aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
blob: cae9efad58e49fbd6c38c7c6300f2d34b22ed8eb (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyrightD
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
using System;
using System.Collections.Generic;
using System.Text;

using OpenSim.Framework;

using OMV = OpenMetaverse;

namespace OpenSim.Region.Physics.BulletSPlugin
{

public sealed class BSLinksetCompound : BSLinkset
{
#pragma warning disable 414
    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
#pragma warning restore 414

    public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
        : base(scene, parent)
    {
        LinksetImpl = LinksetImplementation.Compound;
    }

    // ================================================================
    // Changing the physical property of the linkset only needs to change the root
    public override void SetPhysicalFriction(float friction)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
    }
    public override void SetPhysicalRestitution(float restitution)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
    }
    public override void SetPhysicalGravity(OMV.Vector3 gravity)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
    }
    public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
    {
        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
        LinksetRoot.Inertia = inertia * inertiaFactor;
        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
        m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
    }
    public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
    }
    public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
    }
    public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
    {
        if (LinksetRoot.PhysBody.HasPhysicalBody)
            m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
    }
    // ================================================================

    // When physical properties are changed the linkset needs to recalculate
    //   its internal properties.
    public override void Refresh(BSPrimLinkable requestor)
    {
        // Something changed so do the rebuilding thing
        ScheduleRebuild(requestor);
        base.Refresh(requestor);
    }

    // Schedule a refresh to happen after all the other taint processing.
    private void ScheduleRebuild(BSPrimLinkable requestor)
    {
        // When rebuilding, it is possible to set properties that would normally require a rebuild.
        //    If already rebuilding, don't request another rebuild.
        //    If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
        lock (m_linksetActivityLock)
        {
            if (!RebuildScheduled && !Rebuilding && HasAnyChildren)
            {
                InternalScheduleRebuild(requestor);
            }
        }
    }

    // Must be called with m_linksetActivityLock or race conditions will haunt you.
    private void InternalScheduleRebuild(BSPrimLinkable requestor)
    {
        DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rebuilding={1},hasChildren={2}",
                            requestor.LocalID, Rebuilding, HasAnyChildren);
        RebuildScheduled = true;
        m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
        {
            if (HasAnyChildren)
            {
                if (this.AllPartsComplete)
                {
                    RecomputeLinksetCompound();
                }
                else
                {
                    DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rescheduling because not all children complete",
                                                    requestor.LocalID);
                    InternalScheduleRebuild(requestor);
                }
            }
            RebuildScheduled = false;
        });
    }

    // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
    // Only the state of the passed object can be modified. The rest of the linkset
    //     has not yet been fully constructed.
    // Return 'true' if any properties updated on the passed object.
    // Called at taint-time!
    public override bool MakeDynamic(BSPrimLinkable child)
    {
        bool ret = false;
        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
        if (IsRoot(child))
        {
            // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
            Refresh(LinksetRoot);
        }
        return ret;
    }

    // The object is going static (non-physical). We do not do anything for static linksets.
    // Return 'true' if any properties updated on the passed object.
    // Called at taint-time!
    public override bool MakeStatic(BSPrimLinkable child)
    {
        bool ret = false;

        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
        child.ClearDisplacement();
        if (IsRoot(child))
        {
            // Schedule a rebuild to verify that the root shape is set to the real shape.
            Refresh(LinksetRoot);
        }
        return ret;
    }

    // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
    // Called at taint-time.
    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
    {
        if (!LinksetRoot.IsPhysicallyActive)
        {
            // No reason to do this physical stuff for static linksets.
            DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
            return;
        }

        // The user moving a child around requires the rebuilding of the linkset compound shape
        // One problem is this happens when a border is crossed -- the simulator implementation
        //    stores the position into the group which causes the move of the object
        //    but it also means all the child positions get updated.
        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
        //    region before bothering to do a rebuild.
        if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
        {
            // If a child of the linkset is updating only the position or rotation, that can be done
            //    without rebuilding the linkset.
            // If a handle for the child can be fetch, we update the child here. If a rebuild was
            //    scheduled by someone else, the rebuild will just replace this setting.

            bool updatedChild = false;
            // Anything other than updating position or orientation usually means a physical update
            //     and that is caused by us updating the object.
            if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
            {
                // Find the physical instance of the child
                if (!RebuildScheduled   // if rebuilding, let the rebuild do it
                        && !LinksetRoot.IsIncomplete    // if waiting for assets or whatever, don't change
                        && LinksetRoot.PhysShape.HasPhysicalShape   // there must be a physical shape assigned
                        && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
                {
                    // It is possible that the linkset is still under construction and the child is not yet
                    //    inserted into the compound shape. A rebuild of the linkset in a pre-step action will
                    //    build the whole thing with the new position or rotation.
                    // The index must be checked because Bullet references the child array but does no validity
                    //    checking of the child index passed.
                    int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);
                    if (updated.LinksetChildIndex < numLinksetChildren)
                    {
                        BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);
                        if (linksetChildShape.HasPhysicalShape)
                        {
                            // Found the child shape within the compound shape
                            m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,
                                                                        updated.RawPosition - LinksetRoot.RawPosition,
                                                                        updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
                                                                        true /* shouldRecalculateLocalAabb */);
                            updatedChild = true;
                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
                                                        updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
                        }
                        else    // DEBUG DEBUG
                        {       // DEBUG DEBUG
                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
                                                                        updated.LocalID, linksetChildShape);
                        }       // DEBUG DEBUG
                    }
                    else    // DEBUG DEBUG
                    {       // DEBUG DEBUG
                        // the child is not yet in the compound shape. This is non-fatal.
                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
                                                                    updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
                    }       // DEBUG DEBUG
                }
                else    // DEBUG DEBUG
                {       // DEBUG DEBUG
                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
                }       // DEBUG DEBUG

                if (!updatedChild)
                {
                    // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
                    // Note: there are several ways through this code that will not update the child if
                    //    the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
                    //    there will already be a rebuild scheduled.
                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
                                                                    updated.LocalID, whichUpdated);
                    Refresh(updated);
                }
            }
        }
    }

    // Routine called when rebuilding the body of some member of the linkset.
    // If one of the bodies is being changed, the linkset needs rebuilding.
    // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
    // Returns 'true' of something was actually removed and would need restoring
    // Called at taint-time!!
    public override bool RemoveDependencies(BSPrimLinkable child)
    {
        bool ret = false;

        DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));

        Refresh(child);

        return ret;
    }

    // ================================================================

    // Add a new child to the linkset.
    // Called while LinkActivity is locked.
    protected override void AddChildToLinkset(BSPrimLinkable child)
    {
        if (!HasChild(child))
        {
            m_children.Add(child, new BSLinkInfo(child));

            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);

            // Rebuild the compound shape with the new child shape included
            Refresh(child);
        }
        return;
    }

    // Remove the specified child from the linkset.
    // Safe to call even if the child is not really in the linkset.
    protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
    {
        child.ClearDisplacement();

        if (m_children.Remove(child))
        {
            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                            child.LocalID,
                            LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
                            child.LocalID, child.PhysBody.AddrString);

            // Cause the child's body to be rebuilt and thus restored to normal operation
            child.ForceBodyShapeRebuild(inTaintTime);

            if (!HasAnyChildren)
            {
                // The linkset is now empty. The root needs rebuilding.
                LinksetRoot.ForceBodyShapeRebuild(inTaintTime);
            }
            else
            {
                // Rebuild the compound shape with the child removed
                Refresh(LinksetRoot);
            }
        }
        return;
    }

    // Called before the simulation step to make sure the compound based linkset
    //    is all initialized.
    // Constraint linksets are rebuilt every time.
    // Note that this works for rebuilding just the root after a linkset is taken apart.
    // Called at taint time!!
    private bool UseBulletSimRootOffsetHack = false;    // Attempt to have Bullet track the coords of root compound shape
    private void RecomputeLinksetCompound()
    {
        try
        {
            Rebuilding = true;

            // No matter what is being done, force the root prim's PhysBody and PhysShape to get set
            //     to what they should be as if the root was not in a linkset.
            // Not that bad since we only get into this routine if there are children in the linkset and
            //     something has been updated/changed.
            // Have to do the rebuild before checking for physical because this might be a linkset
            //     being destructed and going non-physical.
            LinksetRoot.ForceBodyShapeRebuild(true);

            // There is no reason to build all this physical stuff for a non-physical or empty linkset.
            if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
            {
                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
                return; // Note the 'finally' clause at the botton which will get executed.
            }

            // Get a new compound shape to build the linkset shape in.
            BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);

            // Compute a displacement for each component so it is relative to the center-of-mass.
            // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
            OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();

            OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
            OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;

            // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
            OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
            if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
            {
                // Zero everything if center-of-mass displacement is not being done.
                centerDisplacementV = OMV.Vector3.Zero;
                LinksetRoot.ClearDisplacement();
            }
            else
            {
                // The actual center-of-mass could have been set by the user.
                centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
            }

            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
                                LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);

            // Add the shapes of all the components of the linkset
            int memberIndex = 1;
            ForEachMember((cPrim) =>
            {
                if (IsRoot(cPrim))
                {
                    // Root shape is always index zero.
                    cPrim.LinksetChildIndex = 0;
                }
                else
                {
                    cPrim.LinksetChildIndex = memberIndex;
                    memberIndex++;
                }

                // Get a reference to the shape of the child for adding of that shape to the linkset compound shape
                BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);

                // Offset the child shape from the center-of-mass and rotate it to root relative.
                OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
                OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;

                // Add the child shape to the compound shape being built
                if (childShape.physShapeInfo.HasPhysicalShape)
                {
                    m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
                                LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);

                    // Since we are borrowing the shape of the child, disable the origional child body
                    if (!IsRoot(cPrim))
                    {
                        m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
                        m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);
                        // We don't want collisions from the old linkset children.
                        m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
                        cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
                    }
                }
                else
                {
                    // The linkset must be in an intermediate state where all the children have not yet
                    //    been constructed. This sometimes happens on startup when everything is getting
                    //    built and some shapes have to wait for assets to be read in.
                    // Just skip this linkset for the moment and cause the shape to be rebuilt next tick.
                    // One problem might be that the shape is broken somehow and it never becomes completely
                    //    available. This might cause the rebuild to happen over and over.
                    InternalScheduleRebuild(LinksetRoot);
                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}",
                                    LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
                    // Output an annoying warning. It should only happen once but if it keeps coming out,
                    //    the user knows there is something wrong and will report it.
                    m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader);
                    m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}",
                                    LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape);

                    // This causes the loop to bail on building the rest of this linkset.
                    // The rebuild operation will fix it up next tick or declare the object unbuildable.
                    return true;
                }

                return false;   // 'false' says to move onto the next child in the list
            });

            // Replace the root shape with the built compound shape.
            // Object removed and added to world to get collision cache rebuilt for new shape.
            LinksetRoot.PhysShape.Dereference(m_physicsScene);
            LinksetRoot.PhysShape = linksetShape;
            m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
            m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);
            m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
                                        LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);

            // With all of the linkset packed into the root prim, it has the mass of everyone.
            LinksetMass = ComputeLinksetMass();
            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);

            if (UseBulletSimRootOffsetHack)
            {
                // Enable the physical position updator to return the position and rotation of the root shape.
                // This enables a feature in the C++ code to return the world coordinates of the first shape in the
                //     compound shape. This aleviates the need to offset the returned physical position by the
                //     center-of-mass offset.
                // TODO: either debug this feature or remove it.
                m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
            }
        }
        finally
        {
            Rebuilding = false;
        }

        // See that the Aabb surrounds the new shape
        m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
    }
}
}