From 804b332d45c3989958f5ec08e1509ba373fb84b1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 25 Oct 2012 08:04:20 -0700
Subject: BulletSim: Add banking and other new code to vechile dynamics. Add
 third party license and contributor in for for Aurora-Sim project for physics
 code.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 38ab3de..39d20dc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,6 +311,7 @@ public sealed class BSPrim : BSPhysObject
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
             float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            // TODO: a floating motor so object will bob in the water
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -902,7 +903,8 @@ public sealed class BSPrim : BSPhysObject
             }
             // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
-            BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
+            if (fSum != OMV.Vector3.Zero)
+                BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         };
         if (inTaintTime)
             addForceOperation();
-- 
cgit v1.1


From 8fa83cf43045401ee02321e0fb1191402db5bb05 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 26 Oct 2012 13:49:57 -0700
Subject: BulletSim: Add activations after vehicle properties change. Problem
 was the vehicle was going to sleep while waiting for commands. Make
 AddAngularForce work the same way as AddForce -- accumulates values and
 pushes them once into Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +++++++++++++++++++++-----
 1 file changed, 62 insertions(+), 12 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 39d20dc..44937df 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -242,8 +242,8 @@ public sealed class BSPrim : BSPhysObject
         _acceleration = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
 
-        // Zero some other properties directly into the physics engine
-        BulletSimAPI.ClearForces2(BSBody.ptr);
+        // Zero some other properties in the physics engine
+        BulletSimAPI.ClearAllForces2(BSBody.ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -275,6 +275,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                ActivateIfPhysical(false);
             });
         }
     }
@@ -287,6 +288,7 @@ public sealed class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck();
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            ActivateIfPhysical(false);
         }
     }
 
@@ -401,6 +403,7 @@ public sealed class BSPrim : BSPhysObject
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
+                ActivateIfPhysical(false);
             });
         }
     }
@@ -409,6 +412,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value)
@@ -416,6 +420,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
@@ -423,6 +428,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleFlags(int param, bool remove)
@@ -540,6 +546,8 @@ public sealed class BSPrim : BSPhysObject
                 {
                     // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
+                    // whether phys-to-static or static-to-phys, the object is not moving.
+                    ZeroMotion();
                 });
             }
         }
@@ -623,7 +631,7 @@ public sealed class BSPrim : BSPhysObject
             // Become a Bullet 'static' object type
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            ZeroMotion();
             // Center of mass is at the center of the object
             BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
@@ -634,7 +642,7 @@ public sealed class BSPrim : BSPhysObject
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
                 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
@@ -656,14 +664,14 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // Since this can be called multiple times, only zero forces when becoming physical
+            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // For good measure, make sure the transform is set through to the motion state
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
+            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
@@ -671,7 +679,7 @@ public sealed class BSPrim : BSPhysObject
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
                 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
 
             // Various values for simulation limits
@@ -721,6 +729,15 @@ public sealed class BSPrim : BSPhysObject
         }
     }
 
+    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+    //     they need waking up when parameters are changed.
+    // Called in taint-time!!
+    private void ActivateIfPhysical(bool forceIt)
+    {
+        if (IsPhysical)
+            BulletSimAPI.Activate2(BSBody.ptr, forceIt);
+    }
+
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
     private void EnableCollisions(bool wantsCollisionEvents)
     {
@@ -901,8 +918,7 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
-            // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
+            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
                 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         };
@@ -912,9 +928,43 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
     }
 
+    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
-        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
+        AddAngularForce(force, pushforce, false);
+    }
+    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    {
+        if (force.IsFinite())
+        {
+            // _force += force;
+            lock (m_accumulatedAngularForces)
+                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+            return;
+        }
+        BSScene.TaintCallback addAngularForceOperation = delegate()
+        {
+            OMV.Vector3 fSum = OMV.Vector3.Zero;
+            lock (m_accumulatedAngularForces)
+            {
+                // Sum the accumulated additional forces for one big force to apply once.
+                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
+                {
+                    fSum += v;
+                }
+                m_accumulatedAngularForces.Clear();
+            }
+            // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
+            if (fSum != OMV.Vector3.Zero)
+                BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+        };
+        if (inTaintTime)
+            addAngularForceOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation);
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
-- 
cgit v1.1


From e20bad12cc0584c6368e46e0f326e6b616133e8f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Oct 2012 11:30:47 -0700
Subject: BulletSim: centralize mass/inertia computation with
 UpdatePhysicalMassProperties() function. Didn't add setMassRaw because
 assignment with side effect is dirty.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 39 +++++++++++++++++---------
 1 file changed, 26 insertions(+), 13 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 44937df..ad09a61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            // return Linkset.LinksetMass;
-            return _mass;
+            return Linkset.LinksetMass;
+            // return _mass;
         }
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { get { return _mass; }  }
+    public override float MassRaw { 
+        get { return _mass; }
+    }
+    // Set the physical mass to the passed mass.
+    // Note that this does not change _mass!
+    public override void UpdatePhysicalMassProperties(float physMass)
+    {
+        if (IsStatic)
+        {
+            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+        }
+        else
+        {
+            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
+            BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
+        }
+    }
 
     // Is this used?
     public override OMV.Vector3 CenterOfMass
@@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
-        Linkset.Refresh(this, true);
+        Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject
             // Center of mass is at the center of the object
             BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
-            // There is no inertia in a static object
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
@@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass);
-            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(MassRaw);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject
 
         returnMass = _density * volume;
 
-        /*
-         * This change means each object keeps its own mass and the Mass property
-         * will return the sum if we're part of a linkset.
+        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)
         {
             foreach (BSPrim prim in _childrenPrims)
-- 
cgit v1.1


From 52be581f71b3c8da6113e4f4b193694683e6f8cc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Oct 2012 09:12:07 -0700
Subject: BulletSim: remove center-of-mass setting for linksets because it
 causes the constraint calculation to pull the objects together.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ad09a61..7851a40 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -634,7 +634,7 @@ public sealed class BSPrim : BSPhysObject
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
     }
 
-- 
cgit v1.1


From 28e2cd3fa21835b124552dec024745f5784f6b3a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Oct 2012 09:26:58 -0700
Subject: BulletSim: vehicle tweeking. Add AddTorque() method to BSPrim. Remove
 some manual motor actions in computing angular force (will eventually be
 replaced with motor class). Remove some experimental changes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 45 +++++++++++++++++++++-----
 1 file changed, 37 insertions(+), 8 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7851a40..9ced61fa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -378,7 +378,9 @@ public sealed class BSPrim : BSPhysObject
         {
             OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // center of mass is at the zero of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
         }
     }
@@ -462,9 +464,16 @@ public sealed class BSPrim : BSPhysObject
     // Called from Scene when doing simulation step so we're in taint processing time.
     public override void StepVehicle(float timeStep)
     {
-        if (IsPhysical)
+        if (IsPhysical && _vehicle.IsActive)
         {
             _vehicle.Step(timeStep);
+            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
+            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
+            {
+                // This resets the interpolation values and recomputes the tensor variables
+                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            });
+             */
         }
     }
 
@@ -502,7 +511,9 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Torque {
         get { return _torque; }
-        set { _torque = value;
+        set {
+            _torque = value;
+            AddAngularForce(_torque, false, false);
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
@@ -831,7 +842,7 @@ public sealed class BSPrim : BSPhysObject
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
             });
         }
@@ -972,14 +983,31 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedAngularForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
+            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
+            {
                 BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+                _torque = fSum;
+            }
         };
         if (inTaintTime)
             addAngularForceOperation();
         else
-            PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation);
+            PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation);
+    }
+    // A torque impulse.
+    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
+        {
+            DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
+            BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
+        };
+        if (inTaintTime)
+            applyTorqueImpulseOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation);
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
@@ -1418,8 +1446,9 @@ public sealed class BSPrim : BSPhysObject
 
             PositionSanityCheck(true);
 
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
+                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
             // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
 
-- 
cgit v1.1


From 364a7c308804a3e331199ca60c6dfafa406b5d0d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Oct 2012 14:49:28 -0700
Subject: BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add
 skeleton of BSLinksetCompound.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 128 ++++++++++++-------------
 1 file changed, 64 insertions(+), 64 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9ced61fa..8dd48ca 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -111,8 +111,8 @@ public sealed class BSPrim : BSPhysObject
         _mass = CalculateMass();
 
         // No body or shape yet
-        BSBody = new BulletBody(LocalID, IntPtr.Zero);
-        BSShape = new BulletShape(IntPtr.Zero);
+        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
+        PhysShape = new BulletShape(IntPtr.Zero);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
         });
     }
 
@@ -145,8 +145,8 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
         });
     }
 
@@ -243,7 +243,7 @@ public sealed class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties in the physics engine
-        BulletSimAPI.ClearAllForces2(BSBody.ptr);
+        BulletSimAPI.ClearAllForces2(PhysBody.ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -256,7 +256,7 @@ public sealed class BSPrim : BSPhysObject
         get {
             if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -274,20 +274,20 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
                 ActivateIfPhysical(false);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             ActivateIfPhysical(false);
         }
     }
@@ -371,15 +371,15 @@ public sealed class BSPrim : BSPhysObject
     {
         if (IsStatic)
         {
-            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero);
+            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
         }
         else
         {
-            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
-            BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
+            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
             // center of mass is at the zero of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
             // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
         }
@@ -404,7 +404,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -498,7 +498,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
     }
@@ -506,7 +506,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _velocity; }
         set {
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
         }
     }
     public override OMV.Vector3 Torque {
@@ -531,7 +531,7 @@ public sealed class BSPrim : BSPhysObject
             if (!Linkset.IsRoot(this))
             {
                 // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+                _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             }
             return _orientation;
         }
@@ -544,7 +544,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
         }
     }
@@ -553,13 +553,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -615,7 +615,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -629,15 +629,15 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
+        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
         {
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
+            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
         }
 
         // Recompute any linkset parameters.
@@ -646,7 +646,7 @@ public sealed class BSPrim : BSPhysObject
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -659,44 +659,44 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion();
             // Center of mass is at the center of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
             // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
-            BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
             // BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(MassRaw);
@@ -704,26 +704,26 @@ public sealed class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
             // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
 
@@ -733,7 +733,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -741,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -749,9 +749,9 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
     }
 
@@ -761,7 +761,7 @@ public sealed class BSPrim : BSPhysObject
     private void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical)
-            BulletSimAPI.Activate2(BSBody.ptr, forceIt);
+            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -769,11 +769,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -818,9 +818,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -843,7 +843,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
     }
@@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
         }
     }
     public override bool Kinematic {
@@ -879,7 +879,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -946,7 +946,7 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
+                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
         };
         if (inTaintTime)
             addForceOperation();
@@ -986,7 +986,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
             {
-                BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
         };
@@ -1002,7 +1002,7 @@ public sealed class BSPrim : BSPhysObject
         BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
         {
             DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
+            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
         };
         if (inTaintTime)
             applyTorqueImpulseOperation();
-- 
cgit v1.1


From 39c02dcc8c537d5989238ec97c876e033895a8a9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 1 Nov 2012 10:23:37 -0700
Subject: BulletSim: Remove use of shapeData in ShapeCollection and rely on the
 available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 +++++---------------------
 1 file changed, 5 insertions(+), 25 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8dd48ca..8ce960d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -171,6 +171,10 @@ public sealed class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
+    // Whatever the linkset wants is what I want.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape; } }
+
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
@@ -1310,34 +1314,11 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-    // Copy prim's info into the BulletSim shape description structure
-    public void FillShapeInfo(out ShapeData shape)
-    {
-        shape.ID = LocalID;
-        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
-        shape.Position = _position;
-        shape.Rotation = _orientation;
-        shape.Velocity = _velocity;
-        shape.Size = _size;
-        shape.Scale = Scale;
-        shape.Mass = _isPhysical ? _mass : 0f;
-        shape.Buoyancy = _buoyancy;
-        shape.HullKey = 0;
-        shape.MeshKey = 0;
-        shape.Friction = _friction;
-        shape.Restitution = _restitution;
-        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
-        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-    }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        ShapeData shapeData;
-        FillShapeInfo(out shapeData);
-
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
         bool needToRestoreLinkset = false;
@@ -1346,8 +1327,7 @@ public sealed class BSPrim : BSPhysObject
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
         // Returns 'true' if either the body or the shape was changed.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
-                        null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
-- 
cgit v1.1


From f53b4e7a21f62a84e237c4ce8d2806124c3a76d2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 1 Nov 2012 10:53:55 -0700
Subject: BulletSim: Add RawPosition and RawOrientation to BSPhysObject and
 rename MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the
 body to eliminate exception from referencing the physical body before it has
 been created.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8ce960d..1754be6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -256,6 +256,11 @@ public sealed class BSPrim : BSPhysObject
         return;
     }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
             if (!Linkset.IsRoot(this))
@@ -366,7 +371,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { 
+    public override float RawMass { 
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
@@ -530,6 +535,11 @@ public sealed class BSPrim : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get {
             if (!Linkset.IsRoot(this))
@@ -703,7 +713,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(MassRaw);
+            UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
-- 
cgit v1.1


From b0eccd5044b1a20b995a62d6fb76fdd73b712f9a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 09:53:41 -0700
Subject: BulletSim: debugging of compound shape implementation of linksets.
 Add compound shape creation and freeing in shape manager. Add optional
 taint-time execution method and update code to use it. Add API2 linkage for
 more compound shape methods (get num, get/remove by index, ...) Modify
 perferred shape return so linkset children can have differet shapes than
 root. Add Position and Orientation calls to linksets so children can be moved
 around by     the linkset by its own calculation. Allows for very general
 linkset implementations.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 52 ++++++++------------------
 1 file changed, 16 insertions(+), 36 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1754be6..af403aa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -173,20 +173,16 @@ public sealed class BSPrim : BSPhysObject
     }
     // Whatever the linkset wants is what I want.
     public override ShapeData.PhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape; } }
+        { get { return Linkset.PreferredPhysicalShape(this); } }
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
-        BSScene.TaintCallback rebuildOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        };
-        if (inTaintTime)
-            rebuildOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        });
         return true;
     }
     public override bool Grabbed {
@@ -263,9 +259,9 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
+            // child prims move around based on their parent. Need to get the latest location
             if (!Linkset.IsRoot(this))
-                // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+                _position = Linkset.Position(this);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -344,16 +340,11 @@ public sealed class BSPrim : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            BSScene.TaintCallback sanityOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
-            };
-            if (inTaintTime)
-                sanityOperation();
-            else
-                PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
-
+            });
             ret = true;
         }
         return ret;
@@ -542,10 +533,10 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
+            // Children move around because tied to parent. Get a fresh value.
             if (!Linkset.IsRoot(this))
             {
-                // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+                _orientation = Linkset.Orientation(this);
             }
             return _orientation;
         }
@@ -946,7 +937,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        BSScene.TaintCallback addForceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
@@ -961,11 +952,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
                 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        };
-        if (inTaintTime)
-            addForceOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
+        });
     }
 
     private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
@@ -985,7 +972,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        BSScene.TaintCallback addAngularForceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedAngularForces)
@@ -1003,26 +990,19 @@ public sealed class BSPrim : BSPhysObject
                 BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
-        };
-        if (inTaintTime)
-            addAngularForceOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation);
+        });
     }
     // A torque impulse.
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
-        BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
             BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
-        };
-        if (inTaintTime)
-            applyTorqueImpulseOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation);
+        });
     }
+
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
-- 
cgit v1.1


From 79f7c466a116bf368423d4e18163f34fd8d66ce1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 3 Nov 2012 21:08:39 -0700
Subject: BulletSim: fix compound linkset crash by not freeing shape of child
 prims. Remove all compilation warnings (mostly 'protected' in sealed
 classes.) Add the dynamicAabbEnable parameter to creation of compound shapes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index af403aa..aaa0d93 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -703,6 +703,9 @@ public sealed class BSPrim : BSPhysObject
             // For good measure, make sure the transform is set through to the motion state
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
+            // Center of mass is at the center of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass);
 
-- 
cgit v1.1