BulletSim: add implementation of 'physSetLinksetType' and 'physGetLinksetType'

and processing routines in BulletSim.
Add linkset rebuild/conversion routine in BSLinkset.

OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs

@@ -49,10 +49,20 @@ public class ExtendedPhysics : INonSharedRegionModule
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static string LogHeader = "[EXTENDED PHYSICS]";
 
+    // =============================================================
     // Since BulletSim is a plugin, this these values aren't defined easily in one place.
-    // This table must coorespond to an identical table in BSScene.
+    // This table must correspond to an identical table in BSScene.
+
+    // Per scene functions. See BSScene.
+
+    // Per avatar functions. See BSCharacter.
+
+    // Per prim functions. See BSPrim.
+    public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
     public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
 
+    // =============================================================
+
     private IConfig Configuration { get; set; }
     private bool Enabled { get; set; }
     private Scene BaseScene { get; set; }
@@ -123,6 +133,7 @@ public class ExtendedPhysics : INonSharedRegionModule
  
         // Register as LSL functions all the [ScriptInvocation] marked methods.
         Comms.RegisterScriptInvocations(this);
+        Comms.RegisterConstants(this);
 
         // When an object is modified, we might need to update its extended physics parameters
         BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
@@ -136,7 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule
 
     private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
     {
-        throw new NotImplementedException();
     }
 
     // Event generated when some property of a prim changes.
@@ -168,9 +178,11 @@ public class ExtendedPhysics : INonSharedRegionModule
     public static int PHYS_LINKSET_TYPE_MANUAL      = 2;
 
     [ScriptInvocation]
-    public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
+    public int physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
     {
-        if (!Enabled) return;
+        int ret = -1;
+
+        if (!Enabled) return ret;
 
         // The part that is requesting the change.
         SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
@@ -186,7 +198,7 @@ public class ExtendedPhysics : INonSharedRegionModule
                 Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
                 if (rootPhysActor != null)
                 {
-                    rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                    ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
                 }
                 else
                 {
@@ -204,6 +216,49 @@ public class ExtendedPhysics : INonSharedRegionModule
         {
             m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
         }
+        return ret;
+    }
+
+    [ScriptInvocation]
+    public int physGetLinksetType(UUID hostID, UUID scriptID)
+    {
+        int ret = -1;
+
+        if (!Enabled) return ret;
+
+        // The part that is requesting the change.
+        SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+        if (requestingPart != null)
+        {
+            // The type is is always on the root of a linkset.
+            SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+            SceneObjectPart rootPart = containingGroup.RootPart;
+
+            if (rootPart != null)
+            {
+                Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+                if (rootPhysActor != null)
+                {
+                    ret = (int)rootPhysActor.Extension(PhysFunctGetLinksetType);
+                }
+                else
+                {
+                    m_log.WarnFormat("{0} physGetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
+                                        LogHeader, rootPart.Name, hostID);
+                }
+            }
+            else
+            {
+                m_log.WarnFormat("{0} physGetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
+                                    LogHeader, requestingPart.Name, hostID);
+            }
+        }
+        else
+        {
+            m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+        }
+        return ret;
     }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -79,6 +79,8 @@ public abstract class BSLinkset
         }
     }
 
+    public LinksetImplementation LinksetImpl { get; protected set; }
+
     public BSPrimLinkable LinksetRoot { get; protected set; }
 
     protected BSScene m_physicsScene { get; private set; }

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -42,6 +42,7 @@ public sealed class BSLinksetCompound : BSLinkset
     public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
         : base(scene, parent)
     {
+        LinksetImpl = LinksetImplementation.Compound;
     }
 
     // ================================================================

OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs

@@ -107,6 +107,7 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
     {
+        LinksetImpl = LinksetImplementation.Constraint;
     }
 
     // When physical properties are changed the linkset needs to recalculate

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -1541,6 +1541,50 @@ public class BSPrim : BSPhysObject
         PhysicalActors.RemoveDependencies();
     }
 
+    #region Extension
+    public override object Extension(string pFunct, params object[] pParams)
+    {
+        object ret = null;
+        switch (pFunct)
+        {
+            case BSScene.PhysFunctGetLinksetType:
+            {
+                BSPrimLinkable myHandle = this as BSPrimLinkable;
+                if (myHandle != null)
+                {
+                    ret = (object)myHandle.LinksetType;
+                }
+                m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret);
+                break;
+            }
+            case BSScene.PhysFunctSetLinksetType:
+            {
+                if (pParams.Length > 0)
+                {
+                    BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0];
+                    BSPrimLinkable myHandle = this as BSPrimLinkable;
+                    if (myHandle != null && myHandle.Linkset.IsRoot(myHandle))
+                    {
+                        PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate()
+                        {
+                            // Cause the linkset type to change
+                            m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}",
+                                                LogHeader, myHandle.Linkset.LinksetImpl, linksetType);
+                            myHandle.ConvertLinkset(linksetType);
+                        });
+                    }
+                    ret = (object)(int)linksetType;
+                }
+                break;
+            }
+            default:
+                ret = base.Extension(pFunct, pParams);
+                break;
+        }
+        return ret;
+    }
+    #endregion  // Extension
+
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
     // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.

OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs

@@ -233,5 +233,35 @@ public class BSPrimLinkable : BSPrimDisplaced
             base.HasSomeCollision = value;
         }
     }
+
+    // Convert the existing linkset of this prim into a new type.
+    public bool ConvertLinkset(BSLinkset.LinksetImplementation newType)
+    {
+        bool ret = false;
+        if (LinksetType != newType)
+        {
+            BSLinkset oldLinkset = Linkset;
+            BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this);
+
+            // Pick up any physical dependencies this linkset might have in the physics engine.
+            oldLinkset.RemoveDependencies(this);
+
+            // Copy the linkset children from the old linkset to the new (will be a new instance from the factory)
+            oldLinkset.ForEachLinkInfo((li) =>
+            {
+                oldLinkset.RemoveMeFromLinkset(li.member);
+                newLinkset.AddMeToLinkset(li.member);
+                li.member.Linkset = newLinkset;
+                return false;
+            });
+
+            this.Linkset = newLinkset;
+
+            // Force the shape and linkset to get reconstructed
+            newLinkset.Refresh(this);
+            this.ForceBodyShapeRebuild(true);
+        }
+        return ret;
+    }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -862,6 +862,23 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override bool IsThreaded { get { return false;  } }
 
+    #region Extensions
+    // =============================================================
+    // Per scene functions. See below.
+
+    // Per avatar functions. See BSCharacter.
+
+    // Per prim functions. See BSPrim.
+    public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType";
+    public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
+    // =============================================================
+
+    public override object Extension(string pFunct, params object[] pParams)
+    {
+        return base.Extension(pFunct, pParams);
+    }
+    #endregion // Extensions
+
     #region Taints
     // The simulation execution order is:
     // Simulate()

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -317,7 +317,8 @@ namespace OpenSim.Region.Physics.Manager
         // Extendable interface for new, physics engine specific operations
         public virtual object Extension(string pFunct, params object[] pParams)
         {
-            throw new NotImplementedException();
+            // A NOP of the physics engine does not implement this feature
+            return null;
         }
     }
 

OpenSim/Region/Physics/Manager/PhysicsScene.cs

@@ -338,7 +338,8 @@ namespace OpenSim.Region.Physics.Manager
         // Extendable interface for new, physics engine specific operations
         public virtual object Extension(string pFunct, params object[] pParams)
         {
-            throw new NotImplementedException();
+            // A NOP if the extension thing is not implemented by the physics engine
+            return null;
         }
     }
 }