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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs32
1 files changed, 25 insertions, 7 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 5f6601d..dc1de6c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -206,7 +206,7 @@ public class BSLinkset
206 // its internal properties. 206 // its internal properties.
207 public void Refresh(BSPhysObject requestor) 207 public void Refresh(BSPhysObject requestor)
208 { 208 {
209 // If there are no children, there aren't any constraints to recompute 209 // If there are no children, there can't be any constraints to recompute
210 if (!HasAnyChildren) 210 if (!HasAnyChildren)
211 return; 211 return;
212 212
@@ -225,11 +225,12 @@ public class BSLinkset
225 // from a linkset to make sure the constraints know about the new mass and 225 // from a linkset to make sure the constraints know about the new mass and
226 // geometry. 226 // geometry.
227 // Must only be called at taint time!! 227 // Must only be called at taint time!!
228 private bool RecomputeLinksetConstraintVariables() 228 private void RecomputeLinksetConstraintVariables()
229 { 229 {
230 float linksetMass = LinksetMass; 230 float linksetMass = LinksetMass;
231 lock (m_linksetActivityLock) 231 lock (m_linksetActivityLock)
232 { 232 {
233 bool somethingMissing = false;
233 foreach (BSPhysObject child in m_children) 234 foreach (BSPhysObject child in m_children)
234 { 235 {
235 BSConstraint constrain; 236 BSConstraint constrain;
@@ -241,16 +242,29 @@ public class BSLinkset
241 } 242 }
242 else 243 else
243 { 244 {
244 // Non-fatal error that can happen when children are being added to the linkset but 245 // Non-fatal error that happens when children are being added to the linkset but
245 // their constraints have not been created yet. 246 // their constraints have not been created yet.
246 // Caused by the fact that m_children is built at run time but building constraints 247 // Caused by the fact that m_children is built at run time but building constraints
247 // happens at taint time. 248 // happens at taint time.
248 // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", 249 somethingMissing = true;
249 // LogHeader, m_linksetRoot.Body.ID, child.Body.ID); 250 break;
250 } 251 }
251 } 252 }
253
254 // If the whole linkset is not here, doesn't make sense to recompute the root prim now.
255 if (!somethingMissing)
256 {
257 // The root prim takes on the weight of the whole linkset
258 /*
259 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
260 BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
261 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
262 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
263 BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
264 */
265 }
252 } 266 }
253 return false; 267 return;
254 } 268 }
255 269
256 // I am the root of a linkset and a new child is being added 270 // I am the root of a linkset and a new child is being added
@@ -296,9 +310,9 @@ public class BSLinkset
296 DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); 310 DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
297 311
298 PhysicallyUnlinkAChildFromRoot(rootx, childx); 312 PhysicallyUnlinkAChildFromRoot(rootx, childx);
313 RecomputeLinksetConstraintVariables();
299 }); 314 });
300 315
301 RecomputeLinksetConstraintVariables();
302 } 316 }
303 else 317 else
304 { 318 {
@@ -377,6 +391,10 @@ public class BSLinkset
377 PhysicsScene.Params.linkConstraintTransMotorMaxVel, 391 PhysicsScene.Params.linkConstraintTransMotorMaxVel,
378 PhysicsScene.Params.linkConstraintTransMotorMaxForce); 392 PhysicsScene.Params.linkConstraintTransMotorMaxForce);
379 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); 393 constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
394 if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
395 {
396 constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
397 }
380 398
381 RecomputeLinksetConstraintVariables(); 399 RecomputeLinksetConstraintVariables();
382 } 400 }