BulletSim: add parameters and API calls for setting ERP and CFM.

Set ERP and CFM in linkset constraints.
Reorder rebuilding of object bodies so they are not rebuilt everytime
   something is linked and unlinked.

1 files changed, 11 insertions, 1 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index fbb9e21..07f5a21 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -50,7 +50,8 @@ public class BSConstraint : IDisposable
         m_body2 = obj2;
         m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
                             frame1, frame1rot,
-                            frame2, frame2rot));
+                            frame2, frame2rot,
+                            true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
         m_enabled = true;
     }
 
@@ -83,6 +84,15 @@ public class BSConstraint : IDisposable
         return ret;
     }
 
+    public bool SetCFMAndERP(float cfm, float erp)
+    {
+        bool ret = false;
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+        BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+        return ret;
+    }
+
     public bool UseFrameOffset(bool useOffset)
     {
         bool ret = false;