BulletSim: remove code in ShapeCollection that hinted at shape sharing.

Add new function to ParameterDefn for calling BulletSimAPI to set values.
Tweaking to BSCharacter parameter setting to try and have avatars stand.

1 files changed, 25 insertions, 31 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 7bc6b69..8e1171a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -114,17 +114,9 @@ public class BSCharacter : BSPhysObject
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
-
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);

+

             SetPhysicalProperties();
-
-            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
-            // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            ForceBuoyancy = _buoyancy;
-
-            // This works here because CreateObject has already put the character into the physical world.
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
-                            (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
         });
         return;
     }
@@ -146,27 +138,32 @@ public class BSCharacter : BSPhysObject
 
         ZeroMotion();
 
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);

         BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
 
+        ForcePosition = _position;
         // Set the velocity and compute the proper friction
         ForceVelocity = _velocity;
-
-        BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
         BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
-
         BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
         BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-
         if (PhysicsScene.Params.ccdMotionThreshold > 0f)
         {
             BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
             BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
-        }
-
-        BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION);
+        }

+

+        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter, 
+                        (uint)CollisionFilterGroups.AvatarMask);
     }
 
     public override void RequestPhysicsterseUpdate()
@@ -174,9 +171,7 @@ public class BSCharacter : BSPhysObject
         base.RequestPhysicsterseUpdate();
     }
     // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped {
-        get { return false; }
-    }
+    public override bool Stopped { get { return false; } }
     public override OMV.Vector3 Size {
         get
         {
@@ -185,18 +180,14 @@ public class BSCharacter : BSPhysObject
         }
 
         set {
-            // When an avatar's size is set, only the height is changed
-            //    and that really only depends on the radius.
+            // When an avatar's size is set, only the height is changed.
             _size = value;
             ComputeAvatarScale(_size);
-
-            // TODO: something has to be done with the avatar's vertical position
-
             ComputeAvatarVolumeAndMass();
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale);
+                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
                 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
                 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
@@ -300,7 +291,7 @@ public class BSCharacter : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -378,14 +369,16 @@ public class BSCharacter : BSPhysObject
             }
             else
             {
-                if (_currentFriction == 999f)
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
                 {
                     _currentFriction = PhysicsScene.Params.avatarFriction;
                     BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
                 }
             }
             _velocity = value;
+            // Remember the set velocity so we can suppress the reduction by friction, ...
             _appliedVelocity = value;
+
             BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
             BulletSimAPI.Activate2(BSBody.ptr, true);
         }
@@ -590,7 +583,8 @@ public class BSCharacter : BSPhysObject
 
         // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
         // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y);
-        newScale.Z = (_size.Z) - (Scale.X + Scale.Y);
+        // From the total height, remove the capsule half spheres that are at each end 
+        newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f);
         Scale = newScale;
     }
 
@@ -621,7 +615,7 @@ public class BSCharacter : BSPhysObject
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck2(true);
+        PositionSanityCheck(true);
 
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;