From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Wed, 23 Jan 2013 09:09:17 -0800
Subject: [PATCH] BulletSim: center-of-gravity linkset changes. Not working
 yet.

Conflicts:

	OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
---
 .../BulletSPlugin/BSLinksetCompound.cs        |  5 ++++-
 .../Region/Physics/BulletSPlugin/BSParam.cs   |  7 ++----
 .../Region/Physics/BulletSPlugin/BSPrim.cs    | 22 +------------------
 .../Region/Physics/BulletSPlugin/BSScene.cs   |  4 ++--
 4 files changed, 9 insertions(+), 29 deletions(-)

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index d8e4028506..2c8dd233d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -407,6 +407,9 @@ public sealed class BSLinksetCompound : BSLinkset
                 // Since we're displacing the center of the shape, we need to move the body in the world
                 LinksetRoot.PositionDisplacement = centerDisplacement;
 
+                // This causes the root prim position to be set properly based on the new PositionDisplacement
+                LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
+                // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
                 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
                 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
                                         LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
@@ -438,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset
 
                     if (cPrim.PhysShape.isNativeShape)
                     {
-                        // A native shape is turning into a hull collision shape because native
+                        // A native shape is turned into a hull 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).
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index da7438a4ae..9460daff70 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -645,11 +645,8 @@ public static class BSParam
                 entries.Add(new PhysParameterEntry(pd.name, pd.desc));
             }
 
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
+            // make the list alphabetical for estetic reasons
+            entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
 
             SettableParameters = entries.ToArray();
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index dad7250960..ee2bfa093a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+
     public override OMV.Vector3 ForcePosition {
         get {
             _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
-        /*  Disable. Presume whoever is setting displacement is already adjusting position, etc.
-    // Override to have position displacement immediately update the physical position.
-    // A feeble attempt to keep the sim and physical positions in sync
-    // Must be called at taint time.
-    public override OMV.Vector3 PositionDisplacement
-    {
-        get
-        {
-            return base.PositionDisplacement;
-        }
-        set
-        {
-            base.PositionDisplacement = value;
-            PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
-            });
-        }
-    }
-        */
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 8075b73b05..34fd2a0531 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -708,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     //    TriggerPreStepEvent
     //    DoOneTimeTaints
     //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
+    //       ProcessAndSendToSimulatorCollisions
+    //       ProcessAndSendToSimulatorPropertyUpdates
     //    TriggerPostStepEvent
 
     // Calls to the PhysicsActors can't directly call into the physics engine