1 files changed, 26 insertions, 34 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index d0b2a56..a06a44d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
 
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
+    public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
     {
     }
 
@@ -44,14 +44,14 @@ public sealed class BSLinksetConstraints : BSLinkset
     //   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)
+    public override void Refresh(BSPrimLinkable requestor)
     {
         base.Refresh(requestor);
 
         if (HasAnyChildren && IsRoot(requestor))
         {
             // Queue to happen after all the other taint processing
-            PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
+            m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
                 {
                     if (HasAnyChildren && IsRoot(requestor))
                         RecomputeLinksetConstraints();
@@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     //     has not yet been fully constructed.
     // Return 'true' if any properties updated on the passed object.
     // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
+    public override bool MakeDynamic(BSPrimLinkable child)
     {
         // What is done for each object in BSPrim is what we want.
         return false;
@@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset
     // This doesn't normally happen -- OpenSim removes the objects from the physical
     //     world if it is a static linkset.
     // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
+    public override bool MakeStatic(BSPrimLinkable child)
     {
         // What is done for each object in BSPrim is what we want.
         return false;
     }
 
     // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
     {
         // Nothing to do for constraints on property updates
     }
@@ -93,11 +93,11 @@ public sealed class BSLinksetConstraints : BSLinkset
     //     up to rebuild the constraints before the next simulation step.
     // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
+    public override bool RemoveDependencies(BSPrimLinkable child)
     {
         bool ret = false;
 
-        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+        DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}",
                                     child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
 
         lock (m_linksetActivityLock)
@@ -110,19 +110,11 @@ public sealed class BSLinksetConstraints : BSLinkset
         return ret;
     }
 
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
     // ================================================================
 
     // Add a new child to the linkset.
     // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
+    protected override void AddChildToLinkset(BSPrimLinkable child)
     {
         if (!HasChild(child))
         {
@@ -138,19 +130,19 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     // Remove the specified child from the linkset.
     // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    protected override void RemoveChildFromLinkset(BSPrimLinkable child)
     {
         if (m_children.Remove(child))
         {
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BSPhysObject childx = child;
+            BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
+            BSPrimLinkable childx = child;
 
             DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             childx.LocalID,
                             rootx.LocalID, rootx.PhysBody.AddrString,
                             childx.LocalID, childx.PhysBody.AddrString);
 
-            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
+            m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
@@ -167,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     // Create a constraint between me (root of linkset) and the passed prim (the child).
     // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Don't build the constraint when asked. Put it off until just before the simulation step.
         Refresh(rootPrim);
     }
 
-    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         // Zero motion for children so they don't interpolate
         childPrim.ZeroMotion(true);
@@ -195,7 +187,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
 
         BSConstraint6Dof constrain = new BSConstraint6Dof(
-                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
+                            m_physicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
                             // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
 
         /* NOTE: below is an attempt to build constraint with full frame computation, etc.
@@ -224,15 +216,15 @@ public sealed class BSLinksetConstraints : BSLinkset
         // ==================================================================================
         */
 
-        PhysicsScene.Constraints.AddConstraint(constrain);
+        m_physicsScene.Constraints.AddConstraint(constrain);
 
         // zero linear and angular limits makes the objects unable to move in relation to each other
         constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
         constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
 
         // tweek the constraint to increase stability
-        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
+        constrain.UseFrameOffset(BSParam.LinkConstraintUseFrameOffset);
+        constrain.TranslationalLimitMotor(BSParam.LinkConstraintEnableTransMotor,
                         BSParam.LinkConstraintTransMotorMaxVel,
                         BSParam.LinkConstraintTransMotorMaxForce);
         constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
@@ -247,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     // The root and child bodies are passed in because we need to remove the constraint between
     //      the bodies that were present at unlink time.
     // Called at taint time!
-    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
     {
         bool ret = false;
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
@@ -256,10 +248,10 @@ public sealed class BSLinksetConstraints : BSLinkset
                             childPrim.LocalID, childPrim.PhysBody.AddrString);
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
+        if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
         {
             // Make the child refresh its location
-            PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
+            m_physicsScene.PE.PushUpdate(childPrim.PhysBody);
             ret = true;
         }
 
@@ -269,11 +261,11 @@ public sealed class BSLinksetConstraints : BSLinkset
     // Remove linkage between myself and any possible children I might have.
     // Returns 'true' of any constraints were destroyed.
     // Called at taint time!
-    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
+    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
     {
         DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
-        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
+        return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
     }
 
     // Call each of the constraints that make up this linkset and recompute the
@@ -289,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
         DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
                             LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
 
-        foreach (BSPhysObject child in m_children)
+        foreach (BSPrimLinkable child in m_children)
         {
             // A child in the linkset physically shows the mass of the whole linkset.
             // This allows Bullet to apply enough force on the child to move the whole linkset.
@@ -297,7 +289,7 @@ public sealed class BSLinksetConstraints : BSLinkset
             child.UpdatePhysicalMassProperties(linksetMass, true);
 
             BSConstraint constrain;
-            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
+            if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
             {
                 // If constraint doesn't exist yet, create it.
                 constrain = BuildConstraint(LinksetRoot, child);