BulletSim: change nonimal physics frame rate to 55 to give same numbers as ODE.

Change character scaling to represent size of capsule (diameter rather than radius)
Modify create capsule call to pass radius and height.
Eliminate errors when calculating shape inertia (should have some type checking).

1 files changed, 5 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index bbfdac6..3d15eaa 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -417,7 +417,10 @@ public class BSShapeCollection : IDisposable
 
         if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
-            newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            // The radius is scaled by 1/2 because we scale by the diameter.
+            newShape = new BulletShape(
+                    BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), 
+                    shapeType);
             newShape.shapeKey = (System.UInt64)shapeKey;
             newShape.isNativeShape = true;
         }
@@ -428,7 +431,7 @@ public class BSShapeCollection : IDisposable
             newShape.isNativeShape = true;
         }
 
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
         // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
 
         prim.BSShape = newShape;