BulletSim: pass both root and child BSPhysObjects to Extension function. Update routines to use the new parameters list from above change.

3 files changed, 41 insertions, 35 deletions

diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index 90cf15a..10e13b9 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -220,7 +220,8 @@ public class ExtendedPhysics : INonSharedRegionModule
                         containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
                         containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
 
-                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
+                        object[] parms2 = { rootPhysActor, null, linksetType };
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
                         Thread.Sleep(150);  // longer than one heartbeat tick
 
                         containingGroup.ScriptSetPhysicsStatus(true);
@@ -229,7 +230,8 @@ public class ExtendedPhysics : INonSharedRegionModule
                     {
                         // Non-physical linksets don't have a physical instantiation so there is no state to
                         //    worry about being updated.
-                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType));
+                        object[] parms2 = { rootPhysActor, null, linksetType };
+                        ret = MakeIntError(rootPhysActor.Extension(PhysFunctSetLinksetType, parms2));
                     }
                 }
                 else
@@ -271,7 +273,8 @@ public class ExtendedPhysics : INonSharedRegionModule
                 PhysicsActor rootPhysActor = rootPart.PhysActor;
                 if (rootPhysActor != null)
                 {
-                    ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType));
+                    object[] parms2 = { rootPhysActor, null };
+                    ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinksetType, parms2));
                 }
                 else
                 {
@@ -315,8 +318,8 @@ public class ExtendedPhysics : INonSharedRegionModule
 
         if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
         {
-            object[] parms = { childPhysActor, typeCode };
-            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms));
+            object[] parms2 = { rootPhysActor, childPhysActor, typeCode };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
         }
 
         return ret;
@@ -334,8 +337,8 @@ public class ExtendedPhysics : INonSharedRegionModule
 
         if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
         {
-            object[] parms = { childPhysActor };
-            ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, parms));
+            object[] parms2 = { rootPhysActor, childPhysActor };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, parms2));
         }
 
         return ret;
@@ -354,8 +357,8 @@ public class ExtendedPhysics : INonSharedRegionModule
 
         if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
         {
-            object[] parms = { childPhysActor , PHYS_LINK_TYPE_FIXED };
-            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms));
+            object[] parms2 = { rootPhysActor, childPhysActor , PHYS_LINK_TYPE_FIXED };
+            ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms2));
         }
 
         return ret;
@@ -412,7 +415,7 @@ public class ExtendedPhysics : INonSharedRegionModule
 
         if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor))
         {
-            object[] parms2 = AddToBeginningOfArray(childPhysActor, parms);
+            object[] parms2 = AddToBeginningOfArray(rootPhysActor, childPhysActor, parms);
             ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, parms2));
         }
 
@@ -518,11 +521,12 @@ public class ExtendedPhysics : INonSharedRegionModule
     }
 
     // Return an array of objects with the passed object as the first object of a new array
-    private object[] AddToBeginningOfArray(object firstOne, object[] prevArray)
+    private object[] AddToBeginningOfArray(object firstOne, object secondOne, object[] prevArray)
     {
-        object[] newArray = new object[1 + prevArray.Length];
+        object[] newArray = new object[2 + prevArray.Length];
         newArray[0] = firstOne;
-        prevArray.CopyTo(newArray, 1);
+        newArray[1] = secondOne;
+        prevArray.CopyTo(newArray, 2);
         return newArray;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index b2a9501..a9ae89d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -385,7 +385,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                                 linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
                                 true /*useLinearReferenceFrameA*/,
                                 true /*disableCollisionsBetweenLinkedBodies*/);
-                DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+                DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
                                                 rootPrim.LocalID,
                                                 rootPrim.LocalID, rootPrim.PhysBody.AddrString,
                                                 linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString,
@@ -492,12 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset
         object ret = null;
         switch (pFunct)
         {
-            // pParams = [ BSPhysObject child, integer linkType ]
+            // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
             case ExtendedPhysics.PhysFunctChangeLinkType:
-                if (pParams.Length > 1)
+                if (pParams.Length > 2)
                 {
-                    int requestedType = (int)pParams[1];
-                    DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType);
+                    int requestedType = (int)pParams[2];
+                    DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType);
                     if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE
                         || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE
                         || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE
@@ -505,9 +505,11 @@ public sealed class BSLinksetConstraints : BSLinkset
                         || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE
                         || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE)
                     {
-                        BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                        BSPrimLinkable child = pParams[1] as BSPrimLinkable;
                         if (child != null)
                         {
+                            DetailLog("{0},BSLinksetConstraint.ChangeLinkType,rootID={1},childID={2},type={3}",
+                                                    LinksetRoot.LocalID, LinksetRoot.LocalID, child.LocalID, requestedType);
                             m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate()
                             {
                                 // Pick up all the constraints currently created.
@@ -523,17 +525,17 @@ public sealed class BSLinksetConstraints : BSLinkset
                                         linkInfoC.ResetLink();
                                         linkInfoC.constraintType = (ConstraintType)requestedType;
                                         ret = (object)true;
-                                        DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}",
+                                        DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}",
                                                     linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType);
                                     }
                                     else
                                     {
-                                        DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID);
+                                        DetailLog("{0},BSLinksetConstraint.ChangeLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID);
                                     }
                                 }
                                 else
                                 {
-                                    DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID);
+                                    DetailLog("{0},BSLinksetConstraint.ChangeLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID);
                                 }
                                 // Cause the whole linkset to be rebuilt in post-taint time.
                                 Refresh(child);
@@ -551,11 +553,11 @@ public sealed class BSLinksetConstraints : BSLinkset
                     }
                 }
                 break;
-            // pParams = []
+            // pParams = [ BSPhysObject root, BSPhysObject child ]
             case ExtendedPhysics.PhysFunctGetLinkType:
                 if (pParams.Length > 0)
                 {
-                    BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                    BSPrimLinkable child = pParams[1] as BSPrimLinkable;
                     if (child != null)
                     {
                         BSLinkInfo linkInfo = null;
@@ -573,14 +575,14 @@ public sealed class BSLinksetConstraints : BSLinkset
                     }
                 }
                 break;
-            // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
+            // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ]
             case ExtendedPhysics.PhysFunctChangeLinkParams:
                 // There should be two parameters: the childActor and a list of parameters to set
                 try
                 {
-                    if (pParams.Length > 1)
+                    if (pParams.Length > 2)
                     {
-                        BSPrimLinkable child = pParams[0] as BSPrimLinkable;
+                        BSPrimLinkable child = pParams[1] as BSPrimLinkable;
                         BSLinkInfo baseLinkInfo = null;
                         if (TryGetLinkInfo(child, out baseLinkInfo))
                         {
@@ -592,7 +594,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                                 OMV.Vector3 valueVector;
                                 OMV.Quaternion valueQuaternion;
 
-                                int opIndex = 1;
+                                int opIndex = 2;
                                 while (opIndex < pParams.Length)
                                 {
                                     int thisOp = (int)pParams[opIndex];
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 840265b..126b146 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -288,7 +288,7 @@ public class BSPrimLinkable : BSPrimDisplaced
         switch (pFunct)
         {
             // physGetLinksetType();
-            // pParams = []
+            // pParams = [ BSPhysObject root, null ]
             case ExtendedPhysics.PhysFunctGetLinksetType:
             {
                 ret = (object)LinksetType;
@@ -296,12 +296,12 @@ public class BSPrimLinkable : BSPrimDisplaced
                 break;
             }
             // physSetLinksetType(type);
-            // pParams = [ BSPhysObject child, integer type ]
+            // pParams = [ BSPhysObject root, null, integer type ]
             case ExtendedPhysics.PhysFunctSetLinksetType:
             {
-                if (pParams.Length > 0)
+                if (pParams.Length > 2)
                 {
-                    BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0];
+                    BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2];
                     if (Linkset.IsRoot(this))
                     {
                         PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate()
@@ -317,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced
                 break;
             }
             // physChangeLinkType(linknum, typeCode);
-            // pParams = [ BSPhysObject child, integer linkType ]
+            // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ]
             case ExtendedPhysics.PhysFunctChangeLinkType:
             {
                 ret = Linkset.Extension(pFunct, pParams);
                 break;
             }
             // physGetLinkType(linknum);
-            // pParams = [ BSPhysObject child ]
+            // pParams = [ BSPhysObject root, BSPhysObject child ]
             case ExtendedPhysics.PhysFunctGetLinkType:
             {
                 ret = Linkset.Extension(pFunct, pParams);
                 break;
             }
             // physChangeLinkParams(linknum, [code, value, code, value, ...]);
-            // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
+            // pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ]
             case ExtendedPhysics.PhysFunctChangeLinkParams:
             {
                 ret = Linkset.Extension(pFunct, pParams);