BulletSim: fixes for change linkset implementation of physical linksets.
parent
a9dcdae6a2
commit
719380380a
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@ -29,6 +29,7 @@ using System.Collections.Generic;
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using System.Linq;
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using System.Linq;
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using System.Reflection;
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using System.Reflection;
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using System.Text;
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using System.Text;
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using System.Threading;
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using OpenSim.Framework;
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using OpenSim.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.CoreModules;
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@ -198,7 +199,33 @@ public class ExtendedPhysics : INonSharedRegionModule
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Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
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Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
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if (rootPhysActor != null)
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if (rootPhysActor != null)
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{
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{
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ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
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if (rootPhysActor.IsPhysical)
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{
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// Change a physical linkset by making non-physical, waiting for one heartbeat so all
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// the prim and linkset state is updated, changing the type and making the
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// linkset physical again.
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containingGroup.ScriptSetPhysicsStatus(false);
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Thread.Sleep(150); // longer than one heartbeat tick
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// A kludge for the moment.
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// Since compound linksets move the children but don't generate position updates to the
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// simulator, it is possible for compound linkset children to have out-of-sync simulator
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// and physical positions. The following causes the simulator to push the real child positions
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// down into the physics engine to get everything synced.
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containingGroup.UpdateGroupPosition(containingGroup.AbsolutePosition);
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containingGroup.UpdateGroupRotationR(containingGroup.GroupRotation);
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ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
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Thread.Sleep(150); // longer than one heartbeat tick
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containingGroup.ScriptSetPhysicsStatus(true);
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}
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else
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{
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// Non-physical linksets don't have a physical instantiation so there is no state to
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// worry about being updated.
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ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
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}
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}
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}
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else
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else
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{
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{
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@ -148,7 +148,7 @@ public abstract class BSLinkset
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// Returns a new linkset for the child which is a linkset of one (just the
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// Returns a new linkset for the child which is a linkset of one (just the
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// orphened child).
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// orphened child).
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// Called at runtime.
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// Called at runtime.
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public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
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public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime)
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{
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{
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lock (m_linksetActivityLock)
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lock (m_linksetActivityLock)
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{
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{
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@ -157,7 +157,7 @@ public abstract class BSLinkset
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// Cannot remove the root from a linkset.
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// Cannot remove the root from a linkset.
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return this;
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return this;
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}
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}
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RemoveChildFromLinkset(child);
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RemoveChildFromLinkset(child, inTaintTime);
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LinksetMass = ComputeLinksetMass();
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LinksetMass = ComputeLinksetMass();
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}
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}
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@ -255,7 +255,7 @@ public abstract class BSLinkset
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// I am the root of a linkset and one of my children is being removed.
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// I am the root of a linkset and one of my children is being removed.
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// Safe to call even if the child is not really in my linkset.
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// Safe to call even if the child is not really in my linkset.
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protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
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protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime);
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// When physical properties are changed the linkset needs to recalculate
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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// its internal properties.
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@ -242,7 +242,7 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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{
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bool ret = false;
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bool ret = false;
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DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
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DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
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ScheduleRebuild(child);
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ScheduleRebuild(child);
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@ -270,7 +270,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// Remove the specified child from the linkset.
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// Remove the specified child from the linkset.
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// Safe to call even if the child is not really in the linkset.
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// Safe to call even if the child is not really in the linkset.
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protected override void RemoveChildFromLinkset(BSPrimLinkable child)
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protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
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{
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{
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child.ClearDisplacement();
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child.ClearDisplacement();
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@ -282,12 +282,12 @@ public sealed class BSLinksetCompound : BSLinkset
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child.LocalID, child.PhysBody.AddrString);
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child.LocalID, child.PhysBody.AddrString);
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// Cause the child's body to be rebuilt and thus restored to normal operation
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// Cause the child's body to be rebuilt and thus restored to normal operation
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child.ForceBodyShapeRebuild(false);
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child.ForceBodyShapeRebuild(inTaintTime);
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if (!HasAnyChildren)
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if (!HasAnyChildren)
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{
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{
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// The linkset is now empty. The root needs rebuilding.
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// The linkset is now empty. The root needs rebuilding.
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LinksetRoot.ForceBodyShapeRebuild(false);
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LinksetRoot.ForceBodyShapeRebuild(inTaintTime);
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}
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}
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else
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else
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{
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{
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@ -318,10 +318,10 @@ public sealed class BSLinksetCompound : BSLinkset
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// being destructed and going non-physical.
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// being destructed and going non-physical.
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LinksetRoot.ForceBodyShapeRebuild(true);
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LinksetRoot.ForceBodyShapeRebuild(true);
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// There is no reason to build all this physical stuff for a non-physical linkset.
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// There is no reason to build all this physical stuff for a non-physical or empty linkset.
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if (!LinksetRoot.IsPhysicallyActive)
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if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
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{
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{
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
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return; // Note the 'finally' clause at the botton which will get executed.
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return; // Note the 'finally' clause at the botton which will get executed.
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}
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}
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@ -224,7 +224,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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// Remove the specified child from the linkset.
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// Remove the specified child from the linkset.
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// Safe to call even if the child is not really in my linkset.
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// Safe to call even if the child is not really in my linkset.
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protected override void RemoveChildFromLinkset(BSPrimLinkable child)
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protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
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{
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{
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if (m_children.Remove(child))
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if (m_children.Remove(child))
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{
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{
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@ -236,7 +236,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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rootx.LocalID, rootx.PhysBody.AddrString,
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rootx.LocalID, rootx.PhysBody.AddrString,
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childx.LocalID, childx.PhysBody.AddrString);
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childx.LocalID, childx.PhysBody.AddrString);
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m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
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m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate()
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{
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{
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PhysicallyUnlinkAChildFromRoot(rootx, childx);
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PhysicallyUnlinkAChildFromRoot(rootx, childx);
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});
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});
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@ -382,9 +382,9 @@ public sealed class BSLinksetConstraints : BSLinkset
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Rebuilding = true;
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Rebuilding = true;
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// There is no reason to build all this physical stuff for a non-physical linkset.
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// There is no reason to build all this physical stuff for a non-physical linkset.
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if (!LinksetRoot.IsPhysicallyActive)
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if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
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{
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{
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DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
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DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
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return; // Note the 'finally' clause at the botton which will get executed.
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return; // Note the 'finally' clause at the botton which will get executed.
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}
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}
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@ -66,7 +66,7 @@ public class BSPrimLinkable : BSPrimDisplaced
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public override void Destroy()
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public override void Destroy()
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{
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{
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Linkset = Linkset.RemoveMeFromLinkset(this);
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Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */);
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base.Destroy();
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base.Destroy();
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}
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}
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@ -94,7 +94,7 @@ public class BSPrimLinkable : BSPrimDisplaced
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BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
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BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
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int childrenBefore = Linkset.NumberOfChildren; // DEBUG
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int childrenBefore = Linkset.NumberOfChildren; // DEBUG
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Linkset = Linkset.RemoveMeFromLinkset(this);
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Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/);
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DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
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DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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@ -240,6 +240,8 @@ public class BSPrimLinkable : BSPrimDisplaced
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bool ret = false;
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bool ret = false;
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if (LinksetType != newType)
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if (LinksetType != newType)
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{
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{
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DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType);
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// Set the implementation type first so the call to BSLinkset.Factory gets the new type.
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// Set the implementation type first so the call to BSLinkset.Factory gets the new type.
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this.LinksetType = newType;
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this.LinksetType = newType;
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@ -263,7 +265,10 @@ public class BSPrimLinkable : BSPrimDisplaced
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// Remove the children from the old linkset and add to the new (will be a new instance from the factory)
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// Remove the children from the old linkset and add to the new (will be a new instance from the factory)
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foreach (BSPrimLinkable child in children)
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foreach (BSPrimLinkable child in children)
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{
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{
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oldLinkset.RemoveMeFromLinkset(child);
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oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/);
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}
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foreach (BSPrimLinkable child in children)
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{
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newLinkset.AddMeToLinkset(child);
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newLinkset.AddMeToLinkset(child);
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child.Linkset = newLinkset;
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child.Linkset = newLinkset;
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}
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}
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