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, 12 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 65aed77..67a59ef 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -84,6 +84,18 @@ public sealed class BSLinksetConstraints : BSLinkset
         // Nothing to do for constraints on property updates
     }
 
+    // The children of the linkset are moved around by the constraints.
+    // 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.