVolume, RawMass);
108 104
109 // do actual creation in taint time 105 // do actual creation in taint time
110 PhysicsScene.TaintedObject("BSCharacter.create", delegate() 106 PhysicsScene.TaintedObject("BSCharacter.create", delegate()
@@ -140,7 +136,7 @@ public sealed class BSCharacter : BSPhysObject
140 ZeroMotion(true); 136 ZeroMotion(true);
141 ForcePosition = _position; 137 ForcePosition = _position;
142 138
143 // Set the velocity and compute the proper friction 139 // Set the velocity
144 _velocityMotor.Reset(); 140 _velocityMotor.Reset();
145 _velocityMotor.SetTarget(_velocity); 141 _velocityMotor.SetTarget(_velocity);
146 _velocityMotor.SetCurrent(_velocity); 142 _velocityMotor.SetCurrent(_velocity);
@@ -214,35 +210,38 @@ public sealed class BSCharacter : BSPhysObject
214 _velocityMotor.Step(timeStep); 210 _velocityMotor.Step(timeStep);
215 211
216 // If we're not supposed to be moving, make sure things are zero. 212 // If we're not supposed to be moving, make sure things are zero.
217 if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding) 213 if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
218 { 214 {
219 // The avatar shouldn't be moving 215 // The avatar shouldn't be moving
220 _velocityMotor.Zero(); 216 _velocityMotor.Zero();
221 217
222 // If we are colliding with a stationary object, presume we're standing and don't move around 218 if (IsColliding)
223 if (!ColliderIsMoving)
224 { 219 {
225 DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); 220 // If we are colliding with a stationary object, presume we're standing and don't move around
226 ZeroMotion(true /* inTaintTime */); 221 if (!ColliderIsMoving)
227 } 222 {
223 DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
224 ZeroMotion(true /* inTaintTime */);
225 }
228 226
229 // Standing has more friction on the ground 227 // Standing has more friction on the ground
230 if (_currentFriction != BSParam.AvatarStandingFriction) 228 if (Friction != BSParam.AvatarStandingFriction)
231 { 229 {
232 _currentFriction = BSParam.AvatarStandingFriction; 230 Friction = BSParam.AvatarStandingFriction;
233 PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); 231 PhysicsScene.PE.SetFriction(PhysBody, Friction);
232 }
234 } 233 }
235 DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); 234 DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
236 } 235 }
237 else 236 else
238 { 237 {
239 OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; 238 OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
240 239
241 if (_currentFriction != BSParam.AvatarFriction) 240 if (Friction != BSParam.AvatarFriction)
242 { 241 {
243 // Probably starting up walking. Set friction to moving friction. 242 // Probably starting up walking. Set friction to moving friction.
244 _currentFriction = BSParam.AvatarFriction; 243 Friction = BSParam.AvatarFriction;
245 PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); 244 PhysicsScene.PE.SetFriction(PhysBody, Friction);
246 } 245 }
247 246
248 // If falling, we keep the world's downward vector no matter what the other axis specify. 247 // If falling, we keep the world's downward vector no matter what the other axis specify.
@@ -342,7 +341,7 @@ public sealed class BSCharacter : BSPhysObject
342 Scale = ComputeAvatarScale(_size); 341 Scale = ComputeAvatarScale(_size);
343 ComputeAvatarVolumeAndMass(); 342 ComputeAvatarVolumeAndMass();
344 DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", 343 DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
345 LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); 344 LocalID, _size, Scale, Density, _avatarVolume, RawMass);
346 345
347 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() 346 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
348 { 347 {
@@ -870,7 +869,7 @@ public sealed class BSCharacter : BSPhysObject
870 * Math.Min(Size.X, Size.Y) / 2 869 * Math.Min(Size.X, Size.Y) / 2
871 * Size.Y / 2f // plus the volume of the capsule end caps 870 * Size.Y / 2f // plus the volume of the capsule end caps
872 ); 871 );
873 _mass = _avatarDensity * _avatarVolume; 872 _mass = Density * _avatarVolume;
874 } 873 }
875 874
876 // The physics engine says that properties have updated. Update same and inform 875 // The physics engine says that properties have updated. Update same and inform
@@ -901,7 +900,7 @@ public sealed class BSCharacter : BSPhysObject
901 CurrentEntityProperties = entprop; 900 CurrentEntityProperties = entprop;
902 901
903 // Tell the linkset about value changes 902 // Tell the linkset about value changes
904 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); 903 // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
905 904
906 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 905 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
907 // base.RequestPhysicsterseUpdate(); 906 // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index b51e9fd..41d353a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -597,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
597 if (IsActive) 597 if (IsActive)
598 { 598 {
599 // Remember the mass so we don't have to fetch it every step 599 // Remember the mass so we don't have to fetch it every step
600 m_vehicleMass = Prim.Linkset.LinksetMass; 600 m_vehicleMass = Prim.TotalMass;
601 601
602 // Friction affects are handled by this vehicle code 602 // Friction affects are handled by this vehicle code
603 PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); 603 PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 1e3e5d8..e35311f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -52,7 +52,7 @@ public abstract class BSLinkset
52 Manual = 2 // linkset tied together manually (code moves all the pieces) 52 Manual = 2 // linkset tied together manually (code moves all the pieces)
53 } 53 }
54 // Create the correct type of linkset for this child 54 // Create the correct type of linkset for this child
55 public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) 55 public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
56 { 56 {
57 BSLinkset ret = null; 57 BSLinkset ret = null;
58 58
@@ -71,10 +71,14 @@ public abstract class BSLinkset
71 ret = new BSLinksetCompound(physScene, parent); 71 ret = new BSLinksetCompound(physScene, parent);
72 break; 72 break;
73 } 73 }
74 if (ret == null)
75 {
76 physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
77 }
74 return ret; 78 return ret;
75 } 79 }
76 80
77 public BSPhysObject LinksetRoot { get; protected set; } 81 public BSPrimLinkable LinksetRoot { get; protected set; }
78 82
79 public BSScene PhysicsScene { get; private set; } 83 public BSScene PhysicsScene { get; private set; }
80 84
@@ -82,7 +86,7 @@ public abstract class BSLinkset
82 public int LinksetID { get; private set; } 86 public int LinksetID { get; private set; }
83 87
84 // The children under the root in this linkset. 88 // The children under the root in this linkset.
85 protected HashSet<BSPhysObject> m_children; 89 protected HashSet<BSPrimLinkable> m_children;
86 90
87 // We lock the diddling of linkset classes to prevent any badness. 91 // We lock the diddling of linkset classes to prevent any badness.
88 // This locks the modification of the instances of this class. Changes 92 // This locks the modification of the instances of this class. Changes
@@ -91,7 +95,7 @@ public abstract class BSLinkset
91 95
92 // Some linksets have a preferred physical shape. 96 // Some linksets have a preferred physical shape.
93 // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. 97 // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
94 public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) 98 public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
95 { 99 {
96 return BSPhysicsShapeType.SHAPE_UNKNOWN; 100 return BSPhysicsShapeType.SHAPE_UNKNOWN;
97 } 101 }
@@ -111,7 +115,7 @@ public abstract class BSLinkset
111 get { return ComputeLinksetGeometricCenter(); } 115 get { return ComputeLinksetGeometricCenter(); }
112 } 116 }
113 117
114 protected BSLinkset(BSScene scene, BSPhysObject parent) 118 protected BSLinkset(BSScene scene, BSPrimLinkable parent)
115 { 119 {
116 // A simple linkset of one (no children) 120 // A simple linkset of one (no children)
117 LinksetID = m_nextLinksetID++; 121 LinksetID = m_nextLinksetID++;
@@ -120,7 +124,7 @@ public abstract class BSLinkset
120 m_nextLinksetID = 1; 124 m_nextLinksetID = 1;
121 PhysicsScene = scene; 125 PhysicsScene = scene;
122 LinksetRoot = parent; 126 LinksetRoot = parent;
123 m_children = new HashSet<BSPhysObject>(); 127 m_children = new HashSet<BSPrimLinkable>();
124 LinksetMass = parent.RawMass; 128 LinksetMass = parent.RawMass;
125 Rebuilding = false; 129 Rebuilding = false;
126 } 130 }
@@ -129,7 +133,7 @@ public abstract class BSLinkset
129 // Parent changing should not happen so do some sanity checking. 133 // Parent changing should not happen so do some sanity checking.
130 // We return the parent's linkset so the child can track its membership. 134 // We return the parent's linkset so the child can track its membership.
131 // Called at runtime. 135 // Called at runtime.
132 public BSLinkset AddMeToLinkset(BSPhysObject child) 136 public BSLinkset AddMeToLinkset(BSPrimLinkable child)
133 { 137 {
134 lock (m_linksetActivityLock) 138 lock (m_linksetActivityLock)
135 { 139 {
@@ -145,14 +149,13 @@ public abstract class BSLinkset
145 // Returns a new linkset for the child which is a linkset of one (just the 149 // Returns a new linkset for the child which is a linkset of one (just the
146 // orphened child). 150 // orphened child).
147 // Called at runtime. 151 // Called at runtime.
148 public BSLinkset RemoveMeFromLinkset(BSPhysObject child) 152 public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
149 { 153 {
150 lock (m_linksetActivityLock) 154 lock (m_linksetActivityLock)
151 { 155 {
152 if (IsRoot(child)) 156 if (IsRoot(child))
153 { 157 {
154 // Cannot remove the root from a linkset. 158 // Cannot remove the root from a linkset.
155 child.PositionDisplacement = OMV.Vector3.Zero;
156 return this; 159 return this;
157 } 160 }
158 RemoveChildFromLinkset(child); 161 RemoveChildFromLinkset(child);
@@ -160,12 +163,11 @@ public abstract class BSLinkset
160 } 163 }
161 164
162 // The child is down to a linkset of just itself 165 // The child is down to a linkset of just itself
163 child.PositionDisplacement = OMV.Vector3.Zero;
164 return BSLinkset.Factory(PhysicsScene, child); 166 return BSLinkset.Factory(PhysicsScene, child);
165 } 167 }
166 168
167 // Return 'true' if the passed object is the root object of this linkset 169 // Return 'true' if the passed object is the root object of this linkset
168 public bool IsRoot(BSPhysObject requestor) 170 public bool IsRoot(BSPrimLinkable requestor)
169 { 171 {
170 return (requestor.LocalID == LinksetRoot.LocalID); 172 return (requestor.LocalID == LinksetRoot.LocalID);
171 } 173 }
@@ -176,14 +178,14 @@ public abstract class BSLinkset
176 public bool HasAnyChildren { get { return (m_children.Count > 0); } } 178 public bool HasAnyChildren { get { return (m_children.Count > 0); } }
177 179
178 // Return 'true' if this child is in this linkset 180 // Return 'true' if this child is in this linkset
179 public bool HasChild(BSPhysObject child) 181 public bool HasChild(BSPrimLinkable child)
180 { 182 {
181 bool ret = false; 183 bool ret = false;
182 lock (m_linksetActivityLock) 184 lock (m_linksetActivityLock)
183 { 185 {
184 ret = m_children.Contains(child); 186 ret = m_children.Contains(child);
185 /* Safer version but the above should work 187 /* Safer version but the above should work
186 foreach (BSPhysObject bp in m_children) 188 foreach (BSPrimLinkable bp in m_children)
187 { 189 {
188 if (child.LocalID == bp.LocalID) 190 if (child.LocalID == bp.LocalID)
189 { 191 {
@@ -198,14 +200,14 @@ public abstract class BSLinkset
198 200
199 // Perform an action on each member of the linkset including root prim. 201 // Perform an action on each member of the linkset including root prim.
200 // Depends on the action on whether this should be done at taint time. 202 // Depends on the action on whether this should be done at taint time.
201 public delegate bool ForEachMemberAction(BSPhysObject obj); 203 public delegate bool ForEachMemberAction(BSPrimLinkable obj);
202 public virtual bool ForEachMember(ForEachMemberAction action) 204 public virtual bool ForEachMember(ForEachMemberAction action)
203 { 205 {
204 bool ret = false; 206 bool ret = false;
205 lock (m_linksetActivityLock) 207 lock (m_linksetActivityLock)
206 { 208 {
207 action(LinksetRoot); 209 action(LinksetRoot);
208 foreach (BSPhysObject po in m_children) 210 foreach (BSPrimLinkable po in m_children)
209 { 211 {
210 if (action(po)) 212 if (action(po))
211 break; 213 break;
@@ -216,16 +218,16 @@ public abstract class BSLinkset
216 218
217 // I am the root of a linkset and a new child is being added 219 // I am the root of a linkset and a new child is being added
218 // Called while LinkActivity is locked. 220 // Called while LinkActivity is locked.
219 protected abstract void AddChildToLinkset(BSPhysObject child); 221 protected abstract void AddChildToLinkset(BSPrimLinkable child);
220 222
221 // I am the root of a linkset and one of my children is being removed. 223 // I am the root of a linkset and one of my children is being removed.
222 // Safe to call even if the child is not really in my linkset. 224 // Safe to call even if the child is not really in my linkset.
223 protected abstract void RemoveChildFromLinkset(BSPhysObject child); 225 protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
224 226
225 // When physical properties are changed the linkset needs to recalculate 227 // When physical properties are changed the linkset needs to recalculate
226 // its internal properties. 228 // its internal properties.
227 // May be called at runtime or taint-time. 229 // May be called at runtime or taint-time.
228 public virtual void Refresh(BSPhysObject requestor) 230 public virtual void Refresh(BSPrimLinkable requestor)
229 { 231 {
230 LinksetMass = ComputeLinksetMass(); 232 LinksetMass = ComputeLinksetMass();
231 } 233 }
@@ -240,26 +242,26 @@ public abstract class BSLinkset
240 // has not yet been fully constructed. 242 // has not yet been fully constructed.
241 // Return 'true' if any properties updated on the passed object. 243 // Return 'true' if any properties updated on the passed object.
242 // Called at taint-time! 244 // Called at taint-time!
243 public abstract bool MakeDynamic(BSPhysObject child); 245 public abstract bool MakeDynamic(BSPrimLinkable child);
244 246
245 // The object is going static (non-physical). Do any setup necessary 247 // The object is going static (non-physical). Do any setup necessary
246 // for a static linkset. 248 // for a static linkset.
247 // Return 'true' if any properties updated on the passed object. 249 // Return 'true' if any properties updated on the passed object.
248 // Called at taint-time! 250 // Called at taint-time!
249 public abstract bool MakeStatic(BSPhysObject child); 251 public abstract bool MakeStatic(BSPrimLinkable child);
250 252
251 // Called when a parameter update comes from the physics engine for any object 253 // Called when a parameter update comes from the physics engine for any object
252 // of the linkset is received. 254 // of the linkset is received.
253 // Passed flag is update came from physics engine (true) or the user (false). 255 // Passed flag is update came from physics engine (true) or the user (false).
254 // Called at taint-time!! 256 // Called at taint-time!!
255 public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); 257 public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
256 258
257 // Routine used when rebuilding the body of the root of the linkset 259 // Routine used when rebuilding the body of the root of the linkset
258 // Destroy all the constraints have have been made to root. 260 // Destroy all the constraints have have been made to root.
259 // This is called when the root body is changing. 261 // This is called when the root body is changing.
260 // Returns 'true' of something was actually removed and would need restoring 262 // Returns 'true' of something was actually removed and would need restoring
261 // Called at taint-time!! 263 // Called at taint-time!!
262 public abstract bool RemoveBodyDependencies(BSPrim child); 264 public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
263 265
264 // ================================================================ 266 // ================================================================
265 protected virtual float ComputeLinksetMass() 267 protected virtual float ComputeLinksetMass()
@@ -269,7 +271,7 @@ public abstract class BSLinkset
269 { 271 {
270 lock (m_linksetActivityLock) 272 lock (m_linksetActivityLock)
271 { 273 {
272 foreach (BSPhysObject bp in m_children) 274 foreach (BSPrimLinkable bp in m_children)
273 { 275 {
274 mass += bp.RawMass; 276 mass += bp.RawMass;
275 } 277 }
@@ -286,7 +288,7 @@ public abstract class BSLinkset
286 com = LinksetRoot.Position * LinksetRoot.RawMass; 288 com = LinksetRoot.Position * LinksetRoot.RawMass;
287 float totalMass = LinksetRoot.RawMass; 289 float totalMass = LinksetRoot.RawMass;
288 290
289 foreach (BSPhysObject bp in m_children) 291 foreach (BSPrimLinkable bp in m_children)
290 { 292 {
291 com += bp.Position * bp.RawMass; 293 com += bp.Position * bp.RawMass;
292 totalMass += bp.RawMass; 294 totalMass += bp.RawMass;
@@ -305,7 +307,7 @@ public abstract class BSLinkset
305 { 307 {
306 com = LinksetRoot.Position; 308 com = LinksetRoot.Position;
307 309
308 foreach (BSPhysObject bp in m_children) 310 foreach (BSPrimLinkable bp in m_children)
309 { 311 {
310 com += bp.Position; 312 com += bp.Position;
311 } 313 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 0c4db40..36bae9b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -52,7 +52,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
52 OffsetRot = r; 52 OffsetRot = r;
53 } 53 }
54 // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) 54 // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
55 public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement) 55 public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
56 { 56 {
57 // Each child position and rotation is given relative to the center-of-mass. 57 // Each child position and rotation is given relative to the center-of-mass.
58 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); 58 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
@@ -93,12 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset
93{ 93{
94 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; 94 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
95 95
96 public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) 96 public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
97 { 97 {
98 } 98 }
99 99
100 // For compound implimented linksets, if there are children, use compound shape for the root. 100 // For compound implimented linksets, if there are children, use compound shape for the root.
101 public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) 101 public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
102 { 102 {
103 // Returning 'unknown' means we don't have a preference. 103 // Returning 'unknown' means we don't have a preference.
104 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; 104 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
@@ -112,7 +112,7 @@ public sealed class BSLinksetCompound : BSLinkset
112 112
113 // When physical properties are changed the linkset needs to recalculate 113 // When physical properties are changed the linkset needs to recalculate
114 // its internal properties. 114 // its internal properties.
115 public override void Refresh(BSPhysObject requestor) 115 public override void Refresh(BSPrimLinkable requestor)
116 { 116 {
117 base.Refresh(requestor); 117 base.Refresh(requestor);
118 118
@@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset
121 } 121 }
122 122
123 // Schedule a refresh to happen after all the other taint processing. 123 // Schedule a refresh to happen after all the other taint processing.
124 private void ScheduleRebuild(BSPhysObject requestor) 124 private void ScheduleRebuild(BSPrimLinkable requestor)
125 { 125 {
126 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", 126 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
127 requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); 127 requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
@@ -143,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset
143 // has not yet been fully constructed. 143 // has not yet been fully constructed.
144 // Return 'true' if any properties updated on the passed object. 144 // Return 'true' if any properties updated on the passed object.
145 // Called at taint-time! 145 // Called at taint-time!
146 public override bool MakeDynamic(BSPhysObject child) 146 public override bool MakeDynamic(BSPrimLinkable child)
147 { 147 {
148 bool ret = false; 148 bool ret = false;
149 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 149 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
@@ -173,7 +173,7 @@ public sealed class BSLinksetCompound : BSLinkset
173 // This doesn't normally happen -- OpenSim removes the objects from the physical 173 // This doesn't normally happen -- OpenSim removes the objects from the physical
174 // world if it is a static linkset. 174 // world if it is a static linkset.
175 // Called at taint-time! 175 // Called at taint-time!
176 public override bool MakeStatic(BSPhysObject child) 176 public override bool MakeStatic(BSPrimLinkable child)
177 { 177 {
178 bool ret = false; 178 bool ret = false;
179 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 179 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
@@ -197,7 +197,7 @@ public sealed class BSLinksetCompound : BSLinkset
197 197
198 // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. 198 // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
199 // Called at taint-time. 199 // Called at taint-time.
200 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated) 200 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
201 { 201 {
202 // The user moving a child around requires the rebuilding of the linkset compound shape 202 // The user moving a child around requires the rebuilding of the linkset compound shape
203 // One problem is this happens when a border is crossed -- the simulator implementation 203 // One problem is this happens when a border is crossed -- the simulator implementation
@@ -222,7 +222,7 @@ public sealed class BSLinksetCompound : BSLinkset
222 if (lsi != null) 222 if (lsi != null)
223 { 223 {
224 // Since the child moved or rotationed, it needs a new relative position within the linkset 224 // Since the child moved or rotationed, it needs a new relative position within the linkset
225 BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); 225 BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero);
226 updated.LinksetInfo = newLsi; 226 updated.LinksetInfo = newLsi;
227 227
228 // Find the physical instance of the child 228 // Find the physical instance of the child
@@ -291,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset
291 // Since we don't keep in world relationships, do nothing unless it's a child changing. 291 // Since we don't keep in world relationships, do nothing unless it's a child changing.
292 // Returns 'true' of something was actually removed and would need restoring 292 // Returns 'true' of something was actually removed and would need restoring
293 // Called at taint-time!! 293 // Called at taint-time!!
294 public override bool RemoveBodyDependencies(BSPrim child) 294 public override bool RemoveBodyDependencies(BSPrimLinkable child)
295 { 295 {
296 bool ret = false; 296 bool ret = false;
297 297
@@ -316,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset
316 // When the linkset is built, the child shape is added to the compound shape relative to the 316 // When the linkset is built, the child shape is added to the compound shape relative to the
317 // root shape. The linkset then moves around but this does not move the actual child 317 // root shape. The linkset then moves around but this does not move the actual child
318 // prim. The child prim's location must be recomputed based on the location of the root shape. 318 // prim. The child prim's location must be recomputed based on the location of the root shape.
319 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) 319 private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
320 { 320 {
321 // For the moment (20130201), disable this computation (converting the child physical addr back to 321 // For the moment (20130201), disable this computation (converting the child physical addr back to
322 // a region address) until we have a good handle on center-of-mass offsets and what the physics 322 // a region address) until we have a good handle on center-of-mass offsets and what the physics
@@ -361,7 +361,7 @@ public sealed class BSLinksetCompound : BSLinkset
361 361
362 // Add a new child to the linkset. 362 // Add a new child to the linkset.
363 // Called while LinkActivity is locked. 363 // Called while LinkActivity is locked.
364 protected override void AddChildToLinkset(BSPhysObject child) 364 protected override void AddChildToLinkset(BSPrimLinkable child)
365 { 365 {
366 if (!HasChild(child)) 366 if (!HasChild(child))
367 { 367 {
@@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
377 377
378 // Remove the specified child from the linkset. 378 // Remove the specified child from the linkset.
379 // Safe to call even if the child is not really in the linkset. 379 // Safe to call even if the child is not really in the linkset.
380 protected override void RemoveChildFromLinkset(BSPhysObject child) 380 protected override void RemoveChildFromLinkset(BSPrimLinkable child)
381 { 381 {
382 if (m_children.Remove(child)) 382 if (m_children.Remove(child))
383 { 383 {
@@ -429,7 +429,7 @@ public sealed class BSLinksetCompound : BSLinkset
429 if (disableCOM) // DEBUG DEBUG 429 if (disableCOM) // DEBUG DEBUG
430 { // DEBUG DEBUG 430 { // DEBUG DEBUG
431 centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG 431 centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
432 LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; 432 // LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
433 } // DEBUG DEBUG 433 } // DEBUG DEBUG
434 else 434 else
435 { 435 {
@@ -438,7 +438,7 @@ public sealed class BSLinksetCompound : BSLinkset
438 centerDisplacement = LinksetRoot.RawPosition - centerOfMass; 438 centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
439 439
440 // Since we're displacing the center of the shape, we need to move the body in the world 440 // Since we're displacing the center of the shape, we need to move the body in the world
441 LinksetRoot.PositionDisplacement = centerDisplacement; 441 // LinksetRoot.PositionDisplacement = centerDisplacement;
442 442
443 // This causes the root prim position to be set properly based on the new PositionDisplacement 443 // This causes the root prim position to be set properly based on the new PositionDisplacement
444 LinksetRoot.ForcePosition = LinksetRoot.RawPosition; 444 LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
@@ -453,7 +453,7 @@ public sealed class BSLinksetCompound : BSLinkset
453 453
454 // Add a shape for each of the other children in the linkset 454 // Add a shape for each of the other children in the linkset
455 int memberIndex = 1; 455 int memberIndex = 1;
456 ForEachMember(delegate(BSPhysObject cPrim) 456 ForEachMember(delegate(BSPrimLinkable cPrim)
457 { 457 {
458 if (!IsRoot(cPrim)) 458 if (!IsRoot(cPrim))
459 { 459 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 3011465..cc814d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset
36{ 36{
37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; 37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
38 38
39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) 39 public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
40 { 40 {
41 } 41 }
42 42
@@ -44,7 +44,7 @@ public sealed class BSLinksetConstraints : BSLinkset
44 // its internal properties. 44 // its internal properties.
45 // This is queued in the 'post taint' queue so the 45 // This is queued in the 'post taint' queue so the
46 // refresh will happen once after all the other taints are applied. 46 // refresh will happen once after all the other taints are applied.
47 public override void Refresh(BSPhysObject requestor) 47 public override void Refresh(BSPrimLinkable requestor)
48 { 48 {
49 base.Refresh(requestor); 49 base.Refresh(requestor);
50 50
@@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset
65 // has not yet been fully constructed. 65 // has not yet been fully constructed.
66 // Return 'true' if any properties updated on the passed object. 66 // Return 'true' if any properties updated on the passed object.
67 // Called at taint-time! 67 // Called at taint-time!
68 public override bool MakeDynamic(BSPhysObject child) 68 public override bool MakeDynamic(BSPrimLinkable child)
69 { 69 {
70 // What is done for each object in BSPrim is what we want. 70 // What is done for each object in BSPrim is what we want.
71 return false; 71 return false;
@@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset
76 // This doesn't normally happen -- OpenSim removes the objects from the physical 76 // This doesn't normally happen -- OpenSim removes the objects from the physical
77 // world if it is a static linkset. 77 // world if it is a static linkset.
78 // Called at taint-time! 78 // Called at taint-time!
79 public override bool MakeStatic(BSPhysObject child) 79 public override bool MakeStatic(BSPrimLinkable child)
80 { 80 {
81 // What is done for each object in BSPrim is what we want. 81 // What is done for each object in BSPrim is what we want.
82 return false; 82 return false;
83 } 83 }
84 84
85 // Called at taint-time!! 85 // Called at taint-time!!
86 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) 86 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
87 { 87 {
88 // Nothing to do for constraints on property updates 88 // Nothing to do for constraints on property updates
89 } 89 }
@@ -93,7 +93,7 @@ public sealed class BSLinksetConstraints : BSLinkset
93 // up to rebuild the constraints before the next simulation step. 93 // up to rebuild the constraints before the next simulation step.
94 // Returns 'true' of something was actually removed and would need restoring 94 // Returns 'true' of something was actually removed and would need restoring
95 // Called at taint-time!! 95 // Called at taint-time!!
96 public override bool RemoveBodyDependencies(BSPrim child) 96 public override bool RemoveBodyDependencies(BSPrimLinkable child)
97 { 97 {
98 bool ret = false; 98 bool ret = false;
99 99
@@ -114,7 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset
114 114
115 // Add a new child to the linkset. 115 // Add a new child to the linkset.
116 // Called while LinkActivity is locked. 116 // Called while LinkActivity is locked.
117 protected override void AddChildToLinkset(BSPhysObject child) 117 protected override void AddChildToLinkset(BSPrimLinkable child)
118 { 118 {
119 if (!HasChild(child)) 119 if (!HasChild(child))
120 { 120 {
@@ -130,12 +130,12 @@ public sealed class BSLinksetConstraints : BSLinkset
130 130
131 // Remove the specified child from the linkset. 131 // Remove the specified child from the linkset.
132 // Safe to call even if the child is not really in my linkset. 132 // Safe to call even if the child is not really in my linkset.
133 protected override void RemoveChildFromLinkset(BSPhysObject child) 133 protected override void RemoveChildFromLinkset(BSPrimLinkable child)
134 { 134 {
135 if (m_children.Remove(child)) 135 if (m_children.Remove(child))
136 { 136 {
137 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now 137 BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
138 BSPhysObject childx = child; 138 BSPrimLinkable childx = child;
139 139
140 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 140 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
141 childx.LocalID, 141 childx.LocalID,
@@ -159,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset
159 159
160 // Create a constraint between me (root of linkset) and the passed prim (the child). 160 // Create a constraint between me (root of linkset) and the passed prim (the child).
161 // Called at taint time! 161 // Called at taint time!
162 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) 162 private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
163 { 163 {
164 // Don't build the constraint when asked. Put it off until just before the simulation step. 164 // Don't build the constraint when asked. Put it off until just before the simulation step.
165 Refresh(rootPrim); 165 Refresh(rootPrim);
166 } 166 }
167 167
168 private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) 168 private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
169 { 169 {
170 // Zero motion for children so they don't interpolate 170 // Zero motion for children so they don't interpolate
171 childPrim.ZeroMotion(true); 171 childPrim.ZeroMotion(true);
@@ -239,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset
239 // The root and child bodies are passed in because we need to remove the constraint between 239 // The root and child bodies are passed in because we need to remove the constraint between
240 // the bodies that were present at unlink time. 240 // the bodies that were present at unlink time.
241 // Called at taint time! 241 // Called at taint time!
242 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) 242 private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
243 { 243 {
244 bool ret = false; 244 bool ret = false;
245 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", 245 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
@@ -261,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset
261 // Remove linkage between myself and any possible children I might have. 261 // Remove linkage between myself and any possible children I might have.
262 // Returns 'true' of any constraints were destroyed. 262 // Returns 'true' of any constraints were destroyed.
263 // Called at taint time! 263 // Called at taint time!
264 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) 264 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
265 { 265 {
266 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 266 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
267 267
@@ -281,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
281 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", 281 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
282 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); 282 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
283 283
284 foreach (BSPhysObject child in m_children) 284 foreach (BSPrimLinkable child in m_children)
285 { 285 {
286 // A child in the linkset physically shows the mass of the whole linkset. 286 // A child in the linkset physically shows the mass of the whole linkset.
287 // This allows Bullet to apply enough force on the child to move the whole linkset. 287 // This allows Bullet to apply enough force on the child to move the whole linkset.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 601c78c..3e0b4bc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -87,6 +87,7 @@ public static class BSParam
87 public static float NumberOfSolverIterations; 87 public static float NumberOfSolverIterations;
88 public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } 88 public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } }
89 public static float UseSingleSidedMeshesF; 89 public static float UseSingleSidedMeshesF;
90 public static float GlobalContactBreakingThreshold;
90 91
91 // Avatar parameters 92 // Avatar parameters
92 public static float AvatarFriction { get; private set; } 93 public static float AvatarFriction { get; private set; }
@@ -424,7 +425,7 @@ public static class BSParam
424 (s) => { return AvatarFriction; }, 425 (s) => { return AvatarFriction; },
425 (s,p,l,v) => { AvatarFriction = v; } ), 426 (s,p,l,v) => { AvatarFriction = v; } ),
426 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 427 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
427 10.0f, 428 0.95f,
428 (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, 429 (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
429 (s) => { return AvatarStandingFriction; }, 430 (s) => { return AvatarStandingFriction; },
430 (s,p,l,v) => { AvatarStandingFriction = v; } ), 431 (s,p,l,v) => { AvatarStandingFriction = v; } ),
@@ -570,6 +571,11 @@ public static class BSParam
570 (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, 571 (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
571 (s) => { return UseSingleSidedMeshesF; }, 572 (s) => { return UseSingleSidedMeshesF; },
572 (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), 573 (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ),
574 new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
575 0f,
576 (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); },
577 (s) => { return GlobalContactBreakingThreshold; },
578 (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
573 579
574 new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", 580 new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
575 (float)BSLinkset.LinksetImplementation.Compound, 581 (float)BSLinkset.LinksetImplementation.Compound,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 0d8bb03..de69fa0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor
86 PhysBody = new BulletBody(localID); 86 PhysBody = new BulletBody(localID);
87 PhysShape = new BulletShape(); 87 PhysShape = new BulletShape();
88 88
89 // A linkset of just me
90 Linkset = BSLinkset.Factory(PhysicsScene, this);
91 PositionDisplacement = OMV.Vector3.Zero;
92
93 LastAssetBuildFailed = false; 89 LastAssetBuildFailed = false;
94 90
95 // Default material type. Also sets Friction, Restitution and Density. 91 // Default material type. Also sets Friction, Restitution and Density.
@@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor
117 public string PhysObjectName { get; protected set; } 113 public string PhysObjectName { get; protected set; }
118 public string TypeName { get; protected set; } 114 public string TypeName { get; protected set; }
119 115
120 public BSLinkset Linkset { get; set; }
121 public BSLinksetInfo LinksetInfo { get; set; }
122 116
123 // Return the object mass without calculating it or having side effects 117 // Return the object mass without calculating it or having side effects
124 public abstract float RawMass { get; } 118 public abstract float RawMass { get; }
@@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor
188 public abstract OMV.Vector3 RawPosition { get; set; } 182 public abstract OMV.Vector3 RawPosition { get; set; }
189 public abstract OMV.Vector3 ForcePosition { get; set; } 183 public abstract OMV.Vector3 ForcePosition { get; set; }
190 184
191 // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
192 // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
193 // sometimes it is necessary to displace the position the physics engine thinks
194 // the position is. PositionDisplacement must be added and removed from the
195 // position as the simulator position is stored and fetched from the physics
196 // engine. Similar to OrientationDisplacement.
197 public virtual OMV.Vector3 PositionDisplacement { get; set; }
198 public virtual OMV.Quaternion OrientationDisplacement { get; set; }
199
200 public abstract OMV.Quaternion RawOrientation { get; set; } 185 public abstract OMV.Quaternion RawOrientation { get; set; }
201 public abstract OMV.Quaternion ForceOrientation { get; set; } 186 public abstract OMV.Quaternion ForceOrientation { get; set; }
202 187
@@ -302,22 +287,16 @@ public abstract class BSPhysObject : PhysicsActor
302 CollidingObjectStep = PhysicsScene.SimulationStep; 287 CollidingObjectStep = PhysicsScene.SimulationStep;
303 } 288 }
304 289
305 // prims in the same linkset cannot collide with each other
306 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
307 {
308 return ret;
309 }
310
311 CollisionAccumulation++; 290 CollisionAccumulation++;
312 291
313 // For movement tests, remember if we are colliding with an object that is moving. 292 // For movement tests, remember if we are colliding with an object that is moving.
314 ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false; 293 ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
315 294
316 // If someone has subscribed for collision events log the collision so it will be reported up 295 // If someone has subscribed for collision events log the collision so it will be reported up
317 if (SubscribedEvents()) { 296 if (SubscribedEvents()) {
318 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); 297 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
319 DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", 298 DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
320 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); 299 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
321 300
322 ret = true; 301 ret = true;
323 } 302 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 85c2627..cf7aa0f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
39{ 39{
40 40
41 [Serializable] 41 [Serializable]
42public sealed class BSPrim : BSPhysObject 42public class BSPrim : BSPhysObject
43{ 43{
44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); 44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
45 private static readonly string LogHeader = "[BULLETS PRIM]"; 45 private static readonly string LogHeader = "[BULLETS PRIM]";
@@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject
102 102
103 _mass = CalculateMass(); 103 _mass = CalculateMass();
104 104
105 // Cause linkset variables to be initialized (like mass)
106 Linkset.Refresh(this);
107
108 DetailLog("{0},BSPrim.constructor,call", LocalID); 105 DetailLog("{0},BSPrim.constructor,call", LocalID);
109 // do the actual object creation at taint time 106 // do the actual object creation at taint time
110 PhysicsScene.TaintedObject("BSPrim.create", delegate() 107 PhysicsScene.TaintedObject("BSPrim.create", delegate()
@@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject
121 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); 118 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
122 base.Destroy(); 119 base.Destroy();
123 120
124 // Undo any links between me and any other object
125 BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
126 int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
127
128 Linkset = Linkset.RemoveMeFromLinkset(this);
129
130 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
131 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
132
133 // Undo any vehicle properties 121 // Undo any vehicle properties
134 this.VehicleType = (int)Vehicle.TYPE_NONE; 122 this.VehicleType = (int)Vehicle.TYPE_NONE;
135 123
@@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject
166 ForceBodyShapeRebuild(false); 154 ForceBodyShapeRebuild(false);
167 } 155 }
168 } 156 }
169 // Whatever the linkset wants is what I want. 157 // 'unknown' says to choose the best type
170 public override BSPhysicsShapeType PreferredPhysicalShape 158 public override BSPhysicsShapeType PreferredPhysicalShape
171 { get { return Linkset.PreferredPhysicalShape(this); } } 159 { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
172 160
173 public override bool ForceBodyShapeRebuild(bool inTaintTime) 161 public override bool ForceBodyShapeRebuild(bool inTaintTime)
174 { 162 {
@@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject
213 201
214 // link me to the specified parent 202 // link me to the specified parent
215 public override void link(PhysicsActor obj) { 203 public override void link(PhysicsActor obj) {
216 BSPrim parent = obj as BSPrim;
217 if (parent != null)
218 {
219 BSPhysObject parentBefore = Linkset.LinksetRoot;
220 int childrenBefore = Linkset.NumberOfChildren;
221
222 Linkset = parent.Linkset.AddMeToLinkset(this);
223
224 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
225 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
226 }
227 return;
228 } 204 }
229 205
230 // delink me from my linkset 206 // delink me from my linkset
231 public override void delink() { 207 public override void delink() {
232 // TODO: decide if this parent checking needs to happen at taint time
233 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
234
235 BSPhysObject parentBefore = Linkset.LinksetRoot;
236 int childrenBefore = Linkset.NumberOfChildren;
237
238 Linkset = Linkset.RemoveMeFromLinkset(this);
239
240 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
241 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
242 return;
243 } 208 }
244 209
245 // Set motion values to zero. 210 // Set motion values to zero.
@@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject
287 } 252 }
288 public override OMV.Vector3 Position { 253 public override OMV.Vector3 Position {
289 get { 254 get {
290 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
291 * and does not fetch this position info for children. Thus this is commented out.
292 // child prims move around based on their parent. Need to get the latest location
293 if (!Linkset.IsRoot(this))
294 _position = Linkset.PositionGet(this);
295 */
296
297 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 255 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
298 // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement; 256 // _position = ForcePosition;
299 return _position; 257 return _position;
300 } 258 }
301 set { 259 set {
@@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject
313 { 271 {
314 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 272 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
315 ForcePosition = _position; 273 ForcePosition = _position;
316
317 // A linkset might need to know if a component information changed.
318 Linkset.UpdateProperties(UpdatedProperties.Position, this);
319
320 }); 274 });
321 } 275 }
322 } 276 }
323 277
324 public override OMV.Vector3 ForcePosition { 278 public override OMV.Vector3 ForcePosition {
325 get { 279 get {
326 _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; 280 _position = PhysicsScene.PE.GetPosition(PhysBody);
327 return _position; 281 return _position;
328 } 282 }
329 set { 283 set {
330 _position = value; 284 _position = value;
331 if (PhysBody.HasPhysicalBody) 285 if (PhysBody.HasPhysicalBody)
332 { 286 {
333 PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); 287 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
334 ActivateIfPhysical(false); 288 ActivateIfPhysical(false);
335 } 289 }
336 } 290 }
@@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject
398 // If the simulator cares about the mass of the linkset, it will sum it itself. 352 // If the simulator cares about the mass of the linkset, it will sum it itself.
399 public override float Mass 353 public override float Mass
400 { 354 {
401 get 355 get { return _mass; }
402 { 356 }
403 return _mass; 357 // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
404 } 358 public virtual float TotalMass
359 {
360 get { return _mass; }
405 } 361 }
406
407 // used when we only want this prim's mass and not the linkset thing 362 // used when we only want this prim's mass and not the linkset thing
408 public override float RawMass { 363 public override float RawMass {
409 get { return _mass; } 364 get { return _mass; }
@@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject
467 // Is this used? 422 // Is this used?
468 public override OMV.Vector3 CenterOfMass 423 public override OMV.Vector3 CenterOfMass
469 { 424 {
470 get { return Linkset.CenterOfMass; } 425 get { return RawPosition; }
471 } 426 }
472 427
473 // Is this used? 428 // Is this used?
474 public override OMV.Vector3 GeometricCenter 429 public override OMV.Vector3 GeometricCenter
475 { 430 {
476 get { return Linkset.GeometricCenter; } 431 get { return RawPosition; }
477 } 432 }
478 433
479 public override OMV.Vector3 Force { 434 public override OMV.Vector3 Force {
@@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject
721 } 676 }
722 public override OMV.Quaternion Orientation { 677 public override OMV.Quaternion Orientation {
723 get { 678 get {
724 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
725 * and does not fetch this position info for children. Thus this is commented out.
726 // Children move around because tied to parent. Get a fresh value.
727 if (!Linkset.IsRoot(this))
728 {
729 _orientation = Linkset.OrientationGet(this);
730 }
731 */
732 return _orientation; 679 return _orientation;
733 } 680 }
734 set { 681 set {
@@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject
739 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 686 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
740 { 687 {
741 ForceOrientation = _orientation; 688 ForceOrientation = _orientation;
742
743 // A linkset might need to know if a component information changed.
744 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
745
746 }); 689 });
747 } 690 }
748 } 691 }
@@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject
758 { 701 {
759 _orientation = value; 702 _orientation = value;
760 if (PhysBody.HasPhysicalBody) 703 if (PhysBody.HasPhysicalBody)
761 PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); 704 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
762 } 705 }
763 } 706 }
764 public override int PhysicsActorType { 707 public override int PhysicsActorType {
@@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject
814 // isSolid: other objects bounce off of this object 757 // isSolid: other objects bounce off of this object
815 // isVolumeDetect: other objects pass through but can generate collisions 758 // isVolumeDetect: other objects pass through but can generate collisions
816 // collisionEvents: whether this object returns collision events 759 // collisionEvents: whether this object returns collision events
817 public void UpdatePhysicalParameters() 760 public virtual void UpdatePhysicalParameters()
818 { 761 {
819 if (!PhysBody.HasPhysicalBody) 762 if (!PhysBody.HasPhysicalBody)
820 { 763 {
@@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject
844 // Rebuild its shape 787 // Rebuild its shape
845 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); 788 PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
846 789
847 // Recompute any linkset parameters.
848 // When going from non-physical to physical, this re-enables the constraints that
849 // had been automatically disabled when the mass was set to zero.
850 // For compound based linksets, this enables and disables interactions of the children.
851 Linkset.Refresh(this);
852
853 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}", 790 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
854 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); 791 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
855 } 792 }
@@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject
859 // When dynamic, the object can fall and be pushed by others. 796 // When dynamic, the object can fall and be pushed by others.
860 // This is independent of its 'solidness' which controls what passes through 797 // This is independent of its 'solidness' which controls what passes through
861 // this object and what interacts with it. 798 // this object and what interacts with it.
862 private void MakeDynamic(bool makeStatic) 799 protected virtual void MakeDynamic(bool makeStatic)
863 { 800 {
864 if (makeStatic) 801 if (makeStatic)
865 { 802 {
@@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject
889 826
890 // This collides like a static object 827 // This collides like a static object
891 PhysBody.collisionType = CollisionType.Static; 828 PhysBody.collisionType = CollisionType.Static;
892
893 // There can be special things needed for implementing linksets
894 Linkset.MakeStatic(this);
895 } 829 }
896 else 830 else
897 { 831 {
@@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject
908 // PhysicsScene.PE.ClearAllForces(BSBody); 842 // PhysicsScene.PE.ClearAllForces(BSBody);
909 843
910 // For good measure, make sure the transform is set through to the motion state 844 // For good measure, make sure the transform is set through to the motion state
911 PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); 845 ForcePosition = _position;
912
913 // Center of mass is at the center of the object
914 // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
915 846
916 // A dynamic object has mass 847 // A dynamic object has mass
917 UpdatePhysicalMassProperties(RawMass, false); 848 UpdatePhysicalMassProperties(RawMass, false);
@@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject
935 // Force activation of the object so Bullet will act on it. 866 // Force activation of the object so Bullet will act on it.
936 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. 867 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
937 PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); 868 PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
938
939 // There might be special things needed for implementing linksets.
940 Linkset.MakeDynamic(this);
941 } 869 }
942 } 870 }
943 871
@@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject
1643 1571
1644 returnMass = Density * volume; 1572 returnMass = Density * volume;
1645 1573
1646 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
1647 if (IsRootOfLinkset)
1648 {
1649 foreach (BSPrim prim in _childrenPrims)
1650 {
1651 returnMass += prim.CalculateMass();
1652 }
1653 }
1654 */
1655
1656 returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); 1574 returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
1657 1575
1658 return returnMass; 1576 return returnMass;
@@ -1672,8 +1590,7 @@ public sealed class BSPrim : BSPhysObject
1672 // Called if the current prim body is about to be destroyed. 1590 // Called if the current prim body is about to be destroyed.
1673 // Remove all the physical dependencies on the old body. 1591 // Remove all the physical dependencies on the old body.
1674 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) 1592 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
1675 Linkset.RemoveBodyDependencies(this); 1593 RemoveBodyDependencies();
1676 VehicleController.RemoveBodyDependencies(this);
1677 }); 1594 });
1678 1595
1679 // Make sure the properties are set on the new object 1596 // Make sure the properties are set on the new object
@@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject
1681 return; 1598 return;
1682 } 1599 }
1683 1600
1601 protected virtual void RemoveBodyDependencies()
1602 {
1603 VehicleController.RemoveBodyDependencies(this);
1604 }
1605
1684 // The physics engine says that properties have updated. Update same and inform 1606 // The physics engine says that properties have updated. Update same and inform
1685 // the world that things have changed. 1607 // the world that things have changed.
1686 public override void UpdateProperties(EntityProperties entprop) 1608 public override void UpdateProperties(EntityProperties entprop)
1687 { 1609 {
1688 // Updates only for individual prims and for the root object of a linkset. 1610 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
1689 if (Linkset.IsRoot(this)) 1611 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1612 if (VehicleController.IsActive)
1690 { 1613 {
1691 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet 1614 entprop.RotationalVelocity = OMV.Vector3.Zero;
1692 // TODO: handle physics introduced by Bullet with computed vehicle physics. 1615 }
1693 if (VehicleController.IsActive)
1694 {
1695 entprop.RotationalVelocity = OMV.Vector3.Zero;
1696 }
1697
1698 // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1699 1616
1700 // Undo any center-of-mass displacement that might have been done. 1617 // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1701 if (PositionDisplacement != OMV.Vector3.Zero)
1702 {
1703 // Correct for any rotation around the center-of-mass
1704 // TODO!!!
1705 entprop.Position -= PositionDisplacement;
1706 }
1707 1618
1708 // Assign directly to the local variables so the normal set actions do not happen 1619 // Assign directly to the local variables so the normal set actions do not happen
1709 _position = entprop.Position; 1620 _position = entprop.Position;
1710 _orientation = entprop.Rotation; 1621 _orientation = entprop.Rotation;
1711 _velocity = entprop.Velocity; 1622 _velocity = entprop.Velocity;
1712 _acceleration = entprop.Acceleration; 1623 _acceleration = entprop.Acceleration;
1713 _rotationalVelocity = entprop.RotationalVelocity; 1624 _rotationalVelocity = entprop.RotationalVelocity;
1714 1625
1715 // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG 1626 // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
1716 1627
1717 // The sanity check can change the velocity and/or position. 1628 // The sanity check can change the velocity and/or position.
1718 if (PositionSanityCheck(true /* inTaintTime */ )) 1629 if (PositionSanityCheck(true /* inTaintTime */ ))
1719 { 1630 {
1720 entprop.Position = _position; 1631 entprop.Position = _position;
1721 entprop.Velocity = _velocity; 1632 entprop.Velocity = _velocity;
1722 entprop.RotationalVelocity = _rotationalVelocity; 1633 entprop.RotationalVelocity = _rotationalVelocity;
1723 entprop.Acceleration = _acceleration; 1634 entprop.Acceleration = _acceleration;
1724 } 1635 }
1725 1636
1726 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG 1637 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
1727 DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); 1638 DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
1728 1639
1729 // remember the current and last set values 1640 // remember the current and last set values
1730 LastEntityProperties = CurrentEntityProperties; 1641 LastEntityProperties = CurrentEntityProperties;
1731 CurrentEntityProperties = entprop; 1642 CurrentEntityProperties = entprop;
1732 1643
1733 base.RequestPhysicsterseUpdate(); 1644 base.RequestPhysicsterseUpdate();
1734 }
1735 /* 1645 /*
1736 else 1646 else
1737 { 1647 {
@@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject
1741 entprop.Acceleration, entprop.RotationalVelocity); 1651 entprop.Acceleration, entprop.RotationalVelocity);
1742 } 1652 }
1743 */ 1653 */
1744
1745 // The linkset implimentation might want to know about this.
1746 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
1747 } 1654 }
1748} 1655}
1749} 1656}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
new file mode 100755
index 0000000..6401308
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -0,0 +1,118 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 *
27 * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
28 * are Copyright (c) 2009 Linden Research, Inc and are used under their license
29 * of Creative Commons Attribution-Share Alike 3.0
30 * (http://creativecommons.org/licenses/by-sa/3.0/).
31 */
32
33using System;
34using System.Collections.Generic;
35using System.Reflection;
36using System.Runtime.InteropServices;
37using OpenMetaverse;
38using OpenSim.Framework;
39using OpenSim.Region.Physics.Manager;
40
41using OMV = OpenMetaverse;
42
43namespace OpenSim.Region.Physics.BulletSPlugin
44{
45public class BSPrimDisplaced : BSPrim
46{
47 // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
48 // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
49 // sometimes it is necessary to displace the position the physics engine thinks
50 // the position is. PositionDisplacement must be added and removed from the
51 // position as the simulator position is stored and fetched from the physics
52 // engine. Similar to OrientationDisplacement.
53 public virtual OMV.Vector3 PositionDisplacement { get; set; }
54 public virtual OMV.Quaternion OrientationDisplacement { get; set; }
55 public virtual OMV.Vector3 CenterOfMassLocation { get; set; }
56 public virtual OMV.Vector3 GeometricCenterLocation { get; set; }
57
58 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
59 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
60 : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
61 {
62 CenterOfMassLocation = RawPosition;
63 GeometricCenterLocation = RawPosition;
64 }
65
66 public override Vector3 ForcePosition
67 {
68 get
69 {
70 return base.ForcePosition;
71 }
72 set
73 {
74 base.ForcePosition = value;
75 CenterOfMassLocation = RawPosition;
76 GeometricCenterLocation = RawPosition;
77 }
78 }
79
80 public override Quaternion ForceOrientation
81 {
82 get
83 {
84 return base.ForceOrientation;
85 }
86 set
87 {
88 base.ForceOrientation = value;
89 }
90 }
91
92 // Is this used?
93 public override OMV.Vector3 CenterOfMass
94 {
95 get { return CenterOfMassLocation; }
96 }
97
98 // Is this used?
99 public override OMV.Vector3 GeometricCenter
100 {
101 get { return GeometricCenterLocation; }
102 }
103
104
105 public override void UpdateProperties(EntityProperties entprop)
106 {
107 // Undo any center-of-mass displacement that might have been done.
108 if (PositionDisplacement != OMV.Vector3.Zero)
109 {
110 // Correct for any rotation around the center-of-mass
111 // TODO!!!
112 entprop.Position -= PositionDisplacement;
113 }
114
115 base.UpdateProperties(entprop);
116 }
117}
118}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
new file mode 100755
index 0000000..9898562
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -0,0 +1,179 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Linq;
30using System.Text;
31
32using OpenSim.Framework;
33
34using OMV = OpenMetaverse;
35
36namespace OpenSim.Region.Physics.BulletSPlugin
37{
38public class BSPrimLinkable : BSPrimDisplaced
39{
40 public BSLinkset Linkset { get; set; }
41 public BSLinksetInfo LinksetInfo { get; set; }
42
43 public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
44 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
45 : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
46 {
47 Linkset = BSLinkset.Factory(PhysicsScene, this);
48
49 PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
50 {
51 Linkset.Refresh(this);
52 });
53 }
54
55 public override void Destroy()
56 {
57 Linkset = Linkset.RemoveMeFromLinkset(this);
58 base.Destroy();
59 }
60
61 public override BSPhysicsShapeType PreferredPhysicalShape
62 { get { return Linkset.PreferredPhysicalShape(this); } }
63
64 public override void link(Manager.PhysicsActor obj)
65 {
66 BSPrimLinkable parent = obj as BSPrimLinkable;
67 if (parent != null)
68 {
69 BSPhysObject parentBefore = Linkset.LinksetRoot;
70 int childrenBefore = Linkset.NumberOfChildren;
71
72 Linkset = parent.Linkset.AddMeToLinkset(this);
73
74 DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
75 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
76 }
77 return;
78 }
79
80 public override void delink()
81 {
82 // TODO: decide if this parent checking needs to happen at taint time
83 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
84
85 BSPhysObject parentBefore = Linkset.LinksetRoot;
86 int childrenBefore = Linkset.NumberOfChildren;
87
88 Linkset = Linkset.RemoveMeFromLinkset(this);
89
90 DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
91 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
92 return;
93 base.delink();
94 }
95
96 // When simulator changes position, this might be moving a child of the linkset.
97 public override OMV.Vector3 Position
98 {
99 get { return base.Position; }
100 set
101 {
102 base.Position = value;
103 PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
104 {
105 Linkset.UpdateProperties(UpdatedProperties.Position, this);
106 });
107 }
108 }
109
110 // When simulator changes orientation, this might be moving a child of the linkset.
111 public override OMV.Quaternion Orientation
112 {
113 get { return base.Orientation; }
114 set
115 {
116 base.Orientation = value;
117 PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
118 {
119 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
120 });
121 }
122 }
123
124 public override float TotalMass
125 {
126 get { return Linkset.LinksetMass; }
127 }
128
129 public override void UpdatePhysicalParameters()
130 {
131 base.UpdatePhysicalParameters();
132 // Recompute any linkset parameters.
133 // When going from non-physical to physical, this re-enables the constraints that
134 // had been automatically disabled when the mass was set to zero.
135 // For compound based linksets, this enables and disables interactions of the children.
136 Linkset.Refresh(this);
137 }
138
139 protected override void MakeDynamic(bool makeStatic)
140 {
141 base.MakeDynamic(makeStatic);
142 if (makeStatic)
143 Linkset.MakeStatic(this);
144 else
145 Linkset.MakeDynamic(this);
146 }
147
148 // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
149 protected override void RemoveBodyDependencies()
150 {
151 Linkset.RemoveBodyDependencies(this);
152 base.RemoveBodyDependencies();
153 }
154
155 public override void UpdateProperties(EntityProperties entprop)
156 {
157 if (Linkset.IsRoot(this))
158 {
159 // Properties are only updated for the roots of a linkset.
160 // TODO: this will have to change when linksets are articulated.
161 base.UpdateProperties(entprop);
162 }
163 // The linkset might like to know about changing locations
164 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
165 }
166
167 public override bool Collide(uint collidingWith, BSPhysObject collidee,
168 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
169 {
170 // prims in the same linkset cannot collide with each other
171 BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
172 if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
173 {
174 return false;
175 }
176 return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
177 }
178}
179}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index f8a0c1e..05722b8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -434,7 +434,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
434 { 434 {
435 if (!m_initialized) return; 435 if (!m_initialized) return;
436 436
437 BSPrim bsprim = prim as BSPrim; 437 BSPhysObject bsprim = prim as BSPhysObject;
438 if (bsprim != null) 438 if (bsprim != null)
439 { 439 {
440 DetailLog("{0},RemovePrim,call", bsprim.LocalID); 440 DetailLog("{0},RemovePrim,call", bsprim.LocalID);
@@ -463,9 +463,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
463 463
464 if (!m_initialized) return null; 464 if (!m_initialized) return null;
465 465
466 DetailLog("{0},AddPrimShape,call", localID); 466 DetailLog("{0},BSScene.AddPrimShape,call", localID);
467 467
468 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); 468 BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
469 lock (PhysObjects) PhysObjects.Add(localID, prim); 469 lock (PhysObjects) PhysObjects.Add(localID, prim);
470 return prim; 470 return prim;
471 } 471 }
diff --git a/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs b/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
index 6d5ce28..97d9458 100644
--- a/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
+++ b/OpenSim/Services/Connectors/UserAccounts/UserAccountServicesConnector.cs
@@ -162,7 +162,7 @@ namespace OpenSim.Services.Connectors
162 162
163 if (replyData != null) 163 if (replyData != null)
164 { 164 {
165 if (replyData.ContainsKey("result") && replyData.ContainsKey("result").ToString() == "null") 165 if (replyData.ContainsKey("result") && replyData["result"].ToString() == "null")
166 { 166 {
167 return accounts; 167 return accounts;
168 } 168 }
generated by cgit v1.1 at 2024-12-30 17:25:35 +0000