From 6a35a965ff7085b5962745437a10d798c0fb611d Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Fri, 31 Mar 2017 20:55:48 +0100
Subject:  add OSSL functions to override linksets total mass, center of mass
 and inertia. replacing the crude automatic estimation based on prims known to
 physics and density. Changed parameters are still not saved, and are lost on
 region crossings. only suported by UbODE. EXPERIMENTAL feature, only test it
 for now.. don't try to use in products.

---
 .../Region/Framework/Scenes/SceneObjectGroup.cs    | 41 ++++++++++++++++++++++
 1 file changed, 41 insertions(+)

(limited to 'OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs')

diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
index bf4d60c..77658ef 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs
@@ -5010,6 +5010,47 @@ namespace OpenSim.Region.Framework.Scenes
             return Ptot;
         }
 
+        public void GetInertiaData(out float TotalMass, out Vector3 CenterOfMass, out Vector3 Inertia, out Vector4 aux )
+        {
+            PhysicsActor pa = RootPart.PhysActor;
+
+            if(((RootPart.Flags & PrimFlags.Physics) !=0) && pa !=null)
+            {
+                PhysicsInertiaData inertia;
+
+                inertia = pa.GetInertiaData();
+
+                TotalMass = inertia.TotalMass;
+                CenterOfMass = inertia.CenterOfMass;
+                Inertia = inertia.Inertia;
+                aux = inertia.InertiaRotation;
+
+                return;
+            }
+
+            TotalMass = GetMass();
+            CenterOfMass = GetCenterOfMass() - AbsolutePosition;
+            CenterOfMass *= Quaternion.Conjugate(RootPart.RotationOffset);
+            Inertia = Vector3.Zero;
+            aux =  Vector4.Zero;
+        }
+
+        public void SetInertiaData(float TotalMass, Vector3 CenterOfMass, Vector3 Inertia, Vector4 aux )
+        {
+            PhysicsActor pa = RootPart.PhysActor;
+
+            if(pa !=null)
+            {
+                PhysicsInertiaData inertia = new PhysicsInertiaData();
+                inertia.TotalMass = TotalMass;
+                inertia.CenterOfMass = CenterOfMass;
+                inertia.Inertia = Inertia;
+                inertia.InertiaRotation = aux;
+                pa.SetInertiaData(inertia);
+            }
+        }
+
+
         /// <summary>
         /// Set the user group to which this scene object belongs.
         /// </summary>
-- 
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