From 93adc4cb6689b156db4db315d44b5ba0ddcd65ac Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 9 Jan 2013 22:45:01 -0800
Subject: BulletSim: Add IsSelected attribute to physical objects. Have
 vehicles check to see if physical before trying to step. Replace vehicle
 gravity application. Previously relying on Bullet to apply gravity but since
 vehicles over-ride the velocity calculation, gravity never had a chance to
 accelerate the body down. Added AddForceImpulse as well as AddForce for those
 who need to apply immediate velocity updates. Use the impulse to apply the
 linear motion.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 +
 1 file changed, 1 insertion(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index e8575f6..2c84293 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -135,6 +135,7 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual OMV.Vector3 Scale { get; set; }
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
+    public abstract bool IsSelected { get; }
 
     // Materialness
     public MaterialAttributes.Material Material { get; private set; }
-- 
cgit v1.1


From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 11 Jan 2013 16:36:34 -0800
Subject: BulletSim: move center of gravity of linkset to its geometric center.
 Necessitated allowing simulator and physical position of a body to get out of
 sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and
 SOs for the UpdateChildTransform so positions of   individual prim in a
 linkset can be implemented.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++
 1 file changed, 10 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 2c84293..185f111 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -73,6 +73,8 @@ public abstract class BSPhysObject : PhysicsActor
 
         // A linkset of just me
         Linkset = BSLinkset.Factory(PhysicsScene, this);
+        PositionDisplacement = OMV.Vector3.Zero;
+
         LastAssetBuildFailed = false;
 
         // Default material type
@@ -157,6 +159,14 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    // Position is what the simulator thinks the positions of the prim is.
+    // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
+    //     sometimes it is necessary to displace the position the physics engine thinks
+    //     the position is. PositionDisplacement must be added and removed from the
+    //     position as the simulator position is stored and fetched from the physics
+    //     engine. 
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-- 
cgit v1.1