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BulletSim: LinksetCompound work to disable collision for root and 

child prims so compound shape can do all collisions.
Don't try to build a compound linkset for non-physical linksets.
Remove and replace root body when compound shape is added so collision
cache is rebuilt.
user_profiles
Robert Adams 2013-04-29 17:30:38 -07:00
parent 92ee288d66
commit 15a3f80e2e
1 changed files with 30 additions and 14 deletions
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28
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -143,8 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
ScheduleRebuild(LinksetRoot);
}
else
{
// The origional prims are removed from the world as the shape of the root compound
// shape takes over.
m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
@ -155,7 +154,7 @@ public sealed class BSLinksetCompound : BSLinkset
child.PhysBody.collisionType = CollisionType.LinksetChild;
ret = true;
}
return ret;
}
@ -190,6 +189,13 @@ public sealed class BSLinksetCompound : BSLinkset
// 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
@ -392,6 +398,13 @@ public sealed class BSLinksetCompound : BSLinkset
private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
private void RecomputeLinksetCompound()
{
if (!LinksetRoot.IsPhysicallyActive)
{
// There is no reason to build all this physical stuff for a non-physical linkset
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
return;
}
try
{
// This replaces the physical shape of the root prim with a compound shape made up of the root
@ -403,7 +416,8 @@ public sealed class BSLinksetCompound : BSLinkset
// Free up any shape we'd previously built.
LinksetShape.Dereference(m_physicsScene);
LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot);
// Get a new compound shape to build the linkset shape in.
LinksetShape = BSShapeCompound.GetReference(m_physicsScene);
// The center of mass for the linkset is the geometric center of the group.
// Compute a displacement for each component so it is relative to the center-of-mass.
@ -431,8 +445,7 @@ public sealed class BSLinksetCompound : BSLinkset
cPrim.LinksetChildIndex = memberIndex;
}
BSShape childShape = cPrim.PhysShape;
childShape.IncrementReference();
BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
@ -446,7 +459,10 @@ public sealed class BSLinksetCompound : BSLinkset
// Sneak the built compound shape in as the shape of the root prim.
// Note this doesn't touch the root prim's PhysShape so be sure the manage the difference.
// Object removed and added to world to get collision cache rebuilt for new shape.
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);
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();