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BulletSim: some comments about rebuilding linksets (having to recompute and restore a child's position in the world based on its position in the moved linkset).

0.7.5-pf-bulletsim
Robert Adams 2012-12-09 22:32:13 -08:00
parent ce5083a504
commit a19896cc56
1 changed files with 6 additions and 3 deletions
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9
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -192,6 +192,8 @@ public sealed class BSLinksetCompound : BSLinkset
child.LocalID, child.PhysBody.ptr.ToString("X"));
// Cause the child's body to be rebuilt and thus restored to normal operation
// TODO: position and rotation must be restored because the child could have moved
// based on the linkset.
child.ForceBodyShapeRebuild(false);
if (!HasAnyChildren)
@ -236,9 +238,10 @@ public sealed class BSLinksetCompound : BSLinkset
if (cPrim.PhysShape.isNativeShape)
{
// Native shapes are not shared so we need to create a new one.
// A mesh or hull is created because scale is not available on a native shape.
// (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
// A native shape is turning into a null collision shape because native
// shapes are not shared so we have to hullify it so it will be tracked
// and freed at the correct time. This also solves the scaling problem
// (native shapes scaled but hull/meshes are assumed to not be).
BulletShape saveShape = cPrim.PhysShape;
cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);