BulletSim: Adapt BulletSim to the newer physical properties. Viewer

dialog setting of friction, restitution, ... working.

2 files changed, 28 insertions, 30 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 0b35f3a..0d8bb03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -79,7 +79,7 @@ public abstract class BSPhysObject : PhysicsActor
         TypeName = typeName;
 
         // Initialize variables kept in base.
-        GravityModifier = 1.0f;
+        GravModifier = 1.0f;
         Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
 
         // We don't have any physical representation yet.
@@ -170,6 +170,8 @@ public abstract class BSPhysObject : PhysicsActor
     public override void SetMaterial(int material)
     {
         Material = (MaterialAttributes.Material)material;
+
+        // Setting the material sets the material attributes also.
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 38adb72..85c2627 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -423,8 +423,6 @@ public sealed class BSPrim : BSPhysObject
             }
             else
             {
-                OMV.Vector3 grav = ComputeGravity(Buoyancy);
-
                 if (inWorld)
                 {
                     // Changing interesting properties doesn't change proxy and collision cache
@@ -434,15 +432,15 @@ public sealed class BSPrim : BSPhysObject
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
+                Gravity = ComputeGravity(Buoyancy);
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
 
                 Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
                 PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
                 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
 
-                // center of mass is at the zero of the object
-                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
+                                            LocalID, physMass, Inertia, Gravity, inWorld);
 
                 if (inWorld)
                 {
@@ -455,10 +453,13 @@ public sealed class BSPrim : BSPhysObject
     // Return what gravity should be set to this very moment
     public OMV.Vector3 ComputeGravity(float buoyancy)
     {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
 
         if (!IsStatic)
+        {
             ret *= (1f - buoyancy);
+            ret *= GravModifier;
+        }
 
         return ret;
     }
@@ -587,8 +588,7 @@ public sealed class BSPrim : BSPhysObject
         base.SetMaterial(material);
         PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
         {
-            if (PhysBody.HasPhysicalBody)
-                UpdatePhysicalParameters();
+            UpdatePhysicalParameters();
         });
     }
     public override float Friction
@@ -601,8 +601,7 @@ public sealed class BSPrim : BSPhysObject
                 base.Friction = value;
                 PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -617,8 +616,7 @@ public sealed class BSPrim : BSPhysObject
                 base.Restitution = value;
                 PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -633,24 +631,22 @@ public sealed class BSPrim : BSPhysObject
                 base.Density = value;
                 PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
     }
-    public override float GravityModifier
+    public override float GravModifier
     {
-        get { return base.GravityModifier; }
+        get { return base.GravModifier; }
         set
         {
-            if (base.GravityModifier != value)
+            if (base.GravModifier != value)
             {
-                base.GravityModifier = value;
+                base.GravModifier = value;
                 PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -820,7 +816,12 @@ public sealed class BSPrim : BSPhysObject
     //     collisionEvents: whether this object returns collision events
     public void UpdatePhysicalParameters()
     {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+        if (!PhysBody.HasPhysicalBody)
+        {
+            // This would only happen if updates are called for during initialization when the body is not set up yet.
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
+            return;
+        }
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
@@ -898,9 +899,9 @@ public sealed class BSPrim : BSPhysObject
             CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
             PhysicsScene.PE.SetFriction(PhysBody, Friction);
             PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
+            // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -999,16 +1000,11 @@ public sealed class BSPrim : BSPhysObject
         if (PhysBody.HasPhysicalBody)
         {
             PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-
-            // Must set gravity after it has been added to the world because, for unknown reasons,
-            //     adding the object resets the object's gravity to world gravity
-            OMV.Vector3 grav = ComputeGravity(Buoyancy);
-            PhysicsScene.PE.SetGravity(PhysBody, grav);
         }
         else
         {
             m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+            DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }