BulletSim: fixes for change linkset implementation of physical linksets.

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

@@ -29,6 +29,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Reflection;
 using System.Text;
+using System.Threading;
 
 using OpenSim.Framework;
 using OpenSim.Region.CoreModules;
@@ -198,7 +199,33 @@ public class ExtendedPhysics : INonSharedRegionModule
                 Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
                 if (rootPhysActor != null)
                 {
+                    if (rootPhysActor.IsPhysical)
+                    {
+                        // Change a physical linkset by making non-physical, waiting for one heartbeat so all
+                        //    the prim and linkset state is updated, changing the type and making the
+                        //    linkset physical again.
+                        containingGroup.ScriptSetPhysicsStatus(false);
+                        Thread.Sleep(150);  // longer than one heartbeat tick
+
+                        // A kludge for the moment.
+                        // Since compound linksets move the children but don't generate position updates to the
+                        //     simulator, it is possible for compound linkset children to have out-of-sync simulator
+                        //     and physical positions. The following causes the simulator to push the real child positions
+                        //     down into the physics engine to get everything synced.
+                        containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
+                        containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
+
                         ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                        Thread.Sleep(150);  // longer than one heartbeat tick
+
+                        containingGroup.ScriptSetPhysicsStatus(true);
+                    }
+                    else
+                    {
+                        // Non-physical linksets don't have a physical instantiation so there is no state to
+                        //    worry about being updated.
+                        ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+                    }
                 }
                 else
                 {

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -148,7 +148,7 @@ public abstract class BSLinkset
     // Returns a new linkset for the child which is a linkset of one (just the
     //    orphened child).
     // Called at runtime.
-    public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
+    public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime)
     {
         lock (m_linksetActivityLock)
         {
@@ -157,7 +157,7 @@ public abstract class BSLinkset
                 // Cannot remove the root from a linkset.
                 return this;
             }
-            RemoveChildFromLinkset(child);
+            RemoveChildFromLinkset(child, inTaintTime);
             LinksetMass = ComputeLinksetMass();
         }
 
@@ -255,7 +255,7 @@ public abstract class BSLinkset
 
     // I am the root of a linkset and one of my children is being removed.
     // Safe to call even if the child is not really in my linkset.
-    protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
+    protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime);
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -242,7 +242,7 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         bool ret = false;
 
-        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
+        DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
                         child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
         ScheduleRebuild(child);
@@ -270,7 +270,7 @@ public sealed class BSLinksetCompound : BSLinkset
 
     // 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)
+    protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
     {
         child.ClearDisplacement();
 
@@ -282,12 +282,12 @@ public sealed class BSLinksetCompound : BSLinkset
                             child.LocalID, child.PhysBody.AddrString);
 
             // Cause the child's body to be rebuilt and thus restored to normal operation
-            child.ForceBodyShapeRebuild(false);
+            child.ForceBodyShapeRebuild(inTaintTime);
 
             if (!HasAnyChildren)
             {
                 // The linkset is now empty. The root needs rebuilding.
-                LinksetRoot.ForceBodyShapeRebuild(false);
+                LinksetRoot.ForceBodyShapeRebuild(inTaintTime);
             }
             else
             {
@@ -318,10 +318,10 @@ public sealed class BSLinksetCompound : BSLinkset
             //     being destructed and going non-physical.
             LinksetRoot.ForceBodyShapeRebuild(true);
 
-            // There is no reason to build all this physical stuff for a non-physical linkset.
+            // There is no reason to build all this physical stuff for a non-physical or empty linkset.
-            if (!LinksetRoot.IsPhysicallyActive)
+            if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
             {
-                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
+                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
                 return; // Note the 'finally' clause at the botton which will get executed.
             }
 

OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs

@@ -224,7 +224,7 @@ public sealed class BSLinksetConstraints : BSLinkset
 
     // Remove the specified child from the linkset.
     // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPrimLinkable child)
+    protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
     {
         if (m_children.Remove(child))
         {
@@ -236,7 +236,7 @@ public sealed class BSLinksetConstraints : BSLinkset
                             rootx.LocalID, rootx.PhysBody.AddrString,
                             childx.LocalID, childx.PhysBody.AddrString);
 
-            m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
+            m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
             });
@@ -382,9 +382,9 @@ public sealed class BSLinksetConstraints : BSLinkset
             Rebuilding = true;
 
             // There is no reason to build all this physical stuff for a non-physical linkset.
-            if (!LinksetRoot.IsPhysicallyActive)
+            if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
             {
-                DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
+                DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
                 return; // Note the 'finally' clause at the botton which will get executed.
             }
 

OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs

@@ -66,7 +66,7 @@ public class BSPrimLinkable : BSPrimDisplaced
 
     public override void Destroy()
     {
-        Linkset = Linkset.RemoveMeFromLinkset(this);
+        Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
         base.Destroy();
     }
 
@@ -94,7 +94,7 @@ public class BSPrimLinkable : BSPrimDisplaced
         BSPhysObject parentBefore = Linkset.LinksetRoot;        // DEBUG
         int childrenBefore = Linkset.NumberOfChildren;          // DEBUG
 
-        Linkset = Linkset.RemoveMeFromLinkset(this);
+        Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
 
         DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
             LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
@@ -240,6 +240,8 @@ public class BSPrimLinkable : BSPrimDisplaced
         bool ret = false;
         if (LinksetType != newType)
         {
+            DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType);
+
             // Set the implementation type first so the call to BSLinkset.Factory gets the new type.
             this.LinksetType = newType;
 
@@ -263,7 +265,10 @@ public class BSPrimLinkable : BSPrimDisplaced
             // Remove the children from the old linkset and add to the new (will be a new instance from the factory)
             foreach (BSPrimLinkable child in children)
             {
-                oldLinkset.RemoveMeFromLinkset(child);
+                oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/);
+            }
+            foreach (BSPrimLinkable child in children)
+            {
                 newLinkset.AddMeToLinkset(child);
                 child.Linkset = newLinkset;
             }