BulletSim: add physChangeLinkParams to set individual parameters on link constraints. Not fully functional. Remove double definition of ExtendedPhysics parameters by having BulletSim reference the optional module (addition to prebuild.xml and usings).

7 files changed, 325 insertions, 167 deletions

diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index 278e9e7..baf5a5b 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -36,6 +36,7 @@ using OpenSim.Region.CoreModules;
 using OpenSim.Region.Framework;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Physics.Manager;
 
 using Mono.Addins;
 using Nini.Config;
@@ -62,9 +63,8 @@ public class ExtendedPhysics : INonSharedRegionModule
     public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
     public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
     public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
-    public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge";
-    public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring";
-    public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider";
+    public const string PhysFunctChangeLinkType = "BulletSim.ChangeLinkType";
+    public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
 
     // =============================================================
 
@@ -200,7 +200,7 @@ public class ExtendedPhysics : INonSharedRegionModule
 
             if (rootPart != null)
             {
-                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+                PhysicsActor rootPhysActor = rootPart.PhysActor;
                 if (rootPhysActor != null)
                 {
                     if (rootPhysActor.IsPhysical)
@@ -219,7 +219,7 @@ public class ExtendedPhysics : INonSharedRegionModule
                         containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
                         containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
 
-                        ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
                         Thread.Sleep(150);  // longer than one heartbeat tick
 
                         containingGroup.ScriptSetPhysicsStatus(true);
@@ -228,7 +228,7 @@ public class ExtendedPhysics : INonSharedRegionModule
                     {
                         // Non-physical linksets don't have a physical instantiation so there is no state to
                         //    worry about being updated.
-                        ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
                     }
                 }
                 else
@@ -267,10 +267,10 @@ public class ExtendedPhysics : INonSharedRegionModule
 
             if (rootPart != null)
             {
-                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+                PhysicsActor rootPhysActor = rootPart.PhysActor;
                 if (rootPhysActor != null)
                 {
-                    ret = (int)rootPhysActor.Extension(PhysFunctGetLinksetType);
+                    ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType));
                 }
                 else
                 {
@@ -291,148 +291,225 @@ public class ExtendedPhysics : INonSharedRegionModule
         return ret;
     }
 
+    [ScriptConstant]
+    public static int PHYS_LINK_TYPE_FIXED  = 1234;
+    [ScriptConstant]
+    public static int PHYS_LINK_TYPE_HINGE  = 4;
+    [ScriptConstant]
+    public static int PHYS_LINK_TYPE_SPRING = 9;
+    [ScriptConstant]
+    public static int PHYS_LINK_TYPE_6DOF   = 6;
+    [ScriptConstant]
+    public static int PHYS_LINK_TYPE_SLIDER = 7;
+
+    // physChangeLinkType(integer linkNum, integer typeCode)
+    [ScriptInvocation]
+    public int physChangeLinkType(UUID hostID, UUID scriptID, int linkNum, int typeCode)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, childPhysActor, typeCode));
+        }
+
+        return ret;
+    }
+
     // physChangeLinkFixed(integer linkNum)
     // Change the link between the root and the linkNum into a fixed, static physical connection.
-    // This needs to change 'linkNum' into the physical object because lower level code has
-    //     no access to the link numbers.
     [ScriptInvocation]
     public int physChangeLinkFixed(UUID hostID, UUID scriptID, int linkNum)
     {
         int ret = -1;
         if (!Enabled) return ret;
 
-        // The part that is requesting the change.
-        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, childPhysActor, PHYS_LINK_TYPE_FIXED));
+        }
+
+        return ret;
+    }
+
+    // Code for specifying params.
+    // The choice if 14400 is arbitrary and only serves to catch parameter code misuse.
+    public static int PHYS_PARAM_MIN                    = 14401;
+    [ScriptConstant]
+    public static int PHYS_PARAM_FRAMEINA_LOC           = 14401;
+    [ScriptConstant]
+    public static int PHYS_PARAM_FRAMEINA_ROT           = 14402;
+    [ScriptConstant]
+    public static int PHYS_PARAM_FRAMEINB_LOC           = 14403;
+    [ScriptConstant]
+    public static int PHYS_PARAM_FRAMEINB_ROT           = 14404;
+    [ScriptConstant]
+    public static int PHYS_PARAM_LINEAR_LIMIT_LOW       = 14405;
+    [ScriptConstant]
+    public static int PHYS_PARAM_LINEAR_LIMIT_HIGH      = 14406;
+    [ScriptConstant]
+    public static int PHYS_PARAM_ANGULAR_LIMIT_LOW      = 14407;
+    [ScriptConstant]
+    public static int PHYS_PARAM_ANGULAR_LIMIT_HIGH     = 14408;
+    [ScriptConstant]
+    public static int PHYS_PARAM_USE_FRAME_OFFSET       = 14409;
+    [ScriptConstant]
+    public static int PHYS_PARAM_ENABLE_TRANSMOTOR      = 14410;
+    [ScriptConstant]
+    public static int PHYS_PARAM_TRANSMOTOR_MAXVEL      = 14411;
+    [ScriptConstant]
+    public static int PHYS_PARAM_TRANSMOTOR_MAXFORCE    = 14412;
+    [ScriptConstant]
+    public static int PHYS_PARAM_CFM                    = 14413;
+    [ScriptConstant]
+    public static int PHYS_PARAM_ERP                    = 14414;
+    [ScriptConstant]
+    public static int PHYS_PARAM_SOLVER_ITERATIONS      = 14415;
+    [ScriptConstant]
+    public static int PHYS_PARAM_SPRING_DAMPING         = 14416;
+    [ScriptConstant]
+    public static int PHYS_PARAM_SPRING_STIFFNESS       = 14417;
+    public static int PHYS_PARAM_MAX                    = 14417;
 
+    // physChangeLinkParams(integer linkNum, [ PHYS_PARAM_*, value, PHYS_PARAM_*, value, ...])
+    [ScriptInvocation]
+    public int physChangeLinkParams(UUID hostID, UUID scriptID, int linkNum, object[] parms)
+    {
+        int ret = -1;
+        if (!Enabled) return ret;
+
+        PhysicsActor rootPhysActor;
+        PhysicsActor childPhysActor;
+
+        if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
+        {
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, childPhysActor, parms));
+        }
+
+        return ret;
+    }
+
+    private bool GetRootPhysActor(UUID hostID, out PhysicsActor rootPhysActor)
+    {
+        SceneObjectGroup containingGroup;
+        SceneObjectPart rootPart;
+        return GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor);
+    }
+
+    private bool GetRootPhysActor(UUID hostID, out SceneObjectGroup containingGroup, out SceneObjectPart rootPart, out PhysicsActor rootPhysActor)
+    {
+        bool ret = false;
+        rootPhysActor = null;
+        containingGroup = null;
+        rootPart = null;
+
+        SceneObjectPart requestingPart;
+
+        requestingPart = BaseScene.GetSceneObjectPart(hostID);
         if (requestingPart != null)
         {
             // The type is is always on the root of a linkset.
-            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
-            SceneObjectPart rootPart = containingGroup.RootPart;
-
-            if (rootPart != null)
+            containingGroup = requestingPart.ParentGroup;
+            if (containingGroup != null && !containingGroup.IsDeleted)
             {
-                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
-                if (rootPhysActor != null)
+                rootPart = containingGroup.RootPart;
+                if (rootPart != null)
                 {
-                    SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
-                    if (linkPart != null)
+                    rootPhysActor = rootPart.PhysActor;
+                    if (rootPhysActor != null)
                     {
-                        Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor;
-                        if (linkPhysActor != null)
-                        {
-                            ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkFixed, linkNum, linkPhysActor);
-                        }
-                        else
-                        {
-                            m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
-                                                LogHeader, rootPart.Name, hostID, linkNum);
-                        }
+                        ret = true;
                     }
                     else
                     {
-                        m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
-                                            LogHeader, rootPart.Name, hostID, linkNum);
+                        m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
                     }
                 }
                 else
                 {
-                    m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}",
-                                        LogHeader, rootPart.Name, hostID);
+                    m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
                 }
             }
             else
             {
-                m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}",
-                                    LogHeader, requestingPart.Name, hostID);
+                m_log.WarnFormat("{0} GetRootAndChildPhysActors: Containing group missing or deleted. hostID={1}", LogHeader, hostID);
             }
         }
         else
         {
-            m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+            m_log.WarnFormat("{0} GetRootAndChildPhysActors: cannot find script object in scene. hostID={1}", LogHeader, hostID);
         }
+
         return ret;
     }
 
-    [ScriptInvocation]
-    public int physChangeLinkHinge(UUID hostID, UUID scriptID, int linkNum)
+    // Find the root and child PhysActors based on the linkNum.
+    // Return 'true' if both are found and returned.
+    private bool GetRootAndChildPhysActors(UUID hostID, int linkNum, out PhysicsActor rootPhysActor, out PhysicsActor childPhysActor)
     {
-        return -1;
-    }
+        bool ret = false;
+        rootPhysActor = null;
+        childPhysActor = null;
 
-    [ScriptInvocation]
-    public int physChangeLinkSpring(UUID hostID, UUID scriptID, int linkNum,
-                        Vector3 frameInAloc, Quaternion frameInArot,
-                        Vector3 frameInBloc, Quaternion frameInBrot,
-                        Vector3 linearLimitLow, Vector3 linearLimitHigh,
-                        Vector3 angularLimitLow, Vector3 angularLimitHigh
-        )
-    {
-        int ret = -1;
-        if (!Enabled) return ret;
+        SceneObjectGroup containingGroup;
+        SceneObjectPart rootPart;
 
-        // The part that is requesting the change.
-        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
-
-        if (requestingPart != null)
+        if (GetRootPhysActor(hostID, out containingGroup, out rootPart, out rootPhysActor))
         {
-            // The type is is always on the root of a linkset.
-            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
-            SceneObjectPart rootPart = containingGroup.RootPart;
-
-            if (rootPart != null)
+            SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
+            if (linkPart != null)
             {
-                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
-                if (rootPhysActor != null)
+                childPhysActor = linkPart.PhysActor;
+                if (childPhysActor != null)
                 {
-                    SceneObjectPart linkPart = containingGroup.GetLinkNumPart(linkNum);
-                    if (linkPart != null)
-                    {
-                        Physics.Manager.PhysicsActor linkPhysActor = linkPart.PhysActor;
-                        if (linkPhysActor != null)
-                        {
-                            ret = (int)rootPhysActor.Extension(PhysFunctChangeLinkSpring, linkNum, linkPhysActor,
-                                                                    frameInAloc, frameInArot,
-                                                                    frameInBloc, frameInBrot,
-                                                                    linearLimitLow, linearLimitHigh,
-                                                                    angularLimitLow, angularLimitHigh
-                                                                        );
-                        }
-                        else
-                        {
-                            m_log.WarnFormat("{0} physChangeLinkFixed: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
-                                                LogHeader, rootPart.Name, hostID, linkNum);
-                        }
-                    }
-                    else
-                    {
-                        m_log.WarnFormat("{0} physChangeLinkFixed: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
-                                            LogHeader, rootPart.Name, hostID, linkNum);
-                    }
+                    ret = true;
                 }
                 else
                 {
-                    m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not have a physics actor. rootName={1}, hostID={2}",
-                                        LogHeader, rootPart.Name, hostID);
+                    m_log.WarnFormat("{0} GetRootAndChildPhysActors: Link part has no physical actor. rootName={1}, hostID={2}, linknum={3}",
+                                        LogHeader, rootPart.Name, hostID, linkNum);
                 }
             }
             else
             {
-                m_log.WarnFormat("{0} physChangeLinkFixed: Root part does not exist. RequestingPartName={1}, hostID={2}",
-                                    LogHeader, requestingPart.Name, hostID);
+                m_log.WarnFormat("{0} GetRootAndChildPhysActors: Could not find linknum part. rootName={1}, hostID={2}, linknum={3}",
+                                    LogHeader, rootPart.Name, hostID, linkNum);
             }
         }
         else
         {
-            m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+            m_log.WarnFormat("{0} GetRootAndChildPhysActors: Root part does not have a physics actor. rootName={1}, hostID={2}",
+                            LogHeader, rootPart.Name, hostID);
         }
+
         return ret;
     }
 
-    [ScriptInvocation]
-    public int physChangeLinkSlider(UUID hostID, UUID scriptID, int linkNum)
+    // Extension() returns an object. Convert that object into the integer error we expect to return.
+    private int MakeIntError(object extensionRet)
     {
-        return 0;
+        int ret = -1;
+        if (extensionRet != null)
+        {
+            try
+            {
+                ret = (int)extensionRet;
+            }
+            catch
+            {
+                ret = -1;
+            }
+        }
+        return ret;
     }
 }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
new file mode 100755
index 0000000..7a76a9a
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs
@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public sealed class BSConstraintConeTwist : BSConstraint
+{
+    public override ConstraintType Type { get { return ConstraintType.CONETWIST_CONSTRAINT_TYPE; } }
+
+    public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
+                                frameInAloc, frameInArot, frameInBloc, frameInBrot,
+                                disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+    }
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
new file mode 100755
index 0000000..37cfa07
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+public sealed class BSConstraintSlider : BSConstraint
+{
+    public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } }
+
+    public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
+    {
+        m_body1 = obj1;
+        m_body2 = obj2;
+        m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
+                                frameInAloc, frameInArot, frameInBloc, frameInBrot,
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+        m_enabled = true;
+    }
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 17fec9d..c09dd42 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -28,6 +28,8 @@ using System;
 using System.Collections.Generic;
 using System.Text;
 
+using OpenSim.Region.OptionalModules.Scripting;
+
 using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
@@ -489,71 +491,46 @@ public sealed class BSLinksetConstraints : BSLinkset
         switch (pFunct)
         {
             // pParams = (int linkNUm, PhysActor linkChild)
-            case BSScene.PhysFunctChangeLinkFixed:
+            case ExtendedPhysics.PhysFunctChangeLinkType:
                 if (pParams.Length > 1)
                 {
-                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
-                    if (child != null)
+                    int requestedType = (int)pParams[1];
+                    if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE
+                        || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE)
                     {
-                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
+                        BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                        if (child != null)
                         {
-                            // Pick up all the constraints currently created.
-                            RemoveDependencies(child);
-
-                            BSLinkInfo linkInfo = null;
-                            if (m_children.TryGetValue(child, out linkInfo))
+                            m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
                             {
-                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
-                                if (linkInfoC != null)
-                                {
-                                    // Setting to fixed is easy. The reset state is the fixed link configuration.
-                                    linkInfoC.ResetLink();
-                                    ret = (object)true;
-                                }
-                            }
-                            // Cause the whole linkset to be rebuilt in post-taint time.
-                            Refresh(child);
-                        });
-                    }
-                }
-                break;
-            case BSScene.PhysFunctChangeLinkSpring:
-                if (pParams.Length > 11)
-                {
-                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
-                    if (child != null)
-                    {
-                        m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate()
-                        {
-                            // Pick up all the constraints currently created.
-                            RemoveDependencies(child);
+                                // Pick up all the constraints currently created.
+                                RemoveDependencies(child);
 
-                            BSLinkInfo linkInfo = null;
-                            if (m_children.TryGetValue(child, out linkInfo))
-                            {
-                                BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
-                                if (linkInfoC != null)
+                                BSLinkInfo linkInfo = null;
+                                if (m_children.TryGetValue(child, out linkInfo))
                                 {
-                                    // Start with a reset link definition
-                                    linkInfoC.ResetLink();
-                                    linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE;
-                                    linkInfoC.frameInAloc = (OMV.Vector3)pParams[2];
-                                    linkInfoC.frameInArot = (OMV.Quaternion)pParams[3];
-                                    linkInfoC.frameInBloc = (OMV.Vector3)pParams[4];
-                                    linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5];
-                                    linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6];
-                                    linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7];
-                                    linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8];
-                                    linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9];
-                                    ret = (object)true;
+                                    BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint;
+                                    if (linkInfoC != null)
+                                    {
+                                        // Setting to fixed is easy. The reset state is the fixed link configuration.
+                                        linkInfoC.ResetLink();
+                                        linkInfoC.constraintType = (ConstraintType)requestedType;
+                                        ret = (object)true;
+                                    }
                                 }
-                            }
-                            // Cause the whole linkset to be rebuilt in post-taint time.
-                            Refresh(child);
-                        });
+                                // Cause the whole linkset to be rebuilt in post-taint time.
+                                Refresh(child);
+                            });
+                        }
                     }
                 }
                 break;
+            case ExtendedPhysics.PhysFunctChangeLinkParams:
+                break;
             default:
                 ret = base.Extension(pFunct, pParams);
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 4c384a6..6136257 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -30,6 +30,7 @@ using System.Linq;
 using System.Text;
 
 using OpenSim.Framework;
+using OpenSim.Region.OptionalModules.Scripting;
 
 using OMV = OpenMetaverse;
 
@@ -286,14 +287,14 @@ public class BSPrimLinkable : BSPrimDisplaced
         switch (pFunct)
         {
             // physGetLinksetType();
-            case BSScene.PhysFunctGetLinksetType:
+            case ExtendedPhysics.PhysFunctGetLinksetType:
             {
                 ret = (object)LinksetType;
                 m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret);
                 break;
             }
             // physSetLinksetType(type);
-            case BSScene.PhysFunctSetLinksetType:
+            case ExtendedPhysics.PhysFunctSetLinksetType:
             {
                 if (pParams.Length > 0)
                 {
@@ -312,9 +313,16 @@ public class BSPrimLinkable : BSPrimDisplaced
                 }
                 break;
             }
-            // physChangeLinkFixed(linknum);
-            // Params: int linkNum, PhysActor linkedPrim
-            case BSScene.PhysFunctChangeLinkFixed:
+            // physChangeLinkType(linknum, typeCode);
+            // Params: PhysActor linkedPrim, int typeCode
+            case ExtendedPhysics.PhysFunctChangeLinkType:
+            {
+                Linkset.Extension(pFunct, pParams);
+                break;
+            }
+            // physChangeLinkParams(linknum, [code, value, code, value, ...]);
+            // Params: PhysActor linkedPrim, object[] params
+            case ExtendedPhysics.PhysFunctChangeLinkParams:
             {
                 Linkset.Extension(pFunct, pParams);
                 break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 571db86..7440468 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -867,20 +867,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public override bool IsThreaded { get { return false;  } }
 
     #region Extensions
-    // =============================================================
-    // Per scene functions. See below.
-
-    // Per avatar functions. See BSCharacter.
-
-    // Per prim functions. See BSPrim.
-    public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
-    public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
-    public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed";
-    public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge";
-    public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring";
-    public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider";
-    // =============================================================
-
     public override object Extension(string pFunct, params object[] pParams)
     {
         return base.Extension(pFunct, pParams);
diff --git a/prebuild.xml b/prebuild.xml
index af8f686..585f96d 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -1795,6 +1795,7 @@
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Region.Framework"/>
       <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Region.OptionalModules"/>
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="OpenSim.Region.Physics.Meshing" path="../../../../bin/Physics/"/>