BulletSim: fix crash caused when linksets were rebuilt. A problem added

when individual child pos/rot changes were implementated a week or so ago.
Remove some passing of inTaintTime flag when it was never false.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
             PhysShape.Clear();
         });
     }

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -219,10 +219,20 @@ public sealed class BSLinksetCompound : BSLinkset
             {
                 // Gather the child info. It might not be there if the linkset is in transition.
                 BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
+                
+                // The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt
                 if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
                 {
                     if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
                     {
+                        int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
+                        if (lsi.Index < numLinksetChildren)
+                        {
+                            // It is possible that the linkset is still under construction and the child is not yet
+                            //    inserted into the compound shape. A rebuild of the linkset in a pre-step action will
+                            //    build the whole thing with the new position or rotation.
+                            // This must be checked for because Bullet references the child array but does no validity
+                            //    checking of the child index passed.
                             BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
                             if (linksetChildShape.HasPhysicalShape)
                             {
@@ -232,10 +242,10 @@ public sealed class BSLinksetCompound : BSLinkset
                                                                             newLsi.OffsetFromCenterOfMass,
                                                                             newLsi.OffsetRot,
                                                                             true /* shouldRecalculateLocalAabb */);
-                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
-                                                                        updated.LocalID, whichUpdated, newLsi);
                                 updated.LinksetInfo = newLsi;
                                 updatedChild = true;
+                                DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
+                                                                            updated.LocalID, whichUpdated, newLsi);
                             }
                             else    // DEBUG DEBUG
                             {       // DEBUG DEBUG
@@ -244,6 +254,13 @@ public sealed class BSLinksetCompound : BSLinkset
                             }       // DEBUG DEBUG
                         }
                         else    // DEBUG DEBUG
+                        {       // DEBUG DEBUG
+                            // the child is not yet in the compound shape. This is non-fatal.
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
+                                                                        updated.LocalID, numLinksetChildren, lsi.Index);
+                        }       // DEBUG DEBUG
+                    }
+                    else    // DEBUG DEBUG
                     {       // DEBUG DEBUG
                         DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
                     }       // DEBUG DEBUG
@@ -256,6 +273,9 @@ public sealed class BSLinksetCompound : BSLinkset
                 if (!updatedChild)
                 {
                     // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+                    // Note that there are several ways through this code that will not update the child that can
+                    //    occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
+                    //    there will already be a rebuild scheduled.
                     DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
                                                                     updated.LocalID, whichUpdated);
                     updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -146,9 +146,9 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
             PhysShape.Clear();
         });
     }
@@ -181,11 +181,19 @@ public sealed class BSPrim : BSPhysObject
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
+        if (inTaintTime)
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        }
+        else
+        {
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
                 CreateGeomAndObject(true);
             });
+        }
         return true;
     }
     public override bool Grabbed {

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -133,35 +133,32 @@ public sealed class BSShapeCollection : IDisposable
     // Track another user of a body.
     // We presume the caller has allocated the body.
     // Bodies only have one user so the body is just put into the world if not already there.
-    public void ReferenceBody(BulletBody body, bool inTaintTime)
+    private void ReferenceBody(BulletBody body)
     {
         lock (m_collectionActivityLock)
         {
             if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
-            {
             if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
             {
                 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
                 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
             }
-            });
         }
     }
 
     // Release the usage of a body.
     // Called when releasing use of a BSBody. BSShape is handled separately.
-    public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
+    // Called in taint time.
+    public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback )
     {
         if (!body.HasPhysicalBody)
             return;
 
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
+
         lock (m_collectionActivityLock)
         {
-            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
+            if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
-            {
-                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
-                                            body.ID, body, inTaintTime);
             // If the caller needs to know the old body is going away, pass the event up.
             if (bodyCallback != null) bodyCallback(body);
 
@@ -174,7 +171,6 @@ public sealed class BSShapeCollection : IDisposable
             // Zero any reference to the shape so it is not freed when the body is deleted.
             PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
             PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
-            });
         }
     }
 
@@ -245,20 +241,20 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     // Release the usage of a shape.
-    public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
+    public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback)
     {
         if (!shape.HasPhysicalShape)
             return;
 
-        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape");
-        {
+
         if (shape.HasPhysicalShape)
         {
             if (shape.isNativeShape)
             {
                 // Native shapes are not tracked and are released immediately
-                    if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
+                if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}",
-                                    BSScene.DetailLogZero, shape.AddrString, inTaintTime);
+                                    BSScene.DetailLogZero, shape.AddrString);
                 if (shapeCallback != null) shapeCallback(shape);
                 PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
             }
@@ -282,7 +278,6 @@ public sealed class BSShapeCollection : IDisposable
                 }
             }
         }
-        });
     }
 
     // Count down the reference count for a mesh shape
@@ -393,7 +388,7 @@ public sealed class BSShapeCollection : IDisposable
 
         if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
         {
-            DereferenceShape(shapeInfo, true, null);
+            DereferenceShape(shapeInfo, null);
         }
         else
         {
@@ -543,7 +538,7 @@ public sealed class BSShapeCollection : IDisposable
                             ShapeDestructionCallback shapeCallback)
     {
         // release any previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
@@ -611,7 +606,7 @@ public sealed class BSShapeCollection : IDisposable
                                 prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
 
         // Since we're recreating new, get rid of the reference to the previous shape
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
         // Take evasive action if the mesh was not constructed.
@@ -682,7 +677,7 @@ public sealed class BSShapeCollection : IDisposable
                         prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
 
         // Remove usage of the previous shape.
-        DereferenceShape(prim.PhysShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, shapeCallback);
 
         newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
         newShape = VerifyMeshCreated(newShape, prim);
@@ -817,7 +812,6 @@ public sealed class BSShapeCollection : IDisposable
         // Don't need to do this as the shape is freed when the new root shape is created below.
         // DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-
         BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
 
         // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
@@ -956,7 +950,7 @@ public sealed class BSShapeCollection : IDisposable
         if (mustRebuild || forceRebuild)
         {
             // Free any old body
-            DereferenceBody(prim.PhysBody, true, bodyCallback);
+            DereferenceBody(prim.PhysBody, bodyCallback);
 
             BulletBody aBody;
             if (prim.IsSolid)
@@ -970,7 +964,7 @@ public sealed class BSShapeCollection : IDisposable
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
 
-            ReferenceBody(aBody, true);
+            ReferenceBody(aBody);
 
             prim.PhysBody = aBody;
 

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -65,6 +65,10 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
 
 GENERAL TODO LIST:
 =================================================
+Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
+	If arrow show at prim, collision reported about 1/3 of time. If collision reported,
+	both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
+	Shooting 5m sphere "arrows" at 60m/s.
 llMoveToTarget objects are not effected by gravity until target is removed.
 Compute CCD parameters based on body size
 Can solver iterations be changed per body/shape? Can be for constraints but what