BulletSim: zero vehicle motion when changing vehicle type.

Rebuild compound linkset of any child in the linkset changes shape.
Comments and better detailed logging messages.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -559,9 +559,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
             }
 
-            // Update any physical parameters based on this type.
-            Refresh();
-
             m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
                                 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
                                 1f);
@@ -589,6 +586,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 RegisterForSceneEvents();
             }
+
+            // Update any physical parameters based on this type.
+            Refresh();
         }
         #endregion // Vehicle parameter setting
 

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -246,7 +246,8 @@ public sealed class BSLinksetCompound : BSLinkset
     }
 
     // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in world relationships, do nothing unless it's a child changing.
+    // 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)
@@ -256,14 +257,7 @@ public sealed class BSLinksetCompound : BSLinkset
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
                         child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
-        if (!IsRoot(child))
+        ScheduleRebuild(child);
-        {
-            child.LinksetInfo = null;
-        }
-
-        // Cannot schedule a refresh/rebuild here because this routine is called when
-        //     the linkset is being rebuilt.
-        // InternalRefresh(LinksetRoot);
 
         return ret;
     }
@@ -322,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // 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;
+    private bool UseBulletSimRootOffsetHack = false;    // Attempt to have Bullet track the coords of root compound shape
     private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
     private void RecomputeLinksetCompound()
     {
@@ -382,7 +376,7 @@ public sealed class BSLinksetCompound : BSLinkset
                 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
                 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, memberIndex, cPrim.PhysShape, offsetPos, offsetRot);
+                                    LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
 
                 // Since we are borrowing the shape of the child, disable the origional child body
                 if (!IsRoot(cPrim))

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -511,7 +511,7 @@ public class BSPrim : BSPhysObject
 
             PhysScene.TaintedObject("setVehicleType", delegate()
             {
-                // Vehicle code changes the parameters for this vehicle type.
+                ZeroMotion(true /* inTaintTime */);
                 VehicleActor.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
             });

OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs

@@ -182,6 +182,10 @@ public class BSPrimLinkable : BSPrimDisplaced
         {
             return false;
         }
+
+        // TODO: handle collisions of other objects with with children of linkset.
+        //    This is a problem for LinksetCompound since the children are packed into the root.
+
         return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
     }
 }

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -254,10 +254,10 @@ public sealed class BSShapeCollection : IDisposable
             }
             else
             {
+                // The current shape on the prim is the correct one. We don't need the potential reference.
                 potentialHull.Dereference(m_physicsScene);
             }
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"));
         }
         else
         {
@@ -277,8 +277,7 @@ public sealed class BSShapeCollection : IDisposable
                 // We don't need this reference to the mesh that is already being using.
                 potentialMesh.Dereference(m_physicsScene);
             }
-            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
-                                    prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"));
         }
         return ret;
     }

OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs

@@ -352,9 +352,6 @@ public class BSShapeMesh : BSShape
         float lod;
         System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
-        physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}",
-                                prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
-
         BSShapeMesh retMesh = null;
         lock (Meshes)
         {
@@ -380,6 +377,7 @@ public class BSShapeMesh : BSShape
                 retMesh.physShapeInfo = newShape;
             }
         }
+        physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod);
         return retMesh;
     }
     public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
@@ -507,9 +505,6 @@ public class BSShapeHull : BSShape
         float lod;
         System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
-        physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}",
-                                prim.LocalID, newHullKey.ToString("X"), prim.Size, lod);
-
         BSShapeHull retHull = null;
         lock (Hulls)
         {
@@ -531,10 +526,10 @@ public class BSShapeHull : BSShape
                     // If a mesh was what was created, remember the built shape for later sharing.
                     Hulls.Add(newHullKey, retHull);
                 }
-
                 retHull.physShapeInfo = newShape;
             }
         }
+        physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod);
         return retHull;
     }
     public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)