BulletSim: move collision processing for linksets from BSPrimLinkable

into the linkset implementation classes.
Add HasSomeCollision attribute that remembers of any component of
   a linkset has a collision.
Update vehicle code (BSDynamic) to use the HasSomeCollision in place of
   IsColliding to make constraint based linksets properly notice the ground.
Add linkset functions to change physical attributes of all the members
   of a linkset.

1 files changed, 25 insertions, 7 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 1fbcfcc..2f392da 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Called after a simulation step to post a collision with this object.
+    // This returns 'true' if the collision has been queued and the SendCollisions call must
+    //     be made at the end of the simulation step.
     public override bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        // prims in the same linkset cannot collide with each other
-        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
-        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
+        bool ret = false;
+        // Ask the linkset if it wants to handle the collision
+        if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
         {
-            return false;
+            // The linkset didn't handle it so pass the collision through normal processing
+            ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
         }
+        return ret;
+    }
 
-        // TODO: handle collisions of other objects with with children of linkset.
-        //    This is a problem for LinksetCompound since the children are packed into the root.
+    // A linkset reports any collision on any part of the linkset.
+    public long SomeCollisionSimulationStep = 0;
+    public override bool HasSomeCollision
+    {
+        get
+        {
+            return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
+        }
+        set
+        {
+            if (value)
+                SomeCollisionSimulationStep = PhysScene.SimulationStep;
+            else
+                SomeCollisionSimulationStep = 0;
 
-        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+            base.HasSomeCollision = value;
+        }
     }
 }
 }