From 803632f8f32d91bb4aec678d8b45a8430c2703e1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Jul 2013 16:26:17 -0700
Subject: BulletSim: freshen up the code for constraint based linksets.

---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs |  4 +-
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     |  1 +
 .../Physics/BulletSPlugin/BSLinksetConstraints.cs  | 82 ++++++++++++++++------
 3 files changed, 64 insertions(+), 23 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0204967..4c2c1c1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
-                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
+                        ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
                         linearMotorVelocityW, VehicleVelocity, frictionFactorV);
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1d94142..3668456 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
                             requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
+
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
         //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index a06a44d..f17d698 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset
     {
         base.Refresh(requestor);
 
-        if (HasAnyChildren && IsRoot(requestor))
+    }
+
+    private void ScheduleRebuild(BSPrimLinkable requestor)
+    {
+        DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
+                            requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
+
+        // When rebuilding, it is possible to set properties that would normally require a rebuild.
+        //    If already rebuilding, don't request another rebuild.
+        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
+        if (!Rebuilding && HasAnyChildren)
         {
             // Queue to happen after all the other taint processing
             m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
                 {
-                    if (HasAnyChildren && IsRoot(requestor))
+                    if (HasAnyChildren)
                         RecomputeLinksetConstraints();
                 });
         }
@@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeDynamic(BSPrimLinkable child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+        DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (IsRoot(child))
+        {
+            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
+            ScheduleRebuild(LinksetRoot);
+        }
+        return ret;
     }
 
     // The object is going static (non-physical). Do any setup necessary for a static linkset.
@@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeStatic(BSPrimLinkable child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        child.ClearDisplacement();
+        if (IsRoot(child))
+        {
+            // Schedule a rebuild to verify that the root shape is set to the real shape.
+            ScheduleRebuild(LinksetRoot);
+        }
+        return ret;
     }
 
     // Called at taint-time!!
@@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             // Just undo all the constraints for this linkset. Rebuild at the end of the step.
             ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
             // Cause the constraints, et al to be rebuilt before the next simulation step.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         return ret;
     }
@@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
             // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         return;
     }
@@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
             // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         else
         {
@@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         Refresh(rootPrim);
     }
 
+    // Create a static constraint between the two passed objects
     private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Zero motion for children so they don't interpolate
@@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
-        foreach (BSPrimLinkable child in m_children)
+        try
         {
-            // A child in the linkset physically shows the mass of the whole linkset.
-            // This allows Bullet to apply enough force on the child to move the whole linkset.
-            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass, true);
+            Rebuilding = true;
 
-            BSConstraint constrain;
-            if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+            // There is no reason to build all this physical stuff for a non-physical linkset.
+            if (!LinksetRoot.IsPhysicallyActive)
             {
-                // If constraint doesn't exist yet, create it.
-                constrain = BuildConstraint(LinksetRoot, child);
+                DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
+                return; // Note the 'finally' clause at the botton which will get executed.
             }
-            constrain.RecomputeConstraintVariables(linksetMass);
 
-            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
-        }
+            foreach (BSPrimLinkable child in m_children)
+            {
+                // A child in the linkset physically shows the mass of the whole linkset.
+                // This allows Bullet to apply enough force on the child to move the whole linkset.
+                // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+                child.UpdatePhysicalMassProperties(linksetMass, true);
+
+                BSConstraint constrain;
+                if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+                {
+                    // If constraint doesn't exist yet, create it.
+                    constrain = BuildConstraint(LinksetRoot, child);
+                }
+                constrain.RecomputeConstraintVariables(linksetMass);
 
+                // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
+            }
+        }
+        finally
+        {
+            Rebuilding = false;
+        }
     }
 }
 }
-- 
cgit v1.1


From b4c3a791aa55390bff071b3fe4bbe70c1d252703 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 11 Jul 2013 14:33:03 -0700
Subject: BulletSim: move collision processing for linksets from BSPrimLinkable
 into the linkset implementation classes. Add HasSomeCollision attribute that
 remembers of any component of    a linkset has a collision. Update vehicle
 code (BSDynamic) to use the HasSomeCollision in place of    IsColliding to
 make constraint based linksets properly notice the ground. Add linkset
 functions to change physical attributes of all the members    of a linkset.

---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 75 +++++++++++++++++++++-
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 11 ++++
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     |  5 +-
 .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 +++++++--
 5 files changed, 121 insertions(+), 18 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4c2c1c1..1540df1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
 
-            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity );
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
 
         } // end MoveLinear()
 
@@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
 
                 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
-                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding)
+                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
                 {
                     linearDeflectionW.Z = 0f;
                 }
@@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
                 distanceAboveGround = VehiclePosition.Z - targetHeight;
                 // Not colliding if the vehicle is off the ground
-                if (!Prim.IsColliding)
+                if (!Prim.HasSomeCollision)
                 {
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
                     VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
@@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //     be computed with a motor.
                 // TODO: add interaction with banking.
                 VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+                                Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
                  */
 
                 // Another approach is to measure if we're going up. If going up and not colliding,
                 //     the vehicle is in the air.  Fix that by pushing down.
-                if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1)
+                if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
                     float upVelocity = VehicleVelocity.Z;
@@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     }
                         */
                     VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
-                                    ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity);
+                                    ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
                 }
             }
         }
@@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
 
             // Hack to reduce downward force if the vehicle is probably sitting on the ground
-            if (ControllingPrim.IsColliding && IsGroundVehicle)
+            if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
                 appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
             VehicleAddForce(appliedGravity);
 
             VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
                             ControllingPrim.LocalID, m_VehicleGravity,
-                            ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
+                            ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
 
         // =======================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index ad8e10f..78c0af7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -203,6 +203,33 @@ public abstract class BSLinkset
         return ret;
     }
 
+    // Called after a simulation step to post a collision with this object.
+    // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
+    //     anything to add for the collision and it should be passed through normal processing.
+    // Default processing for a linkset.
+    public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
+                                OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // prims in the same linkset cannot collide with each other
+        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
+        {
+            // By returning 'true', we tell the caller the collision has been 'handled' so it won't
+            //     do anything about this collision and thus, effectivily, ignoring the collision.
+            ret = true;
+        }
+        else
+        {
+            // Not a collision between members of the linkset. Must be a real collision.
+            // So the linkset root can know if there is a collision anywhere in the linkset.
+            LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
+        }
+
+        return ret;
+    }
+
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
@@ -251,6 +278,53 @@ public abstract class BSLinkset
     public abstract bool RemoveDependencies(BSPrimLinkable child);
 
     // ================================================================
+    // Some physical setting happen to all members of the linkset
+    public virtual void SetPhysicalFriction(float friction)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetFriction(member.PhysBody, friction);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalRestitution(float restitution)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void ComputeLocalInertia()
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                {
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                }
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    // ================================================================
     protected virtual float ComputeLinksetMass()
     {
         float mass = LinksetRoot.RawMass;
@@ -311,6 +385,5 @@ public abstract class BSLinkset
         if (m_physicsScene.PhysicsLogging.Enabled)
             m_physicsScene.DetailLog(msg, args);
     }
-
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index fc4545f..d34b797 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
+    // Complex objects (like linksets) need to know if there is a collision on any part of
+    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
+    //    only this specific prim or component of linksets.
+    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
+    //    the complex body that this prim is the root of.
+    public virtual bool HasSomeCollision
+    {
+        get { return IsColliding; }
+        set { IsColliding = value; }
+    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
+    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d43448e..4771934 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject
         }
     }
 
-        // Find and return a handle to the current vehicle actor.
-        // Return 'null' if there is no vehicle actor.
+    // Find and return a handle to the current vehicle actor.
+    // Return 'null' if there is no vehicle actor.
     public BSDynamics GetVehicleActor()
     {
         BSDynamics ret = null;
@@ -507,6 +507,7 @@ public class BSPrim : BSPhysObject
         }
         return ret;
     }
+
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 1fbcfcc..2f392da 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Called after a simulation step to post a collision with this object.
+    // This returns 'true' if the collision has been queued and the SendCollisions call must
+    //     be made at the end of the simulation step.
     public override bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        // prims in the same linkset cannot collide with each other
-        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
-        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
+        bool ret = false;
+        // Ask the linkset if it wants to handle the collision
+        if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
         {
-            return false;
+            // The linkset didn't handle it so pass the collision through normal processing
+            ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
         }
+        return ret;
+    }
 
-        // TODO: handle collisions of other objects with with children of linkset.
-        //    This is a problem for LinksetCompound since the children are packed into the root.
+    // A linkset reports any collision on any part of the linkset.
+    public long SomeCollisionSimulationStep = 0;
+    public override bool HasSomeCollision
+    {
+        get
+        {
+            return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
+        }
+        set
+        {
+            if (value)
+                SomeCollisionSimulationStep = PhysScene.SimulationStep;
+            else
+                SomeCollisionSimulationStep = 0;
 
-        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+            base.HasSomeCollision = value;
+        }
     }
 }
 }
-- 
cgit v1.1


From acb7b4a09ad564d1dfae3ad12adbb593ca3942c9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 16 Jul 2013 09:59:52 -0700
Subject: BulletSim: only create vehicle prim actor when vehicles are enabled.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     | 43 ++++++++++++++++------
 .../Physics/BulletSPlugin/Tests/BasicVehicles.cs   |  2 +-
 2 files changed, 33 insertions(+), 12 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4771934..fdb2925 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject
         _isVolumeDetect = false;
 
         // Add a dynamic vehicle to our set of actors that can move this prim.
-        PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
+        // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
 
         _mass = CalculateMass();
 
@@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject
 
     // Find and return a handle to the current vehicle actor.
     // Return 'null' if there is no vehicle actor.
-    public BSDynamics GetVehicleActor()
+    public BSDynamics GetVehicleActor(bool createIfNone)
     {
         BSDynamics ret = null;
         BSActor actor;
@@ -505,13 +505,21 @@ public class BSPrim : BSPhysObject
         {
             ret = actor as BSDynamics;
         }
+        else
+        {
+            if (createIfNone)
+            {
+                ret = new BSDynamics(PhysScene, this, VehicleActorName);
+                PhysicalActors.Add(ret.ActorName, ret);
+            }
+        }
         return ret;
     }
 
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
             if (vehicleActor != null)
                 ret = (int)vehicleActor.Type;
             return ret;
@@ -525,11 +533,24 @@ public class BSPrim : BSPhysObject
                 //    change all the parameters. Like a plane changing to CAR when on the
                 //    ground. In this case, don't want to zero motion.
                 // ZeroMotion(true /* inTaintTime */);
-                BSDynamics vehicleActor = GetVehicleActor();
-                if (vehicleActor != null)
+                if (type == Vehicle.TYPE_NONE)
                 {
-                    vehicleActor.ProcessTypeChange(type);
-                    ActivateIfPhysical(false);
+                    // Vehicle type is 'none' so get rid of any actor that may have been allocated.
+                    BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        PhysicalActors.RemoveAndRelease(vehicleActor.ActorName);
+                    }
+                }
+                else
+                {
+                    // Vehicle type is not 'none' so create an actor and set it running.
+                    BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        vehicleActor.ProcessTypeChange(type);
+                        ActivateIfPhysical(false);
+                    }
                 }
             });
         }
@@ -538,7 +559,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
@@ -550,7 +571,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
@@ -562,7 +583,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
@@ -574,7 +595,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVehicleFlags(param, remove);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
index 48d3742..48e74eb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
@@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase
         //    Instead the appropriate values are set and calls are made just the parts of the
         //    controller we want to exercise. Stepping the physics engine then applies
         //    the actions of that one feature.
-        BSDynamics vehicleActor = TestVehicle.GetVehicleActor();
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
         if (vehicleActor != null)
         {
             vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
-- 
cgit v1.1


From d0d654e2186c8b81c1150da89a549e4f7162a2b4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 16 Jul 2013 10:01:03 -0700
Subject: BulletSim: change BSDynamics to expect to be passed a BSPrimLinkable
 and start changing the logic to handle the base prim as a complex object (ie,
 a linkset).

---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 1540df1..82d7c44 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private static string LogHeader = "[BULLETSIM VEHICLE]";
 
         // the prim this dynamic controller belongs to
-        private BSPrim ControllingPrim { get; set; }
+        private BSPrimLinkable ControllingPrim { get; set; }
 
         private bool m_haveRegisteredForSceneEvents;
 
@@ -128,9 +128,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
             : base(myScene, myPrim, actorName)
         {
-            ControllingPrim = myPrim;
             Type = Vehicle.TYPE_NONE;
             m_haveRegisteredForSceneEvents = false;
+
+            ControllingPrim = myPrim as BSPrimLinkable;
+            if (ControllingPrim == null)
+            {
+                // THIS CANNOT HAPPEN!!
+            }
+            VDetailLog("{0},Creation", ControllingPrim.LocalID);
         }
 
         // Return 'true' if this vehicle is doing vehicle things
@@ -585,6 +591,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Friction affects are handled by this vehicle code
                 m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
                 m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
+                // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
+                // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -595,17 +603,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Vehicles report collision events so we know when it's on the ground
                 m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
 
                 Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
                 ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
                 m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
                 m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
+                // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
 
                 // Set the gravity for the vehicle depending on the buoyancy
                 // TODO: what should be done if prim and vehicle buoyancy differ?
                 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
+                // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -617,6 +628,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 if (ControllingPrim.PhysBody.HasPhysicalBody)
                     m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -629,6 +641,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // BSActor.Release()
         public override void Dispose()
         {
+            VDetailLog("{0},Dispose", ControllingPrim.LocalID);
             UnregisterForSceneEvents();
             Type = Vehicle.TYPE_NONE;
             Enabled = false;
-- 
cgit v1.1


From b44f0e1a00eba7f76401692322e48a3b23a81164 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 16 Jul 2013 10:02:14 -0700
Subject: BulletSim: Add logic to linksets to change physical properties for
 whole linkset. Override physical property setting for BSLinksetCompound as
 there are not children to the compound spape.

---
 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs   |  6 +---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 24 +++++++++++++--
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     | 36 ++++++++++++++++++++++
 3 files changed, 59 insertions(+), 7 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index fff63e4..e0ccc50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -69,7 +69,7 @@ public class BSActorCollection
     {
         lock (m_actors)
         {
-            Release();
+            ForEachActor(a => a.Dispose());
             m_actors.Clear();
         }
     }
@@ -98,10 +98,6 @@ public class BSActorCollection
     {
         ForEachActor(a => a.SetEnabled(enabl));
     }
-    public void Release()
-    {
-        ForEachActor(a => a.Dispose());
-    }
     public void Refresh()
     {
         ForEachActor(a => a.Refresh());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 78c0af7..960c0b4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,14 +309,14 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia()
+    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
                     OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
-                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    member.Inertia = inertia * inertiaFactor;
                     m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
                 }
@@ -324,6 +324,26 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 3668456..33ae5a5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
     {
     }
 
+    // ================================================================
+    // Changing the physical property of the linkset only needs to change the root
+    public override void SetPhysicalFriction(float friction)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
+    }
+    public override void SetPhysicalRestitution(float restitution)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
+    }
+    public override void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
+    }
+    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    {
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        LinksetRoot.Inertia = inertia * inertiaFactor;
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
+    }
+    public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    // ================================================================
+
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     public override void Refresh(BSPrimLinkable requestor)
-- 
cgit v1.1


From 84d0699761b8da546f9faef084240d7b15f16321 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:07:42 -0700
Subject: Revert "BulletSim: Add logic to linksets to change physical
 properties for" The changes don't seem to be ready for prime time.

This reverts commit b44f0e1a00eba7f76401692322e48a3b23a81164.
---
 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs   |  6 +++-
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 24 ++-------------
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     | 36 ----------------------
 3 files changed, 7 insertions(+), 59 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index e0ccc50..fff63e4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -69,7 +69,7 @@ public class BSActorCollection
     {
         lock (m_actors)
         {
-            ForEachActor(a => a.Dispose());
+            Release();
             m_actors.Clear();
         }
     }
@@ -98,6 +98,10 @@ public class BSActorCollection
     {
         ForEachActor(a => a.SetEnabled(enabl));
     }
+    public void Release()
+    {
+        ForEachActor(a => a.Dispose());
+    }
     public void Refresh()
     {
         ForEachActor(a => a.Refresh());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 960c0b4..78c0af7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,14 +309,14 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public virtual void ComputeLocalInertia()
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
                     OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
-                    member.Inertia = inertia * inertiaFactor;
+                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
                     m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
                 }
@@ -324,26 +324,6 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                    m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
-    public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                    m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 33ae5a5..3668456 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -44,42 +44,6 @@ public sealed class BSLinksetCompound : BSLinkset
     {
     }
 
-    // ================================================================
-    // Changing the physical property of the linkset only needs to change the root
-    public override void SetPhysicalFriction(float friction)
-    {
-        if (LinksetRoot.PhysBody.HasPhysicalBody)
-            m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
-    }
-    public override void SetPhysicalRestitution(float restitution)
-    {
-        if (LinksetRoot.PhysBody.HasPhysicalBody)
-            m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
-    }
-    public override void SetPhysicalGravity(OMV.Vector3 gravity)
-    {
-        if (LinksetRoot.PhysBody.HasPhysicalBody)
-            m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
-    }
-    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
-    {
-        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
-        LinksetRoot.Inertia = inertia * inertiaFactor;
-        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
-        m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
-    }
-    public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
-    {
-        if (LinksetRoot.PhysBody.HasPhysicalBody)
-            m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
-    }
-    public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
-    {
-        if (LinksetRoot.PhysBody.HasPhysicalBody)
-            m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
-    }
-    // ================================================================
-
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     public override void Refresh(BSPrimLinkable requestor)
-- 
cgit v1.1


From 7b187deb19517aa7c880458894643a5448566a94 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:08:25 -0700
Subject: Revert "BulletSim: change BSDynamics to expect to be passed a
 BSPrimLinkable" The changes don't seem to be ready for prime time.

This reverts commit d0d654e2186c8b81c1150da89a549e4f7162a2b4.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 ++---------------
 1 file changed, 2 insertions(+), 15 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 82d7c44..1540df1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private static string LogHeader = "[BULLETSIM VEHICLE]";
 
         // the prim this dynamic controller belongs to
-        private BSPrimLinkable ControllingPrim { get; set; }
+        private BSPrim ControllingPrim { get; set; }
 
         private bool m_haveRegisteredForSceneEvents;
 
@@ -128,15 +128,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
             : base(myScene, myPrim, actorName)
         {
+            ControllingPrim = myPrim;
             Type = Vehicle.TYPE_NONE;
             m_haveRegisteredForSceneEvents = false;
-
-            ControllingPrim = myPrim as BSPrimLinkable;
-            if (ControllingPrim == null)
-            {
-                // THIS CANNOT HAPPEN!!
-            }
-            VDetailLog("{0},Creation", ControllingPrim.LocalID);
         }
 
         // Return 'true' if this vehicle is doing vehicle things
@@ -591,8 +585,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Friction affects are handled by this vehicle code
                 m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
                 m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
-                // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
-                // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -603,20 +595,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Vehicles report collision events so we know when it's on the ground
                 m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-                // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
 
                 Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
                 ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
                 m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
                 m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
-                // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
 
                 // Set the gravity for the vehicle depending on the buoyancy
                 // TODO: what should be done if prim and vehicle buoyancy differ?
                 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
-                // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -628,7 +617,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 if (ControllingPrim.PhysBody.HasPhysicalBody)
                     m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-                // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -641,7 +629,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // BSActor.Release()
         public override void Dispose()
         {
-            VDetailLog("{0},Dispose", ControllingPrim.LocalID);
             UnregisterForSceneEvents();
             Type = Vehicle.TYPE_NONE;
             Enabled = false;
-- 
cgit v1.1


From 5f7b2ea81b95a60e882bc65b663a2c9fe134f92a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:08:49 -0700
Subject: Revert "BulletSim: only create vehicle prim actor when vehicles are
 enabled." The changes don't seem to be ready for prime time.

This reverts commit acb7b4a09ad564d1dfae3ad12adbb593ca3942c9.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     | 43 ++++++----------------
 .../Physics/BulletSPlugin/Tests/BasicVehicles.cs   |  2 +-
 2 files changed, 12 insertions(+), 33 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index fdb2925..4771934 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject
         _isVolumeDetect = false;
 
         // Add a dynamic vehicle to our set of actors that can move this prim.
-        // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
+        PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
 
         _mass = CalculateMass();
 
@@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject
 
     // Find and return a handle to the current vehicle actor.
     // Return 'null' if there is no vehicle actor.
-    public BSDynamics GetVehicleActor(bool createIfNone)
+    public BSDynamics GetVehicleActor()
     {
         BSDynamics ret = null;
         BSActor actor;
@@ -505,21 +505,13 @@ public class BSPrim : BSPhysObject
         {
             ret = actor as BSDynamics;
         }
-        else
-        {
-            if (createIfNone)
-            {
-                ret = new BSDynamics(PhysScene, this, VehicleActorName);
-                PhysicalActors.Add(ret.ActorName, ret);
-            }
-        }
         return ret;
     }
 
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
-            BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
+            BSDynamics vehicleActor = GetVehicleActor();
             if (vehicleActor != null)
                 ret = (int)vehicleActor.Type;
             return ret;
@@ -533,24 +525,11 @@ public class BSPrim : BSPhysObject
                 //    change all the parameters. Like a plane changing to CAR when on the
                 //    ground. In this case, don't want to zero motion.
                 // ZeroMotion(true /* inTaintTime */);
-                if (type == Vehicle.TYPE_NONE)
-                {
-                    // Vehicle type is 'none' so get rid of any actor that may have been allocated.
-                    BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
-                    if (vehicleActor != null)
-                    {
-                        PhysicalActors.RemoveAndRelease(vehicleActor.ActorName);
-                    }
-                }
-                else
+                BSDynamics vehicleActor = GetVehicleActor();
+                if (vehicleActor != null)
                 {
-                    // Vehicle type is not 'none' so create an actor and set it running.
-                    BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
-                    if (vehicleActor != null)
-                    {
-                        vehicleActor.ProcessTypeChange(type);
-                        ActivateIfPhysical(false);
-                    }
+                    vehicleActor.ProcessTypeChange(type);
+                    ActivateIfPhysical(false);
                 }
             });
         }
@@ -559,7 +538,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            BSDynamics vehicleActor = GetVehicleActor();
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
@@ -571,7 +550,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            BSDynamics vehicleActor = GetVehicleActor();
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
@@ -583,7 +562,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            BSDynamics vehicleActor = GetVehicleActor();
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
@@ -595,7 +574,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+            BSDynamics vehicleActor = GetVehicleActor();
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVehicleFlags(param, remove);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
index 48e74eb..48d3742 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
@@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase
         //    Instead the appropriate values are set and calls are made just the parts of the
         //    controller we want to exercise. Stepping the physics engine then applies
         //    the actions of that one feature.
-        BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor();
         if (vehicleActor != null)
         {
             vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
-- 
cgit v1.1


From c45659863d8821a48a32e5b687c7b2a6d90b0300 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:09:17 -0700
Subject: Revert "BulletSim: move collision processing for linksets from
 BSPrimLinkable" The changes don't seem to be ready for prime time.

This reverts commit b4c3a791aa55390bff071b3fe4bbe70c1d252703.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 75 +---------------------
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 11 ----
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     |  5 +-
 .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 ++-------
 5 files changed, 18 insertions(+), 121 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 1540df1..4c2c1c1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
 
-            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity );
 
         } // end MoveLinear()
 
@@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
 
                 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
-                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
+                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding)
                 {
                     linearDeflectionW.Z = 0f;
                 }
@@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
                 distanceAboveGround = VehiclePosition.Z - targetHeight;
                 // Not colliding if the vehicle is off the ground
-                if (!Prim.HasSomeCollision)
+                if (!Prim.IsColliding)
                 {
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
                     VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
@@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //     be computed with a motor.
                 // TODO: add interaction with banking.
                 VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
+                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
                  */
 
                 // Another approach is to measure if we're going up. If going up and not colliding,
                 //     the vehicle is in the air.  Fix that by pushing down.
-                if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
+                if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
                     float upVelocity = VehicleVelocity.Z;
@@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     }
                         */
                     VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
-                                    ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
+                                    ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity);
                 }
             }
         }
@@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
 
             // Hack to reduce downward force if the vehicle is probably sitting on the ground
-            if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
+            if (ControllingPrim.IsColliding && IsGroundVehicle)
                 appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
             VehicleAddForce(appliedGravity);
 
             VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
                             ControllingPrim.LocalID, m_VehicleGravity,
-                            ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
+                            ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
 
         // =======================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 78c0af7..ad8e10f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -203,33 +203,6 @@ public abstract class BSLinkset
         return ret;
     }
 
-    // Called after a simulation step to post a collision with this object.
-    // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
-    //     anything to add for the collision and it should be passed through normal processing.
-    // Default processing for a linkset.
-    public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
-                                OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
-    {
-        bool ret = false;
-
-        // prims in the same linkset cannot collide with each other
-        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
-        if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
-        {
-            // By returning 'true', we tell the caller the collision has been 'handled' so it won't
-            //     do anything about this collision and thus, effectivily, ignoring the collision.
-            ret = true;
-        }
-        else
-        {
-            // Not a collision between members of the linkset. Must be a real collision.
-            // So the linkset root can know if there is a collision anywhere in the linkset.
-            LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
-        }
-
-        return ret;
-    }
-
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
@@ -278,53 +251,6 @@ public abstract class BSLinkset
     public abstract bool RemoveDependencies(BSPrimLinkable child);
 
     // ================================================================
-    // Some physical setting happen to all members of the linkset
-    public virtual void SetPhysicalFriction(float friction)
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                    m_physicsScene.PE.SetFriction(member.PhysBody, friction);
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
-    public virtual void SetPhysicalRestitution(float restitution)
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                    m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
-    public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                    m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
-    public virtual void ComputeLocalInertia()
-    {
-        ForEachMember((member) =>
-            {
-                if (member.PhysBody.HasPhysicalBody)
-                {
-                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
-                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
-                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
-                    m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
-                }
-                return false;   // 'false' says to continue looping
-            }
-        );
-    }
-    // ================================================================
     protected virtual float ComputeLinksetMass()
     {
         float mass = LinksetRoot.RawMass;
@@ -385,5 +311,6 @@ public abstract class BSLinkset
         if (m_physicsScene.PhysicsLogging.Enabled)
             m_physicsScene.DetailLog(msg, args);
     }
+
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..fc4545f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,16 +353,6 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
-    // Complex objects (like linksets) need to know if there is a collision on any part of
-    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
-    //    only this specific prim or component of linksets.
-    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
-    //    the complex body that this prim is the root of.
-    public virtual bool HasSomeCollision
-    {
-        get { return IsColliding; }
-        set { IsColliding = value; }
-    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -396,7 +386,6 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
-    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4771934..d43448e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject
         }
     }
 
-    // Find and return a handle to the current vehicle actor.
-    // Return 'null' if there is no vehicle actor.
+        // Find and return a handle to the current vehicle actor.
+        // Return 'null' if there is no vehicle actor.
     public BSDynamics GetVehicleActor()
     {
         BSDynamics ret = null;
@@ -507,7 +507,6 @@ public class BSPrim : BSPhysObject
         }
         return ret;
     }
-
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 2f392da..1fbcfcc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -200,38 +200,20 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Called after a simulation step to post a collision with this object.
-    // This returns 'true' if the collision has been queued and the SendCollisions call must
-    //     be made at the end of the simulation step.
     public override bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        bool ret = false;
-        // Ask the linkset if it wants to handle the collision
-        if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
+        // prims in the same linkset cannot collide with each other
+        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
         {
-            // The linkset didn't handle it so pass the collision through normal processing
-            ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+            return false;
         }
-        return ret;
-    }
 
-    // A linkset reports any collision on any part of the linkset.
-    public long SomeCollisionSimulationStep = 0;
-    public override bool HasSomeCollision
-    {
-        get
-        {
-            return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
-        }
-        set
-        {
-            if (value)
-                SomeCollisionSimulationStep = PhysScene.SimulationStep;
-            else
-                SomeCollisionSimulationStep = 0;
+        // TODO: handle collisions of other objects with with children of linkset.
+        //    This is a problem for LinksetCompound since the children are packed into the root.
 
-            base.HasSomeCollision = value;
-        }
+        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
     }
 }
 }
-- 
cgit v1.1


From 44543ebe638f391fc1c7ff532fe4470006dec55a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:10:23 -0700
Subject: Revert "BulletSim: freshen up the code for constraint based
 linksets." The changes don't seem to be ready for prime time.

This reverts commit 803632f8f32d91bb4aec678d8b45a8430c2703e1.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs |  4 +-
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     |  1 -
 .../Physics/BulletSPlugin/BSLinksetConstraints.cs  | 82 ++++++----------------
 3 files changed, 23 insertions(+), 64 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4c2c1c1..0204967 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
-                        ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
+                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
                         linearMotorVelocityW, VehicleVelocity, frictionFactorV);
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 3668456..1d94142 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -59,7 +59,6 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
                             requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
-
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
         //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index f17d698..a06a44d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,22 +48,12 @@ public sealed class BSLinksetConstraints : BSLinkset
     {
         base.Refresh(requestor);
 
-    }
-
-    private void ScheduleRebuild(BSPrimLinkable requestor)
-    {
-        DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
-                            requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
-
-        // When rebuilding, it is possible to set properties that would normally require a rebuild.
-        //    If already rebuilding, don't request another rebuild.
-        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
-        if (!Rebuilding && HasAnyChildren)
+        if (HasAnyChildren && IsRoot(requestor))
         {
             // Queue to happen after all the other taint processing
             m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
                 {
-                    if (HasAnyChildren)
+                    if (HasAnyChildren && IsRoot(requestor))
                         RecomputeLinksetConstraints();
                 });
         }
@@ -77,14 +67,8 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeDynamic(BSPrimLinkable child)
     {
-        bool ret = false;
-        DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
-            ScheduleRebuild(LinksetRoot);
-        }
-        return ret;
+        // What is done for each object in BSPrim is what we want.
+        return false;
     }
 
     // The object is going static (non-physical). Do any setup necessary for a static linkset.
@@ -94,16 +78,8 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeStatic(BSPrimLinkable child)
     {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        child.ClearDisplacement();
-        if (IsRoot(child))
-        {
-            // Schedule a rebuild to verify that the root shape is set to the real shape.
-            ScheduleRebuild(LinksetRoot);
-        }
-        return ret;
+        // What is done for each object in BSPrim is what we want.
+        return false;
     }
 
     // Called at taint-time!!
@@ -129,7 +105,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             // Just undo all the constraints for this linkset. Rebuild at the end of the step.
             ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
             // Cause the constraints, et al to be rebuilt before the next simulation step.
-            ScheduleRebuild(LinksetRoot);
+            Refresh(LinksetRoot);
         }
         return ret;
     }
@@ -147,7 +123,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
             // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            ScheduleRebuild(LinksetRoot);
+            Refresh(LinksetRoot);
         }
         return;
     }
@@ -171,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
             // See that the linkset parameters are recomputed at the end of the taint time.
-            ScheduleRebuild(LinksetRoot);
+            Refresh(LinksetRoot);
         }
         else
         {
@@ -189,7 +165,6 @@ public sealed class BSLinksetConstraints : BSLinkset
         Refresh(rootPrim);
     }
 
-    // Create a static constraint between the two passed objects
     private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Zero motion for children so they don't interpolate
@@ -306,39 +281,24 @@ public sealed class BSLinksetConstraints : BSLinkset
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
-        try
+        foreach (BSPrimLinkable child in m_children)
         {
-            Rebuilding = true;
+            // A child in the linkset physically shows the mass of the whole linkset.
+            // This allows Bullet to apply enough force on the child to move the whole linkset.
+            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+            child.UpdatePhysicalMassProperties(linksetMass, true);
 
-            // There is no reason to build all this physical stuff for a non-physical linkset.
-            if (!LinksetRoot.IsPhysicallyActive)
+            BSConstraint constrain;
+            if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
             {
-                DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
-                return; // Note the 'finally' clause at the botton which will get executed.
+                // If constraint doesn't exist yet, create it.
+                constrain = BuildConstraint(LinksetRoot, child);
             }
+            constrain.RecomputeConstraintVariables(linksetMass);
 
-            foreach (BSPrimLinkable child in m_children)
-            {
-                // A child in the linkset physically shows the mass of the whole linkset.
-                // This allows Bullet to apply enough force on the child to move the whole linkset.
-                // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-                child.UpdatePhysicalMassProperties(linksetMass, true);
-
-                BSConstraint constrain;
-                if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
-                {
-                    // If constraint doesn't exist yet, create it.
-                    constrain = BuildConstraint(LinksetRoot, child);
-                }
-                constrain.RecomputeConstraintVariables(linksetMass);
-
-                // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
-            }
-        }
-        finally
-        {
-            Rebuilding = false;
+            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
         }
+
     }
 }
 }
-- 
cgit v1.1


From af9deed13593a85aef64205f9ca616a06711963c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:11:21 -0700
Subject: Revert "Revert "BulletSim: freshen up the code for constraint based
 linksets."" Found that the vehicle movement problem was not caused by these
 physics changes.

This reverts commit 44543ebe638f391fc1c7ff532fe4470006dec55a.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs |  4 +-
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     |  1 +
 .../Physics/BulletSPlugin/BSLinksetConstraints.cs  | 82 ++++++++++++++++------
 3 files changed, 64 insertions(+), 23 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0204967..4c2c1c1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
-                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
+                        ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
                         linearMotorVelocityW, VehicleVelocity, frictionFactorV);
         }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1d94142..3668456 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
                             requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
+
         // When rebuilding, it is possible to set properties that would normally require a rebuild.
         //    If already rebuilding, don't request another rebuild.
         //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index a06a44d..f17d698 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset
     {
         base.Refresh(requestor);
 
-        if (HasAnyChildren && IsRoot(requestor))
+    }
+
+    private void ScheduleRebuild(BSPrimLinkable requestor)
+    {
+        DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
+                            requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
+
+        // When rebuilding, it is possible to set properties that would normally require a rebuild.
+        //    If already rebuilding, don't request another rebuild.
+        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
+        if (!Rebuilding && HasAnyChildren)
         {
             // Queue to happen after all the other taint processing
             m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
                 {
-                    if (HasAnyChildren && IsRoot(requestor))
+                    if (HasAnyChildren)
                         RecomputeLinksetConstraints();
                 });
         }
@@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeDynamic(BSPrimLinkable child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+        DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (IsRoot(child))
+        {
+            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
+            ScheduleRebuild(LinksetRoot);
+        }
+        return ret;
     }
 
     // The object is going static (non-physical). Do any setup necessary for a static linkset.
@@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Called at taint-time!
     public override bool MakeStatic(BSPrimLinkable child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        child.ClearDisplacement();
+        if (IsRoot(child))
+        {
+            // Schedule a rebuild to verify that the root shape is set to the real shape.
+            ScheduleRebuild(LinksetRoot);
+        }
+        return ret;
     }
 
     // Called at taint-time!!
@@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             // Just undo all the constraints for this linkset. Rebuild at the end of the step.
             ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
             // Cause the constraints, et al to be rebuilt before the next simulation step.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         return ret;
     }
@@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
             // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         return;
     }
@@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
             // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
+            ScheduleRebuild(LinksetRoot);
         }
         else
         {
@@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         Refresh(rootPrim);
     }
 
+    // Create a static constraint between the two passed objects
     private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Zero motion for children so they don't interpolate
@@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
-        foreach (BSPrimLinkable child in m_children)
+        try
         {
-            // A child in the linkset physically shows the mass of the whole linkset.
-            // This allows Bullet to apply enough force on the child to move the whole linkset.
-            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass, true);
+            Rebuilding = true;
 
-            BSConstraint constrain;
-            if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+            // There is no reason to build all this physical stuff for a non-physical linkset.
+            if (!LinksetRoot.IsPhysicallyActive)
             {
-                // If constraint doesn't exist yet, create it.
-                constrain = BuildConstraint(LinksetRoot, child);
+                DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
+                return; // Note the 'finally' clause at the botton which will get executed.
             }
-            constrain.RecomputeConstraintVariables(linksetMass);
 
-            // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
-        }
+            foreach (BSPrimLinkable child in m_children)
+            {
+                // A child in the linkset physically shows the mass of the whole linkset.
+                // This allows Bullet to apply enough force on the child to move the whole linkset.
+                // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+                child.UpdatePhysicalMassProperties(linksetMass, true);
+
+                BSConstraint constrain;
+                if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+                {
+                    // If constraint doesn't exist yet, create it.
+                    constrain = BuildConstraint(LinksetRoot, child);
+                }
+                constrain.RecomputeConstraintVariables(linksetMass);
 
+                // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint);    // DEBUG DEBUG
+            }
+        }
+        finally
+        {
+            Rebuilding = false;
+        }
     }
 }
 }
-- 
cgit v1.1


From aec8852af793699a4c1093a38b992daf2dbd97f3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:13:01 -0700
Subject: Revert "Revert "BulletSim: move collision processing for linksets
 from BSPrimLinkable"" Found that the vehicle movement problem was not caused
 by these physics changes.

This reverts commit c45659863d8821a48a32e5b687c7b2a6d90b0300.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 75 +++++++++++++++++++++-
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 11 ++++
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     |  5 +-
 .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 +++++++--
 5 files changed, 121 insertions(+), 18 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4c2c1c1..1540df1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
 
-            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity );
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
 
         } // end MoveLinear()
 
@@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
 
                 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
-                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding)
+                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
                 {
                     linearDeflectionW.Z = 0f;
                 }
@@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
                 distanceAboveGround = VehiclePosition.Z - targetHeight;
                 // Not colliding if the vehicle is off the ground
-                if (!Prim.IsColliding)
+                if (!Prim.HasSomeCollision)
                 {
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
                     VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
@@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //     be computed with a motor.
                 // TODO: add interaction with banking.
                 VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+                                Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
                  */
 
                 // Another approach is to measure if we're going up. If going up and not colliding,
                 //     the vehicle is in the air.  Fix that by pushing down.
-                if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1)
+                if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
                     float upVelocity = VehicleVelocity.Z;
@@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     }
                         */
                     VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
-                                    ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity);
+                                    ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
                 }
             }
         }
@@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
 
             // Hack to reduce downward force if the vehicle is probably sitting on the ground
-            if (ControllingPrim.IsColliding && IsGroundVehicle)
+            if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
                 appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
             VehicleAddForce(appliedGravity);
 
             VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
                             ControllingPrim.LocalID, m_VehicleGravity,
-                            ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
+                            ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
 
         // =======================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index ad8e10f..78c0af7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -203,6 +203,33 @@ public abstract class BSLinkset
         return ret;
     }
 
+    // Called after a simulation step to post a collision with this object.
+    // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
+    //     anything to add for the collision and it should be passed through normal processing.
+    // Default processing for a linkset.
+    public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
+                                OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // prims in the same linkset cannot collide with each other
+        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
+        {
+            // By returning 'true', we tell the caller the collision has been 'handled' so it won't
+            //     do anything about this collision and thus, effectivily, ignoring the collision.
+            ret = true;
+        }
+        else
+        {
+            // Not a collision between members of the linkset. Must be a real collision.
+            // So the linkset root can know if there is a collision anywhere in the linkset.
+            LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
+        }
+
+        return ret;
+    }
+
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
@@ -251,6 +278,53 @@ public abstract class BSLinkset
     public abstract bool RemoveDependencies(BSPrimLinkable child);
 
     // ================================================================
+    // Some physical setting happen to all members of the linkset
+    public virtual void SetPhysicalFriction(float friction)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetFriction(member.PhysBody, friction);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalRestitution(float restitution)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void ComputeLocalInertia()
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                {
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                }
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    // ================================================================
     protected virtual float ComputeLinksetMass()
     {
         float mass = LinksetRoot.RawMass;
@@ -311,6 +385,5 @@ public abstract class BSLinkset
         if (m_physicsScene.PhysicsLogging.Enabled)
             m_physicsScene.DetailLog(msg, args);
     }
-
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index fc4545f..d34b797 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
+    // Complex objects (like linksets) need to know if there is a collision on any part of
+    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
+    //    only this specific prim or component of linksets.
+    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
+    //    the complex body that this prim is the root of.
+    public virtual bool HasSomeCollision
+    {
+        get { return IsColliding; }
+        set { IsColliding = value; }
+    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
+    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d43448e..4771934 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject
         }
     }
 
-        // Find and return a handle to the current vehicle actor.
-        // Return 'null' if there is no vehicle actor.
+    // Find and return a handle to the current vehicle actor.
+    // Return 'null' if there is no vehicle actor.
     public BSDynamics GetVehicleActor()
     {
         BSDynamics ret = null;
@@ -507,6 +507,7 @@ public class BSPrim : BSPhysObject
         }
         return ret;
     }
+
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 1fbcfcc..2f392da 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Called after a simulation step to post a collision with this object.
+    // This returns 'true' if the collision has been queued and the SendCollisions call must
+    //     be made at the end of the simulation step.
     public override bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        // prims in the same linkset cannot collide with each other
-        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
-        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
+        bool ret = false;
+        // Ask the linkset if it wants to handle the collision
+        if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
         {
-            return false;
+            // The linkset didn't handle it so pass the collision through normal processing
+            ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
         }
+        return ret;
+    }
 
-        // TODO: handle collisions of other objects with with children of linkset.
-        //    This is a problem for LinksetCompound since the children are packed into the root.
+    // A linkset reports any collision on any part of the linkset.
+    public long SomeCollisionSimulationStep = 0;
+    public override bool HasSomeCollision
+    {
+        get
+        {
+            return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
+        }
+        set
+        {
+            if (value)
+                SomeCollisionSimulationStep = PhysScene.SimulationStep;
+            else
+                SomeCollisionSimulationStep = 0;
 
-        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+            base.HasSomeCollision = value;
+        }
     }
 }
 }
-- 
cgit v1.1


From b14156aa6317b2c0ca6801730beb7c51eed97244 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:13:29 -0700
Subject: Revert "Revert "BulletSim: only create vehicle prim actor when
 vehicles are enabled."" Found that the vehicle movement problem was not
 caused by these physics changes.

This reverts commit 5f7b2ea81b95a60e882bc65b663a2c9fe134f92a.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     | 43 ++++++++++++++++------
 .../Physics/BulletSPlugin/Tests/BasicVehicles.cs   |  2 +-
 2 files changed, 33 insertions(+), 12 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4771934..fdb2925 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject
         _isVolumeDetect = false;
 
         // Add a dynamic vehicle to our set of actors that can move this prim.
-        PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
+        // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
 
         _mass = CalculateMass();
 
@@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject
 
     // Find and return a handle to the current vehicle actor.
     // Return 'null' if there is no vehicle actor.
-    public BSDynamics GetVehicleActor()
+    public BSDynamics GetVehicleActor(bool createIfNone)
     {
         BSDynamics ret = null;
         BSActor actor;
@@ -505,13 +505,21 @@ public class BSPrim : BSPhysObject
         {
             ret = actor as BSDynamics;
         }
+        else
+        {
+            if (createIfNone)
+            {
+                ret = new BSDynamics(PhysScene, this, VehicleActorName);
+                PhysicalActors.Add(ret.ActorName, ret);
+            }
+        }
         return ret;
     }
 
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
             if (vehicleActor != null)
                 ret = (int)vehicleActor.Type;
             return ret;
@@ -525,11 +533,24 @@ public class BSPrim : BSPhysObject
                 //    change all the parameters. Like a plane changing to CAR when on the
                 //    ground. In this case, don't want to zero motion.
                 // ZeroMotion(true /* inTaintTime */);
-                BSDynamics vehicleActor = GetVehicleActor();
-                if (vehicleActor != null)
+                if (type == Vehicle.TYPE_NONE)
                 {
-                    vehicleActor.ProcessTypeChange(type);
-                    ActivateIfPhysical(false);
+                    // Vehicle type is 'none' so get rid of any actor that may have been allocated.
+                    BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        PhysicalActors.RemoveAndRelease(vehicleActor.ActorName);
+                    }
+                }
+                else
+                {
+                    // Vehicle type is not 'none' so create an actor and set it running.
+                    BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
+                    if (vehicleActor != null)
+                    {
+                        vehicleActor.ProcessTypeChange(type);
+                        ActivateIfPhysical(false);
+                    }
                 }
             });
         }
@@ -538,7 +559,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
@@ -550,7 +571,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
@@ -562,7 +583,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
@@ -574,7 +595,7 @@ public class BSPrim : BSPhysObject
     {
         PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            BSDynamics vehicleActor = GetVehicleActor();
+            BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */);
             if (vehicleActor != null)
             {
                 vehicleActor.ProcessVehicleFlags(param, remove);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
index 48d3742..48e74eb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
@@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase
         //    Instead the appropriate values are set and calls are made just the parts of the
         //    controller we want to exercise. Stepping the physics engine then applies
         //    the actions of that one feature.
-        BSDynamics vehicleActor = TestVehicle.GetVehicleActor();
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
         if (vehicleActor != null)
         {
             vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
-- 
cgit v1.1


From 75686e0e49308a21ca013d246544f88cd8e90cbd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:13:56 -0700
Subject: Revert "Revert "BulletSim: change BSDynamics to expect to be passed a
 BSPrimLinkable"" Found that the vehicle movement problem was not caused by
 these physics changes.

This reverts commit 7b187deb19517aa7c880458894643a5448566a94.
---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 1540df1..82d7c44 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private static string LogHeader = "[BULLETSIM VEHICLE]";
 
         // the prim this dynamic controller belongs to
-        private BSPrim ControllingPrim { get; set; }
+        private BSPrimLinkable ControllingPrim { get; set; }
 
         private bool m_haveRegisteredForSceneEvents;
 
@@ -128,9 +128,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
             : base(myScene, myPrim, actorName)
         {
-            ControllingPrim = myPrim;
             Type = Vehicle.TYPE_NONE;
             m_haveRegisteredForSceneEvents = false;
+
+            ControllingPrim = myPrim as BSPrimLinkable;
+            if (ControllingPrim == null)
+            {
+                // THIS CANNOT HAPPEN!!
+            }
+            VDetailLog("{0},Creation", ControllingPrim.LocalID);
         }
 
         // Return 'true' if this vehicle is doing vehicle things
@@ -585,6 +591,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Friction affects are handled by this vehicle code
                 m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
                 m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
+                // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
+                // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -595,17 +603,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Vehicles report collision events so we know when it's on the ground
                 m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
 
                 Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
                 ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
                 m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
                 m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
+                // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
 
                 // Set the gravity for the vehicle depending on the buoyancy
                 // TODO: what should be done if prim and vehicle buoyancy differ?
                 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
+                // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -617,6 +628,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 if (ControllingPrim.PhysBody.HasPhysicalBody)
                     m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -629,6 +641,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         // BSActor.Release()
         public override void Dispose()
         {
+            VDetailLog("{0},Dispose", ControllingPrim.LocalID);
             UnregisterForSceneEvents();
             Type = Vehicle.TYPE_NONE;
             Enabled = false;
-- 
cgit v1.1


From f499b328c44ef29d92aa2ef8102aad6ff5cbe336 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:14:20 -0700
Subject: Revert "Revert "BulletSim: Add logic to linksets to change physical
 properties for"" Found that the vehicle movement problem was not caused by
 these physics changes.

This reverts commit 84d0699761b8da546f9faef084240d7b15f16321.
---
 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs   |  6 +---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs  | 24 +++++++++++++--
 .../Physics/BulletSPlugin/BSLinksetCompound.cs     | 36 ++++++++++++++++++++++
 3 files changed, 59 insertions(+), 7 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index fff63e4..e0ccc50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -69,7 +69,7 @@ public class BSActorCollection
     {
         lock (m_actors)
         {
-            Release();
+            ForEachActor(a => a.Dispose());
             m_actors.Clear();
         }
     }
@@ -98,10 +98,6 @@ public class BSActorCollection
     {
         ForEachActor(a => a.SetEnabled(enabl));
     }
-    public void Release()
-    {
-        ForEachActor(a => a.Dispose());
-    }
     public void Refresh()
     {
         ForEachActor(a => a.Refresh());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 78c0af7..960c0b4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,14 +309,14 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia()
+    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
                     OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
-                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    member.Inertia = inertia * inertiaFactor;
                     m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
                 }
@@ -324,6 +324,26 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 3668456..33ae5a5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset
     {
     }
 
+    // ================================================================
+    // Changing the physical property of the linkset only needs to change the root
+    public override void SetPhysicalFriction(float friction)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
+    }
+    public override void SetPhysicalRestitution(float restitution)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
+    }
+    public override void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
+    }
+    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    {
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        LinksetRoot.Inertia = inertia * inertiaFactor;
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
+    }
+    public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
+    // ================================================================
+
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     public override void Refresh(BSPrimLinkable requestor)
-- 
cgit v1.1


From aec8d1e6be43422b0f93de47d6e46cc3e17399cc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 09:09:25 -0700
Subject: BulletSim: Turn on center-of-mass calculation by default. Reduce
 object density by factor of 100 to bring physical mass computations into a
 range better suited for Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 +++++---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs  | 4 ++--
 2 files changed, 7 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index dcf1e83..0bdb5f1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -461,8 +461,9 @@ public static class BSParam
             (s) => { return MaxAddForceMagnitude; },
             (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
         // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
+        // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
         new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
-            0.01f ),
+            0.0001f ),
 
         new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
             2200f ),
@@ -607,8 +608,9 @@ public static class BSParam
             0.0f ),
         new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
             0.0f ),
+        // Turn off fudge with DensityScaleFactor = 0.0001.  Value used to be 0.2f;
         new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
-            0.2f ),
+            1.0f ),
         new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
             60.0f ),
         new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
@@ -701,7 +703,7 @@ public static class BSParam
 	    new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
             (float)BSLinkset.LinksetImplementation.Compound ),
 	    new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
-            false ),
+            true ),
 	    new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
             false ),
 	    new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index fdb2925..e92a1d2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -440,8 +440,8 @@ public class BSPrim : BSPhysObject
                 Gravity = ComputeGravity(Buoyancy);
                 PhysScene.PE.SetGravity(PhysBody, Gravity);
 
-                OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo);   // DEBUG DEBUG
-                DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo);   // DEBUG DEBUG
+                // OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo);   // DEBUG DEBUG
+                // DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo);   // DEBUG DEBUG
 
                 Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
                 PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);
-- 
cgit v1.1