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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs39
1 files changed, 26 insertions, 13 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 44937df..ad09a61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject
356 { 356 {
357 get 357 get
358 { 358 {
359 // return Linkset.LinksetMass; 359 return Linkset.LinksetMass;
360 return _mass; 360 // return _mass;
361 } 361 }
362 } 362 }
363 363
364 // used when we only want this prim's mass and not the linkset thing 364 // used when we only want this prim's mass and not the linkset thing
365 public override float MassRaw { get { return _mass; } } 365 public override float MassRaw {
366 get { return _mass; }
367 }
368 // Set the physical mass to the passed mass.
369 // Note that this does not change _mass!
370 public override void UpdatePhysicalMassProperties(float physMass)
371 {
372 if (IsStatic)
373 {
374 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
375 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
376 }
377 else
378 {
379 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
380 BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
381 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
382 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
383 }
384 }
366 385
367 // Is this used? 386 // Is this used?
368 public override OMV.Vector3 CenterOfMass 387 public override OMV.Vector3 CenterOfMass
@@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject
613 // Recompute any linkset parameters. 632 // Recompute any linkset parameters.
614 // When going from non-physical to physical, this re-enables the constraints that 633 // When going from non-physical to physical, this re-enables the constraints that
615 // had been automatically disabled when the mass was set to zero. 634 // had been automatically disabled when the mass was set to zero.
616 Linkset.Refresh(this, true); 635 Linkset.Refresh(this);
617 636
618 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 637 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
619 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); 638 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject
635 // Center of mass is at the center of the object 654 // Center of mass is at the center of the object
636 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); 655 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
637 // Mass is zero which disables a bunch of physics stuff in Bullet 656 // Mass is zero which disables a bunch of physics stuff in Bullet
638 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); 657 UpdatePhysicalMassProperties(0f);
639 // There is no inertia in a static object
640 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
641 // Set collision detection parameters 658 // Set collision detection parameters
642 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 659 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
643 { 660 {
@@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject
671 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); 688 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
672 689
673 // A dynamic object has mass 690 // A dynamic object has mass
674 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); 691 UpdatePhysicalMassProperties(MassRaw);
675 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
676 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
677 692
678 // Set collision detection parameters 693 // Set collision detection parameters
679 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 694 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject
1247 1262
1248 returnMass = _density * volume; 1263 returnMass = _density * volume;
1249 1264
1250 /* 1265 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
1251 * This change means each object keeps its own mass and the Mass property
1252 * will return the sum if we're part of a linkset.
1253 if (IsRootOfLinkset) 1266 if (IsRootOfLinkset)
1254 { 1267 {
1255 foreach (BSPrim prim in _childrenPrims) 1268 foreach (BSPrim prim in _childrenPrims)