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, 7 insertions, 1 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index a2650fb..c88e645 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -83,7 +83,8 @@ public class BSConstraintCollection : IDisposable
         return true;
     }
 
-    // Get the constraint between two bodies. There can be only one the way we're using them.
+    // Get the constraint between two bodies. There can be only one.
+    // Return 'true' if a constraint was found.
     public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
     {
         bool found = false;
@@ -105,6 +106,9 @@ public class BSConstraintCollection : IDisposable
         return found;
     }
 
+    // Remove any constraint between the passed bodies.
+    // Presumed there is only one such constraint possible.
+    // Return 'true' if a constraint was found and destroyed.
     public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
     {
         // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
@@ -125,6 +129,8 @@ public class BSConstraintCollection : IDisposable
         return ret;
     }
 
+    // Remove all constraints that reference the passed body.
+    // Return 'true' if any constraints were destroyed.
     public bool RemoveAndDestroyConstraint(BulletBody body1)
     {
         // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);