BulletSim: Way too many changes in one commit.

Many changes to BSDynamic for readability and commentary.
Linkset hacking for vehicles: don't over mass the root prim.
Add parameter for link constraint solver iterations.
Correct uses of timestep in timescale calculations for vehicles.
Reorganize code/logic for making objects static and dynamic for readability
    and use of API2.
Changed most calls in BSPrim to use API2 calls (the new way).
Avatars do not generate default Bullet collision events but do call up
    to the simulator for every avatar. Reduces overhead.
Objects added to collision list only if they are processing collisions.
    Reduces overhead especially for large numbers of avatars.
Generalize call for water height to GetWaterHeightAtXYZ().
Catch and correct exception getting terrain height when out of bounds.
Correct race condition in Terrain Manager where creation wasn't at taint-time.
Add API calls for constructing compound shapes.
Move NeedsMeshing() logic into object class.
Reorganize logic for object meshing to reduce rebuilding of meshs/hulls.

1 files changed, 41 insertions, 26 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 4a468af..eea899f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -79,7 +79,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>();
     // Following is a kludge and can  be removed when avatar animation updating is
     //    moved to a better place.
-    private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>();
+    private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>();
 
     // List of all the objects that have vehicle properties and should be called
     //    to update each physics step.
@@ -132,8 +132,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private EntityProperties[] m_updateArray;
     private GCHandle m_updateArrayPinnedHandle;
 
-    private bool _meshSculptedPrim = true;         // cause scuplted prims to get meshed
-    private bool _forceSimplePrimMeshing = false;   // if a cube or sphere, let Bullet do internal shapes
+    public bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
+    public bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
 
     public float PID_D { get; private set; }    // derivative
     public float PID_P { get; private set; }    // proportional
@@ -153,6 +153,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         get { return new Vector3(0f, 0f, Params.gravity); }
     }
+    // Just the Z value of the gravity
+    public float DefaultGravityZ
+    {
+        get { return Params.gravity; }
+    }
 
     public float MaximumObjectMass { get; private set; }
 
@@ -171,8 +176,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             callback = c;
         }
     }
+    private Object _taintLock = new Object();   // lock for using the next object
     private List<TaintCallbackEntry> _taintedObjects;
-    private Object _taintLock = new Object();
 
     // A pointer to an instance if this structure is passed to the C++ code
     // Used to pass basic configuration values to the unmanaged code.
@@ -478,6 +483,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // Some of the prims operate with special vehicle properties
         ProcessVehicles(timeStep);
+        numTaints += _taintedObjects.Count;
         ProcessTaints();    // the vehicles might have added taints
 
         // step the physical world one interval
@@ -506,6 +512,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // Get a value for 'now' so all the collision and update routines don't have to get their own
         SimulationNowTime = Util.EnvironmentTickCount();
 
+        // This is a kludge to get avatar movement updates. 
+        //   ODE sends collisions for avatars even if there are have been no collisions. This updates
+        //   avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let collisions happen.
+        m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
+
         // If there were collisions, process them by sending the event to the prim.
         // Collisions must be processed before updates.
         if (collidersCount > 0)
@@ -527,13 +539,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             bsp.SendCollisions();
         m_objectsWithCollisions.Clear();
 
-        // This is a kludge to get avatar movement updated. 
-        //   ODE sends collisions even if there are none and this is used to update
-        //   avatar animations and stuff.
-        foreach (BSPhysObject bpo in m_avatarsWithCollisions)
-            bpo.SendCollisions();
-        // m_avatarsWithCollisions.Clear();
-
         // If any of the objects had updated properties, tell the object it has been changed by the physics engine
         if (updatedEntityCount > 0)
         {
@@ -544,7 +549,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 if (PhysObjects.TryGetValue(entprop.ID, out pobj))
                 {
                     pobj.UpdateProperties(entprop);
-                    continue;
                 }
             }
         }
@@ -600,8 +604,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
 
-        collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration);
-        m_objectsWithCollisions.Add(collider);
+        if (collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration))
+        {
+            // If a collision was posted, remember to send it to the simulator
+            m_objectsWithCollisions.Add(collider);
+        }
 
         return;
     }
@@ -619,9 +626,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     public override void SetWaterLevel(float baseheight) 
     {
         m_waterLevel = baseheight;
-        // TODO: pass to physics engine so things will float?
     }
-    public float GetWaterLevel()
+    // Someday....
+    public float GetWaterLevelAtXYZ(Vector3 loc)
     {
         return m_waterLevel;
     }
@@ -672,7 +679,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // int iPropertiesNotSupportedDefault = 0;
 
-        if (pbs.SculptEntry && !_meshSculptedPrim)
+        if (pbs.SculptEntry && !ShouldMeshSculptedPrim)
         {
             // Render sculpties as boxes
             return false;
@@ -680,7 +687,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet 
         // can use an internal representation for the prim
-        if (!_forceSimplePrimMeshing)
+        if (!ShouldForceSimplePrimMeshing)
         {
             if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
                 || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
@@ -782,7 +789,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return;
 
         lock (_taintLock)
+        {
             _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
+        }
+
         return;
     }
 
@@ -919,14 +929,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
             ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s._meshSculptedPrim); },
-            (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ),
+            (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
+            (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
         new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
             ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s._forceSimplePrimMeshing); },
-            (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ),
+            (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
+            (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
 
         new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             8f,
@@ -1162,8 +1172,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
             (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
-            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0",
-            0.0f,
+            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
+            0.1f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintCFM; },
             (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
@@ -1172,6 +1182,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintERP; },
             (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
+            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
+            40,
+            (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].linkConstraintSolverIterations; },
+            (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
 
         new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
             0f,