BulletSim: Add AddObjectForce to BulletSim API.

Add interface 2 enhancements to BSCharacter.
Modify AddForce and SetForce to use the new Bullet interface.
More DetailLog statements for character.

1 files changed, 23 insertions, 3 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 09e1f0c..a5635ff 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
     private BSScene _scene;
+    public BSScene Scene { get { return _scene; } }
     private String _avName;
     // private bool _stopped;
     private Vector3 _size;
@@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor
     private bool _kinematic;
     private float _buoyancy;
 
+    private BulletBody m_body;
+    public BulletBody Body { 
+        get { return m_body; }
+        set { m_body = value; }
+    }
+
     private int _subscribedEventsMs = 0;
     private int _nextCollisionOkTime = 0;
 
@@ -116,6 +123,8 @@ public class BSCharacter : PhysicsActor
         _scene.TaintedObject(delegate()
         {
             BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
+
+            m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
         });
             
         return;
@@ -124,6 +133,7 @@ public class BSCharacter : PhysicsActor
     // called when this character is being destroyed and the resources should be released
     public void Destroy()
     {
+        // DetailLog("{0},Destroy", LocalID);
         _scene.TaintedObject(delegate()
         {
             BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@@ -174,6 +184,7 @@ public class BSCharacter : PhysicsActor
             _position = value;
             _scene.TaintedObject(delegate()
             {
+                DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -188,9 +199,10 @@ public class BSCharacter : PhysicsActor
         set {
             _force = value;
             // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            _scene.TaintedObject(delegate()
+            Scene.TaintedObject(delegate()
             {
-                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+                DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
+                BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
             });
         } 
     }
@@ -216,6 +228,7 @@ public class BSCharacter : PhysicsActor
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
             _scene.TaintedObject(delegate()
             {
+                DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
             });
         } 
@@ -305,6 +318,7 @@ public class BSCharacter : PhysicsActor
         set { _buoyancy = value; 
             _scene.TaintedObject(delegate()
             {
+                DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
             });
         } 
@@ -351,7 +365,8 @@ public class BSCharacter : PhysicsActor
             // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
             _scene.TaintedObject(delegate()
             {
-                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+                DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
+                BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
             });
         }
         else
@@ -480,5 +495,10 @@ public class BSCharacter : PhysicsActor
         // End kludge
     }
 
+    // Invoke the detailed logger and output something if it's enabled.
+    private void DetailLog(string msg, params Object[] args)
+    {
+        Scene.PhysicsLogging.Write(msg, args);
+    }
 }
 }