BulletSim: change method signatures for internal AddForce methods to remove

confusion about push forces. The latter is an external, physics engine interface
feature (the force parameter has a different unit if pushing vs adding force)
and that distinction is not used internally.

6 files changed, 21 insertions, 17 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
index 3db8f2c..87cf972 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
@@ -211,7 +211,7 @@ public class BSActorMoveToTarget : BSActor
             // Add enough force to overcome the mass of the object
             addedForce *= m_controllingPrim.Mass;
 
-            m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */);
+            m_controllingPrim.AddForce(true /* inTaintTime */, addedForce);
         }
         m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
                                         m_controllingPrim.LocalID, origPosition, addedForce);
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
index a1cf4db..0261bcb 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
@@ -127,7 +127,7 @@ public class BSActorSetTorque : BSActor
         m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
         if (m_controllingPrim.PhysBody.HasPhysicalBody)
         {
-            m_controllingPrim.AddAngularForce(m_controllingPrim.RawTorque, false, true);
+            m_controllingPrim.AddAngularForce(true /* inTaintTime */, m_controllingPrim.RawTorque);
             m_controllingPrim.ActivateIfPhysical(false);
         }
 
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index ab9cc27..0eb5fba 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -457,7 +457,7 @@ public sealed class BSCharacter : BSPhysObject
         get { return RawVelocity; }
         set {
             RawVelocity = value;
-                OMV.Vector3 vel = RawVelocity;
+            OMV.Vector3 vel = RawVelocity;
 
             DetailLog("{0}: set Velocity = {1}", LocalID, value);
 
@@ -662,10 +662,10 @@ public sealed class BSCharacter : BSPhysObject
         addForce *= Mass * BSParam.AvatarAddForcePushFactor;
 
         DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
-        AddForce(addForce, pushforce, false);
+        AddForce(false, addForce);
     }
 
-    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+    public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
         if (force.IsFinite())
         {
             OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
@@ -692,7 +692,7 @@ public sealed class BSCharacter : BSPhysObject
         }
     }
 
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+    public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
     }
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
index 0fc5577..313c961 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
@@ -768,7 +768,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
                 }
 
                 if ((m_knownChanged & m_knownChangedForce) != 0)
-                    ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
+                    ControllingPrim.AddForce(false /* inTaintTime */, (Vector3)m_knownForce);
 
                 if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
                     ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
@@ -784,7 +784,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
 
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
                 {
-                    ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
+                    ControllingPrim.AddAngularForce(true /* inTaintTime */, (Vector3)m_knownRotationalForce);
                 }
 
                 // If we set one of the values (ie, the physics engine didn't do it) we must force
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
index b50e4cc..ff6baca 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
@@ -245,10 +245,10 @@ public abstract class BSPhysObject : PhysicsActor
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
     {
-        AddAngularForce(force, pushforce, false);
+        AddAngularForce(false, force);
     }
-    public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
-    public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
+    public abstract void AddAngularForce(bool inTaintTime, OMV.Vector3 force);
+    public abstract void AddForce(bool inTaintTime, OMV.Vector3 force);
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
index 1d552eb..fd9b834 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -394,7 +394,7 @@ public class BSPrim : BSPhysObject
                 // Apply upforce and overcome gravity.
                 OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
                 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce);
-                AddForce(correctionForce, false, inTaintTime);
+                AddForce(inTaintTime, correctionForce);
                 ret = true;
             }
         }
@@ -1249,14 +1249,18 @@ public class BSPrim : BSPhysObject
         // Per documentation, max force is limited.
         OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
 
-        // Since this force is being applied in only one step, make this a force per second.
-        addForce /= PhysScene.LastTimeStep;
-        AddForce(addForce, pushforce, false /* inTaintTime */);
+        // Push forces seem to be scaled differently (follow pattern in ubODE)
+        if (!pushforce) {
+            // Since this force is being applied in only one step, make this a force per second.
+            addForce /= PhysScene.LastTimeStep;
+        }
+
+        AddForce(false /* inTaintTime */, addForce);
     }
 
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
-    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+    public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
         // for an object, doesn't matter if force is a pushforce or not
         if (IsPhysicallyActive)
         {
@@ -1315,7 +1319,7 @@ public class BSPrim : BSPhysObject
     }
 
     // BSPhysObject.AddAngularForce()
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force)
     {
         if (force.IsFinite())
         {