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(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs')

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;
+    }
 }
 }
-- 
cgit v1.1


From 68f112888bd02b33e3b2f58f5b2adb90ce23e84b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 15 Aug 2012 11:33:38 -0700
Subject: BulletSim: clean up detail logging by adding many more debug log
 statements and then commenting out most of the additions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index cf8dbc5..25084d8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -97,8 +97,14 @@ public abstract class BSConstraint : IDisposable
             ret = CalculateTransforms();
             if (ret)
             {
+                // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}",
+                //                 BSScene.DetailLogZero, Body1.ID, Body2.ID);
                 BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
             }
+            else
+            {
+                m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
+            }
         }
         return ret;
     }
-- 
cgit v1.1