From 2c5ff9399063080276a23bcd06fb696d653bef2e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 13 Sep 2012 08:11:54 -0700
Subject: BulletSim:  Way too many changes in one commit. Many changes to
 BSDynamic for readability and commentary. Linkset hacking for vehicles: don't
 over mass the root prim. Add parameter for link constraint solver iterations.
 Correct uses of timestep in timescale calculations for vehicles. Reorganize
 code/logic for making objects static and dynamic for readability     and use
 of API2. Changed most calls in BSPrim to use API2 calls (the new way).
 Avatars do not generate default Bullet collision events but do call up     to
 the simulator for every avatar. Reduces overhead. Objects added to collision
 list only if they are processing collisions.     Reduces overhead especially
 for large numbers of avatars. Generalize call for water height to
 GetWaterHeightAtXYZ(). Catch and correct exception getting terrain height
 when out of bounds. Correct race condition in Terrain Manager where creation
 wasn't at taint-time. Add API calls for constructing compound shapes. Move
 NeedsMeshing() logic into object class. Reorganize logic for object meshing
 to reduce rebuilding of meshs/hulls.

---
 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 32 ++++++++++++++++++-----
 1 file changed, 25 insertions(+), 7 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 5f6601d..dc1de6c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -206,7 +206,7 @@ public class BSLinkset
     //   its internal properties.
     public void Refresh(BSPhysObject requestor)
     {
-        // If there are no children, there aren't any constraints to recompute
+        // If there are no children, there can't be any constraints to recompute
         if (!HasAnyChildren)
             return;
 
@@ -225,11 +225,12 @@ public class BSLinkset
     //    from a linkset to make sure the constraints know about the new mass and
     //    geometry.
     // Must only be called at taint time!!
-    private bool RecomputeLinksetConstraintVariables()
+    private void RecomputeLinksetConstraintVariables()
     {
         float linksetMass = LinksetMass;
         lock (m_linksetActivityLock)
         {
+            bool somethingMissing = false;
             foreach (BSPhysObject child in m_children)
             {
                 BSConstraint constrain;
@@ -241,16 +242,29 @@ public class BSLinkset
                 }
                 else
                 {
-                    // Non-fatal error that can happen when children are being added to the linkset but
+                    // Non-fatal error that happens when children are being added to the linkset but
                     //    their constraints have not been created yet.
                     // Caused by the fact that m_children is built at run time but building constraints
                     //    happens at taint time.
-                    // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}",
-                    //                                 LogHeader, m_linksetRoot.Body.ID, child.Body.ID);
+                    somethingMissing = true;
+                    break;
                 }
             }
+
+            // If the whole linkset is not here, doesn't make sense to recompute the root prim now.
+            if (!somethingMissing)
+            {
+                // The root prim takes on the weight of the whole linkset
+                /*
+                OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
+                BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
+                OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
+                BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
+                BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
+                 */
+            }
         }
-        return false;
+        return;
     }
 
     // I am the root of a linkset and a new child is being added
@@ -296,9 +310,9 @@ public class BSLinkset
                 DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
 
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
+                RecomputeLinksetConstraintVariables();
             });
 
-            RecomputeLinksetConstraintVariables();
         }
         else
         {
@@ -377,6 +391,10 @@ public class BSLinkset
                         PhysicsScene.Params.linkConstraintTransMotorMaxVel,
                         PhysicsScene.Params.linkConstraintTransMotorMaxForce);
         constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
+        if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
+        {
+            constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
+        }
 
         RecomputeLinksetConstraintVariables();
     }
-- 
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