Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

1 files changed, 4 insertions, 3 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ea1f71a..62aaf80 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1010,6 +1010,9 @@ public sealed class BSPrim : BSPhysObject
         });
     }
     // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
@@ -1396,7 +1399,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = entprop.RotationalVelocity;
 
             // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true))
+            if (IsPhysical && PositionSanityCheck(true))
             {
                 entprop.Position = _position;
                 entprop.Velocity = _velocity;
@@ -1410,8 +1413,6 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
-            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
-
             base.RequestPhysicsterseUpdate();
         }
             /*