From c1c1d48af15b4ac0ed5951816f6225a74ffa6eba Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:24:34 -0700
Subject: BulletSim: add BSConstraint.RecomputConstraintVariables for the
 recomputation after linksets changed, etc

---
 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index da26b72..cf8dbc5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -80,10 +80,27 @@ public abstract class BSConstraint : IDisposable
         bool ret = false;
         if (m_enabled)
         {
+            // Recompute the internal transforms
             BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
             ret = true;
         }
         return ret;
     }
+
+    // Reset this constraint making sure it has all its internal structures
+    //    recomputed and is enabled and ready to go.
+    public virtual bool RecomputeConstraintVariables(float mass)
+    {
+        bool ret = false;
+        if (m_enabled)
+        {
+            ret = CalculateTransforms();
+            if (ret)
+            {
+                BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
+            }
+        }
+        return ret;
+    }
 }
 }
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