BulletSim: move a bunch of common logic out of BSPrim and BSCharacter

    and into the parent class BSPhysObject.
Rework collision logic to enable extra collision after done colliding.
Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'.

1 files changed, 20 insertions, 22 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 7e784eb..005a758 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -36,11 +36,9 @@ public class BSLinkset
 {
     private static string LogHeader = "[BULLETSIM LINKSET]";
 
-    private BSPhysObject m_linksetRoot;
-    public BSPhysObject LinksetRoot { get { return m_linksetRoot; } }
+    public BSPhysObject LinksetRoot { get; protected set; }
 
-    private BSScene m_physicsScene;
-    public BSScene PhysicsScene { get { return m_physicsScene; } }
+    public BSScene PhysicsScene { get; private set; }
 
     static int m_nextLinksetID = 1;
     public int LinksetID { get; private set; }
@@ -81,8 +79,8 @@ public class BSLinkset
         // We create LOTS of linksets.
         if (m_nextLinksetID < 0) 
             m_nextLinksetID = 1;
-        m_physicsScene = scene;
-        m_linksetRoot = parent;
+        PhysicsScene = scene;
+        LinksetRoot = parent;
         m_children = new List<BSPhysObject>();
         m_mass = parent.MassRaw;
     }
@@ -131,7 +129,7 @@ public class BSLinkset
     // Return 'true' if the passed object is the root object of this linkset
     public bool IsRoot(BSPhysObject requestor)
     {
-        return (requestor.LocalID == m_linksetRoot.LocalID);
+        return (requestor.LocalID == LinksetRoot.LocalID);
     }
 
     public int NumberOfChildren { get { return m_children.Count; } }
@@ -159,7 +157,7 @@ public class BSLinkset
 
     private float ComputeLinksetMass()
     {
-        float mass = m_linksetRoot.MassRaw;
+        float mass = LinksetRoot.MassRaw;
         foreach (BSPhysObject bp in m_children)
         {
             mass += bp.MassRaw;
@@ -169,8 +167,8 @@ public class BSLinkset
 
     private OMV.Vector3 ComputeLinksetCenterOfMass()
     {
-        OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
-        float totalMass = m_linksetRoot.MassRaw;
+        OMV.Vector3 com = LinksetRoot.Position * LinksetRoot.MassRaw;
+        float totalMass = LinksetRoot.MassRaw;
 
         lock (m_linksetActivityLock)
         {
@@ -188,7 +186,7 @@ public class BSLinkset
 
     private OMV.Vector3 ComputeLinksetGeometricCenter()
     {
-        OMV.Vector3 com = m_linksetRoot.Position;
+        OMV.Vector3 com = LinksetRoot.Position;
 
         lock (m_linksetActivityLock)
         {
@@ -256,7 +254,7 @@ public class BSLinkset
             foreach (BSPhysObject child in m_children)
             {
                 BSConstraint constrain;
-                if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
+                if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
                 {
                     // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", 
                     //         LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
@@ -306,9 +304,9 @@ public class BSLinkset
 
             BSPhysObject rootx = LinksetRoot; // capture the root as of now
             BSPhysObject childx = child;
-            m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
+            PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
             {
-                DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+                DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
                 PhysicallyLinkAChildToRoot(rootx, childx);     // build the physical binding between me and the child
             });
         }
@@ -322,7 +320,7 @@ public class BSLinkset
     //    has to be updated also (like pointer to prim's parent).
     private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
     {
-        pchild.Linkset = new BSLinkset(m_physicsScene, pchild);
+        pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
         RemoveChildFromLinkset(pchild);
     }
 
@@ -334,9 +332,9 @@ public class BSLinkset
         {
             BSPhysObject rootx = LinksetRoot; // capture the root as of now
             BSPhysObject childx = child;
-            m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
+            PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
             {
-                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+                DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
 
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
                 RecomputeLinksetConstraintVariables();
@@ -370,7 +368,7 @@ public class BSLinkset
         DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 
             rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
         BS6DofConstraint constrain = new BS6DofConstraint(
-                        m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody,
+                        PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody,
                         midPoint,
                         true,
                         true
@@ -408,7 +406,7 @@ public class BSLinkset
         // ==================================================================================
         */
 
-        m_physicsScene.Constraints.AddConstraint(constrain);
+        PhysicsScene.Constraints.AddConstraint(constrain);
 
         // zero linear and angular limits makes the objects unable to move in relation to each other
         constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@@ -435,7 +433,7 @@ public class BSLinkset
         DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
+        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
 
         // Make the child refresh its location
         BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr);
@@ -447,13 +445,13 @@ public class BSLinkset
     {
         DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
-        m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
+        PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
     }
 
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        m_physicsScene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 
 }