opensim – Blame information for rev 1
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1 | eva | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Text; |
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30 | |||
31 | using OpenSim.Framework; |
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32 | |||
33 | using OMV = OpenMetaverse; |
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34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin |
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36 | { |
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37 | |||
38 | public sealed class BSLinksetCompound : BSLinkset |
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39 | { |
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40 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; |
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41 | |||
42 | public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) |
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43 | : base(scene, parent) |
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44 | { |
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45 | LinksetImpl = LinksetImplementation.Compound; |
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46 | } |
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47 | |||
48 | // ================================================================ |
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49 | // Changing the physical property of the linkset only needs to change the root |
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50 | public override void SetPhysicalFriction(float friction) |
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51 | { |
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52 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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53 | m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); |
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54 | } |
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55 | public override void SetPhysicalRestitution(float restitution) |
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56 | { |
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57 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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58 | m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); |
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59 | } |
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60 | public override void SetPhysicalGravity(OMV.Vector3 gravity) |
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61 | { |
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62 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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63 | m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); |
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64 | } |
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65 | public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) |
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66 | { |
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67 | OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass); |
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68 | LinksetRoot.Inertia = inertia * inertiaFactor; |
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69 | m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia); |
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70 | m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); |
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71 | } |
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72 | public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) |
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73 | { |
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74 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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75 | m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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76 | } |
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77 | public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags) |
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78 | { |
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79 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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80 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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81 | } |
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82 | public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) |
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83 | { |
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84 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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85 | m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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86 | } |
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87 | // ================================================================ |
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88 | |||
89 | // When physical properties are changed the linkset needs to recalculate |
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90 | // its internal properties. |
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91 | public override void Refresh(BSPrimLinkable requestor) |
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92 | { |
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93 | // Something changed so do the rebuilding thing |
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94 | ScheduleRebuild(requestor); |
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95 | base.Refresh(requestor); |
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96 | } |
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97 | |||
98 | // Schedule a refresh to happen after all the other taint processing. |
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99 | private void ScheduleRebuild(BSPrimLinkable requestor) |
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100 | { |
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101 | DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", |
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102 | requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); |
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103 | |||
104 | // When rebuilding, it is possible to set properties that would normally require a rebuild. |
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105 | // If already rebuilding, don't request another rebuild. |
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106 | // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. |
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107 | if (!Rebuilding && HasAnyChildren) |
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108 | { |
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109 | m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() |
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110 | { |
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111 | if (HasAnyChildren) |
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112 | RecomputeLinksetCompound(); |
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113 | }); |
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114 | } |
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115 | } |
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116 | |||
117 | // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset. |
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118 | // Only the state of the passed object can be modified. The rest of the linkset |
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119 | // has not yet been fully constructed. |
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120 | // Return 'true' if any properties updated on the passed object. |
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121 | // Called at taint-time! |
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122 | public override bool MakeDynamic(BSPrimLinkable child) |
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123 | { |
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124 | bool ret = false; |
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125 | DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
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126 | if (IsRoot(child)) |
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127 | { |
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128 | // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. |
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129 | Refresh(LinksetRoot); |
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130 | } |
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131 | return ret; |
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132 | } |
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133 | |||
134 | // The object is going static (non-physical). We do not do anything for static linksets. |
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135 | // Return 'true' if any properties updated on the passed object. |
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136 | // Called at taint-time! |
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137 | public override bool MakeStatic(BSPrimLinkable child) |
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138 | { |
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139 | bool ret = false; |
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140 | |||
141 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
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142 | child.ClearDisplacement(); |
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143 | if (IsRoot(child)) |
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144 | { |
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145 | // Schedule a rebuild to verify that the root shape is set to the real shape. |
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146 | Refresh(LinksetRoot); |
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147 | } |
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148 | return ret; |
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149 | } |
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150 | |||
151 | // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. |
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152 | // Called at taint-time. |
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153 | public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) |
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154 | { |
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155 | if (!LinksetRoot.IsPhysicallyActive) |
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156 | { |
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157 | // No reason to do this physical stuff for static linksets. |
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158 | DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID); |
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159 | return; |
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160 | } |
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161 | |||
162 | // The user moving a child around requires the rebuilding of the linkset compound shape |
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163 | // One problem is this happens when a border is crossed -- the simulator implementation |
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164 | // stores the position into the group which causes the move of the object |
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165 | // but it also means all the child positions get updated. |
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166 | // What would cause an unnecessary rebuild so we make sure the linkset is in a |
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167 | // region before bothering to do a rebuild. |
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168 | if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) |
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169 | { |
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170 | // If a child of the linkset is updating only the position or rotation, that can be done |
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171 | // without rebuilding the linkset. |
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172 | // If a handle for the child can be fetch, we update the child here. If a rebuild was |
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173 | // scheduled by someone else, the rebuild will just replace this setting. |
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174 | |||
175 | bool updatedChild = false; |
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176 | // Anything other than updating position or orientation usually means a physical update |
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177 | // and that is caused by us updating the object. |
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178 | if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) |
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179 | { |
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180 | // Find the physical instance of the child |
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181 | if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) |
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182 | { |
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183 | // It is possible that the linkset is still under construction and the child is not yet |
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184 | // inserted into the compound shape. A rebuild of the linkset in a pre-step action will |
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185 | // build the whole thing with the new position or rotation. |
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186 | // The index must be checked because Bullet references the child array but does no validity |
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187 | // checking of the child index passed. |
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188 | int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); |
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189 | if (updated.LinksetChildIndex < numLinksetChildren) |
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190 | { |
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191 | BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); |
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192 | if (linksetChildShape.HasPhysicalShape) |
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193 | { |
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194 | // Found the child shape within the compound shape |
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195 | m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, |
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196 | updated.RawPosition - LinksetRoot.RawPosition, |
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197 | updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), |
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198 | true /* shouldRecalculateLocalAabb */); |
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199 | updatedChild = true; |
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200 | DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}", |
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201 | updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation); |
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202 | } |
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203 | else // DEBUG DEBUG |
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204 | { // DEBUG DEBUG |
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205 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", |
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206 | updated.LocalID, linksetChildShape); |
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207 | } // DEBUG DEBUG |
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208 | } |
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209 | else // DEBUG DEBUG |
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210 | { // DEBUG DEBUG |
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211 | // the child is not yet in the compound shape. This is non-fatal. |
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212 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}", |
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213 | updated.LocalID, numLinksetChildren, updated.LinksetChildIndex); |
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214 | } // DEBUG DEBUG |
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215 | } |
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216 | else // DEBUG DEBUG |
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217 | { // DEBUG DEBUG |
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218 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); |
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219 | } // DEBUG DEBUG |
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220 | |||
221 | if (!updatedChild) |
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222 | { |
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223 | // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. |
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224 | // Note: there are several ways through this code that will not update the child if |
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225 | // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since |
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226 | // there will already be a rebuild scheduled. |
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227 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", |
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228 | updated.LocalID, whichUpdated); |
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229 | Refresh(updated); |
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230 | } |
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231 | } |
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232 | } |
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233 | } |
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234 | |||
235 | // Routine called when rebuilding the body of some member of the linkset. |
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236 | // If one of the bodies is being changed, the linkset needs rebuilding. |
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237 | // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated. |
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238 | // Returns 'true' of something was actually removed and would need restoring |
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239 | // Called at taint-time!! |
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240 | public override bool RemoveDependencies(BSPrimLinkable child) |
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241 | { |
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242 | bool ret = false; |
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243 | |||
244 | DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", |
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245 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); |
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246 | |||
247 | Refresh(child); |
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248 | |||
249 | return ret; |
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250 | } |
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251 | |||
252 | // ================================================================ |
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253 | |||
254 | // Add a new child to the linkset. |
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255 | // Called while LinkActivity is locked. |
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256 | protected override void AddChildToLinkset(BSPrimLinkable child) |
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257 | { |
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258 | if (!HasChild(child)) |
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259 | { |
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260 | m_children.Add(child, new BSLinkInfo(child)); |
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261 | |||
262 | DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); |
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263 | |||
264 | // Rebuild the compound shape with the new child shape included |
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265 | Refresh(child); |
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266 | } |
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267 | return; |
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268 | } |
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269 | |||
270 | // Remove the specified child from the linkset. |
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271 | // Safe to call even if the child is not really in the linkset. |
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272 | protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) |
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273 | { |
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274 | child.ClearDisplacement(); |
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275 | |||
276 | if (m_children.Remove(child)) |
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277 | { |
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278 | DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", |
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279 | child.LocalID, |
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280 | LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, |
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281 | child.LocalID, child.PhysBody.AddrString); |
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282 | |||
283 | // Cause the child's body to be rebuilt and thus restored to normal operation |
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284 | child.ForceBodyShapeRebuild(inTaintTime); |
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285 | |||
286 | if (!HasAnyChildren) |
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287 | { |
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288 | // The linkset is now empty. The root needs rebuilding. |
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289 | LinksetRoot.ForceBodyShapeRebuild(inTaintTime); |
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290 | } |
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291 | else |
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292 | { |
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293 | // Rebuild the compound shape with the child removed |
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294 | Refresh(LinksetRoot); |
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295 | } |
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296 | } |
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297 | return; |
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298 | } |
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299 | |||
300 | // Called before the simulation step to make sure the compound based linkset |
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301 | // is all initialized. |
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302 | // Constraint linksets are rebuilt every time. |
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303 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
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304 | // Called at taint time!! |
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305 | private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape |
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306 | private void RecomputeLinksetCompound() |
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307 | { |
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308 | try |
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309 | { |
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310 | Rebuilding = true; |
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311 | |||
312 | // No matter what is being done, force the root prim's PhysBody and PhysShape to get set |
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313 | // to what they should be as if the root was not in a linkset. |
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314 | // Not that bad since we only get into this routine if there are children in the linkset and |
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315 | // something has been updated/changed. |
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316 | // Have to do the rebuild before checking for physical because this might be a linkset |
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317 | // being destructed and going non-physical. |
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318 | LinksetRoot.ForceBodyShapeRebuild(true); |
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319 | |||
320 | // There is no reason to build all this physical stuff for a non-physical or empty linkset. |
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321 | if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) |
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322 | { |
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323 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); |
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324 | return; // Note the 'finally' clause at the botton which will get executed. |
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325 | } |
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326 | |||
327 | // Get a new compound shape to build the linkset shape in. |
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328 | BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); |
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329 | |||
330 | // Compute a displacement for each component so it is relative to the center-of-mass. |
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331 | // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass |
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332 | OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); |
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333 | |||
334 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); |
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335 | OMV.Vector3 origRootPosition = LinksetRoot.RawPosition; |
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336 | |||
337 | // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass |
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338 | OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; |
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339 | if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) |
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340 | { |
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341 | // Zero everything if center-of-mass displacement is not being done. |
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342 | centerDisplacementV = OMV.Vector3.Zero; |
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343 | LinksetRoot.ClearDisplacement(); |
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344 | } |
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345 | else |
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346 | { |
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347 | // The actual center-of-mass could have been set by the user. |
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348 | centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); |
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349 | } |
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350 | |||
351 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", |
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352 | LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV); |
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353 | |||
354 | // Add the shapes of all the components of the linkset |
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355 | int memberIndex = 1; |
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356 | ForEachMember((cPrim) => |
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357 | { |
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358 | if (IsRoot(cPrim)) |
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359 | { |
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360 | // Root shape is always index zero. |
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361 | cPrim.LinksetChildIndex = 0; |
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362 | } |
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363 | else |
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364 | { |
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365 | cPrim.LinksetChildIndex = memberIndex; |
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366 | memberIndex++; |
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367 | } |
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368 | |||
369 | // Get a reference to the shape of the child for adding of that shape to the linkset compound shape |
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370 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); |
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371 | |||
372 | // Offset the child shape from the center-of-mass and rotate it to vehicle relative. |
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373 | OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; |
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374 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; |
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375 | |||
376 | // Add the child shape to the compound shape being built |
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377 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); |
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378 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", |
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379 | LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); |
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380 | |||
381 | // Since we are borrowing the shape of the child, disable the origional child body |
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382 | if (!IsRoot(cPrim)) |
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383 | { |
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384 | m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); |
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385 | m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION); |
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386 | // We don't want collisions from the old linkset children. |
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387 | m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
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388 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; |
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389 | } |
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390 | |||
391 | return false; // 'false' says to move onto the next child in the list |
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392 | }); |
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393 | |||
394 | // Replace the root shape with the built compound shape. |
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395 | // Object removed and added to world to get collision cache rebuilt for new shape. |
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396 | LinksetRoot.PhysShape.Dereference(m_physicsScene); |
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397 | LinksetRoot.PhysShape = linksetShape; |
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398 | m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
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399 | m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo); |
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400 | m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
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401 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", |
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402 | LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape); |
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403 | |||
404 | // With all of the linkset packed into the root prim, it has the mass of everyone. |
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405 | LinksetMass = ComputeLinksetMass(); |
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406 | LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); |
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407 | |||
408 | if (UseBulletSimRootOffsetHack) |
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409 | { |
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410 | // Enable the physical position updator to return the position and rotation of the root shape. |
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411 | // This enables a feature in the C++ code to return the world coordinates of the first shape in the |
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412 | // compound shape. This aleviates the need to offset the returned physical position by the |
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413 | // center-of-mass offset. |
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414 | // TODO: either debug this feature or remove it. |
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415 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); |
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416 | } |
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417 | } |
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418 | finally |
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419 | { |
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420 | Rebuilding = false; |
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421 | } |
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422 | |||
423 | // See that the Aabb surrounds the new shape |
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424 | m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); |
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425 | } |
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426 | } |
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427 | } |