BulletSim: make density display and return value consistant with how

the simulator expects it (scaled to 100kg/m^3).

3 files changed, 22 insertions, 8 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 59e7f5f..58a417e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject
         RawVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         Friction = BSParam.AvatarStandingFriction;
-        Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
+        Density = BSParam.AvatarDensity;
 
         // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
         //     replace with the default values.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 0bdb5f1..4520171 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -463,7 +463,7 @@ public static class BSParam
         // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
         // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
         new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
-            0.0001f ),
+            0.01f ),
 
         new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
             2200f ),
@@ -474,8 +474,9 @@ public static class BSParam
             0.2f,
             (s) => { return DefaultFriction; },
             (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
+        // For historical reasons, the viewer and simulator multiply the density by 100
         new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
+            1000.0006836f,  // Aluminum g/cm3 * 100
             (s) => { return DefaultDensity; },
             (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
         new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
@@ -555,8 +556,9 @@ public static class BSParam
             0.95f ),
         new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
             1.3f ),
-        new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f) ,
+            // For historical reasons, density is reported  * 100
+        new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
+            3500f) ,    // 3.5 * 100
         new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
             0f ),
         new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
@@ -608,9 +610,8 @@ public static class BSParam
             0.0f ),
         new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
             0.0f ),
-        // Turn off fudge with DensityScaleFactor = 0.0001.  Value used to be 0.2f;
         new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
-            1.0f ),
+            0.2f ),
         new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
             60.0f ),
         new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..0704591 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-        Density = matAttrib.density / BSParam.DensityScaleFactor;
+        Density = matAttrib.density;
         // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
     }
 
+    public override float Density
+    {
+        get
+        {
+            return base.Density;
+        }
+        set
+        {
+            DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
+            base.Density = value;
+        }
+    }
+
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);