From 1dc23b2b9713f4099534ae0d08c2caf5c8b036b4 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Fri, 2 Nov 2012 10:35:12 -0700
Subject: [PATCH] BulletSim: parameterize selection of linkset implementation

---
 .../Region/Physics/BulletSPlugin/BSLinkset.cs | 28 ++++++++++++-------
 .../Region/Physics/BulletSPlugin/BSScene.cs   |  5 ++++
 .../Physics/BulletSPlugin/BulletSimAPI.cs     |  1 +
 3 files changed, 24 insertions(+), 10 deletions(-)

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 8f973f4f5d..3a92f9361a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -36,21 +36,29 @@ public abstract class BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET]";
 
+    public enum LinksetImplementation
+    {
+        Constraint   = 0,   // linkset tied together with constraints
+        Compound     = 1,   // linkset tied together as a compound object
+        Manual       = 2    // linkset tied together manually (code moves all the pieces)
+    }
     // Create the correct type of linkset for this child
     public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
     {
         BSLinkset ret = null;
-        /*
-        if (parent.IsPhysical)
-            ret = new BSLinksetConstraints(physScene, parent);
-        else
-            ret = new BSLinksetManual(physScene, parent);
-         */
-
-        // at the moment, there is only one
-        // ret = new BSLinksetConstraints(physScene, parent);
-        ret = new BSLinksetCompound(physScene, parent);
 
+        switch ((int)physScene.Params.linksetImplementation)
+        {
+            case (int)LinksetImplementation.Compound:
+                ret = new BSLinksetCompound(physScene, parent);
+                break;
+            case (int)LinksetImplementation.Manual:
+                // ret = new BSLinksetManual(physScene, parent);
+                break;
+            default:
+                ret = new BSLinksetConstraints(physScene, parent);
+                break;
+        }
         return ret;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index dcfcb8380c..13aa8605d2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1214,6 +1214,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].numberOfSolverIterations; },
             (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
 
+	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)",
+            (float)BSLinkset.LinksetImplementation.Constraint,
+            (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return s.m_params[0].linksetImplementation; },
+            (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
 	    new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
             ConfigurationParameters.numericFalse,
             (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 143b8beca1..ac6d2b207b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -300,6 +300,7 @@ public struct ConfigurationParameters
 	public float shouldEnableFrictionCaching;
 	public float numberOfSolverIterations;
 
+    public float linksetImplementation;
     public float linkConstraintUseFrameOffset;
     public float linkConstraintEnableTransMotor;
     public float linkConstraintTransMotorMaxVel;