From ce47d0c4541159a730b2d83a7b2ccffc908d06f1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 2 Oct 2012 11:06:07 -0700
Subject: BulletSim: Add ForcePosition and ForceOrientation to BSPhysObject and
 to its children of BSPrim and BSCharacter.

---
 .../Region/Physics/BulletSPlugin/BSCharacter.cs    | 26 +++++++++++++++
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   |  4 +++
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs     | 39 +++++++++++++++++++---
 3 files changed, 64 insertions(+), 5 deletions(-)

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2fe4d68..2a52e01 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -218,6 +218,18 @@ public class BSCharacter : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
+
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -346,6 +358,20 @@ public class BSCharacter : BSPhysObject
             });
         }
     }
+    // Go directly to Bullet to get/set the value. 
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
     public override int PhysicsActorType {
         get { return _physicsActorType; }
         set { _physicsActorType = value;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d9b738b..1ac8c59 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -81,6 +81,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public abstract void Destroy();
 
+    public abstract OMV.Vector3 ForcePosition { get; set; }
+
+    public abstract OMV.Quaternion ForceOrientation { get; set; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e37a4a0..f7b68ba 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -275,6 +275,17 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -377,14 +388,15 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             Vehicle type = (Vehicle)value;
-            BSPrim vehiclePrim = this;
+
+            // Tell the scene about the vehicle so it will get processing each frame.
+            PhysicsScene.VehicleInSceneTypeChanged(this, type);
+
             PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
-                // Tell the scene about the vehicle so it will get processing each frame.
-                PhysicsScene.VehicleInSceneTypeChanged(this, type);
+                this._vehicle.ProcessTypeChange(type);
             });
         }
     }
@@ -422,7 +434,9 @@ public sealed class BSPrim : BSPhysObject
     public override void StepVehicle(float timeStep)
     {
         if (IsPhysical)
+        {
             _vehicle.Step(timeStep);
+        }
     }
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
@@ -486,6 +500,20 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    // Go directly to Bullet to get/set the value. 
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
     public override int PhysicsActorType {
         get { return _physicsActorType; }
         set { _physicsActorType = value; }
@@ -1170,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject
 
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
-        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, 
+        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-- 
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