BulletSim: debugging of compound shape implementation of linksets.

Add compound shape creation and freeing in shape manager.
Add optional taint-time execution method and update code to use it.
Add API2 linkage for more compound shape methods (get num, get/remove by index, ...)
Modify perferred shape return so linkset children can have differet shapes than root.
Add Position and Orientation calls to linksets so children can be moved around by
    the linkset by its own calculation. Allows for very general linkset implementations.

1 files changed, 80 insertions, 26 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 638fae1..8b97ebb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -41,18 +41,31 @@ public sealed class BSLinksetCompound : BSLinkset
         base.Initialize(scene, parent);
     }
 
+    // For compound implimented linksets, if there are children, use compound shape for the root.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    { 
+        ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+        if (IsRoot(requestor) && HasAnyChildren)
+        {
+            ret = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
+        }
+        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
+        return ret;
+    }
+
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
     // This is queued in the 'post taint' queue so the
     //   refresh will happen once after all the other taints are applied.
     public override void Refresh(BSPhysObject requestor)
     {
+        DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
         // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetCompound();
-            });
+        PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
+        {
+            if (IsRoot(requestor) && HasAnyChildren)
+                RecomputeLinksetCompound();
+        });
     }
 
     // The object is going dynamic (physical). Do any setup necessary
@@ -63,8 +76,17 @@ public sealed class BSLinksetCompound : BSLinkset
     // Called at taint-time!
     public override bool MakeDynamic(BSPhysObject child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,isChild={1}", child.LocalID, HasChild(child));
+        if (HasChild(child))
+        {
+            // Physical children are removed from the world as the shape ofthe root compound
+            //     shape takes over.
+            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            ret = true;
+        }
+        return ret;
     }
 
     // The object is going static (non-physical). Do any setup necessary for a static linkset.
@@ -74,8 +96,17 @@ public sealed class BSLinksetCompound : BSLinkset
     // Called at taint-time!
     public override bool MakeStatic(BSPhysObject child)
     {
-        // What is done for each object in BSPrim is what we want.
-        return false;
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeStatic,call,hasChild={1}", child.LocalID, HasChild(child));
+        if (HasChild(child))
+        {
+            // The non-physical children can come back to life.
+            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            // Don't force activation so setting of DISABLE_SIMULATION can stay.
+            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            ret = true;
+        }
+        return ret;
     }
 
     // Called at taint-time!!
@@ -84,20 +115,35 @@ public sealed class BSLinksetCompound : BSLinkset
         // Nothing to do for constraints on property updates
     }
 
+    // The children move around in relationship to the root.
+    // Just grab the current values of wherever it is right now.
+    public override OMV.Vector3 Position(BSPhysObject member)
+    {
+        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
+    }
+
+    public override OMV.Quaternion Orientation(BSPhysObject member)
+    {
+        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
+    }
+
     // Routine called when rebuilding the body of some member of the linkset.
-    // Destroy all the constraints have have been made to root and set
-    //     up to rebuild the constraints before the next simulation step.
+    // Since we don't keep in-physical world relationships, do nothing unless it's a child changing.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
     public override bool RemoveBodyDependencies(BSPrim child)
     {
         bool ret = false;
 
-        DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2},isRoot={3}",
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
 
-        // Cause the current shape to be freed and the new one to be built.
-        Refresh(LinksetRoot);
+        if (!IsRoot(child))
+        {
+            // Cause the current shape to be freed and the new one to be built.
+            Refresh(LinksetRoot);
+            ret = true;
+        }
 
         return ret;
     }
@@ -139,13 +185,19 @@ public sealed class BSLinksetCompound : BSLinkset
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
                             child.LocalID, child.PhysBody.ptr.ToString("X"));
 
-            // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
-        }
-        else
-        {
-            // Non-fatal occurance.
-            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+            // Cause the child's body to be rebuilt and thus restored to normal operation
+            child.ForceBodyShapeRebuild(false);
+
+            if (!HasAnyChildren)
+            {
+                // The linkset is now empty. The root needs rebuilding.
+                LinksetRoot.ForceBodyShapeRebuild(false);
+            }
+            else
+            {
+                // Schedule a rebuild of the linkset  before the next simulation tick.
+                Refresh(LinksetRoot);
+            }
         }
         return;
     }
@@ -158,16 +210,18 @@ public sealed class BSLinksetCompound : BSLinkset
     // Called at taint time!!
     private void RecomputeLinksetCompound()
     {
-        // Release the existing shape
-        PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null);
-        
+        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},numChildren={2}",
+                        LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), NumberOfChildren);
+
+        LinksetRoot.ForceBodyShapeRebuild(true);
+
         float linksetMass = LinksetMass;
         LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
 
             // DEBUG: see of inter-linkset collisions are causing problems
         // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
         //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",
+        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,end,rBody={1},linksetMass={2}",
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);