1 files changed, 192 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
new file mode 100755
index 0000000..235da78
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -0,0 +1,192 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using OpenSim.Framework;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSPrimLinkable : BSPrimDisplaced
+{
+    public BSLinkset Linkset { get; set; }
+    // The index of this child prim.
+    public int LinksetChildIndex { get; set; }
+
+    public BSLinksetInfo LinksetInfo { get; set; }
+
+    public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
+                       OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
+        : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
+    {
+        Linkset = BSLinkset.Factory(PhysScene, this);
+
+        PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
+        {
+            Linkset.Refresh(this);
+        });
+    }
+
+    public override void Destroy()
+    {
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+        base.Destroy();
+    }
+
+    public override void link(Manager.PhysicsActor obj)
+    {
+        BSPrimLinkable parent = obj as BSPrimLinkable;
+        if (parent != null)
+        {
+            BSPhysObject parentBefore = Linkset.LinksetRoot;
+            int childrenBefore = Linkset.NumberOfChildren;
+
+            Linkset = parent.Linkset.AddMeToLinkset(this);
+
+            DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
+                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        }
+        return;
+    }
+
+    public override void delink()
+    {
+        // TODO: decide if this parent checking needs to happen at taint time
+        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
+
+        BSPhysObject parentBefore = Linkset.LinksetRoot;
+        int childrenBefore = Linkset.NumberOfChildren;
+
+        Linkset = Linkset.RemoveMeFromLinkset(this);
+
+        DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
+        return;
+    }
+
+    // When simulator changes position, this might be moving a child of the linkset.
+    public override OMV.Vector3 Position
+    {
+        get { return base.Position; }
+        set
+        {
+            base.Position = value;
+            PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
+            {
+                Linkset.UpdateProperties(UpdatedProperties.Position, this);
+            });
+        }
+    }
+
+    // When simulator changes orientation, this might be moving a child of the linkset.
+    public override OMV.Quaternion Orientation
+    {
+        get { return base.Orientation; }
+        set
+        {
+            base.Orientation = value;
+            PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
+            {
+                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+            });
+        }
+    }
+
+    public override float TotalMass
+    {
+        get { return Linkset.LinksetMass; }
+    }
+
+    public override void UpdatePhysicalParameters()
+    {
+        base.UpdatePhysicalParameters();
+        // Recompute any linkset parameters.
+        // When going from non-physical to physical, this re-enables the constraints that
+        //     had been automatically disabled when the mass was set to zero.
+        // For compound based linksets, this enables and disables interactions of the children.
+        if (Linkset != null)    // null can happen during initialization
+            Linkset.Refresh(this);
+    }
+
+    protected override void MakeDynamic(bool makeStatic)
+    {
+        base.MakeDynamic(makeStatic);
+        if (makeStatic)
+            Linkset.MakeStatic(this);
+        else
+            Linkset.MakeDynamic(this);
+    }
+
+    // Body is being taken apart. Remove physical dependencies and schedule a rebuild.
+    protected override void RemoveDependencies()
+    {
+        Linkset.RemoveDependencies(this);
+        base.RemoveDependencies();
+    }
+
+    public override void UpdateProperties(EntityProperties entprop)
+    {
+        if (Linkset.IsRoot(this))
+        {
+            // Properties are only updated for the roots of a linkset.
+            // TODO: this will have to change when linksets are articulated.
+            base.UpdateProperties(entprop);
+        }
+            /*
+        else
+        {
+            // For debugging, report the movement of children
+            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
+                    entprop.Acceleration, entprop.RotationalVelocity);
+        }
+             */
+        // The linkset might like to know about changing locations
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
+    }
+
+    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))
+        {
+            return false;
+        }
+
+        // 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.
+
+        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+    }
+}
+}