* Coded around another Null packet sent by the packet pool

* Condensed 8 calls to unmanaged code in ODE down to 1

2 files changed, 48 insertions, 27 deletions

diff --git a/OpenSim/Region/ClientStack/UDPServer.cs b/OpenSim/Region/ClientStack/UDPServer.cs
index 3455b5a..a8a1ff6 100644
--- a/OpenSim/Region/ClientStack/UDPServer.cs
+++ b/OpenSim/Region/ClientStack/UDPServer.cs
@@ -293,26 +293,29 @@ namespace OpenSim.Region.ClientStack
                 //MainLog.Instance.Debug("UDPSERVER", e.ToString());
             }
 
-            // do we already have a circuit for this endpoint
-            uint circuit;
-            if (clientCircuits.TryGetValue(epSender, out circuit))
-            {
-                //if so then send packet to the packetserver
-                //MainLog.Instance.Warn("UDPSERVER", "ALREADY HAVE Circuit!");
-                m_packetServer.InPacket(circuit, packet);
-            }
-            else if (packet.Type == PacketType.UseCircuitCode)
-            {
-                // new client
-                MainLog.Instance.Debug("UDPSERVER", "Adding New Client");
-                AddNewClient(packet);
-            }
-            else
+            if (packet != null)
             {
+                // do we already have a circuit for this endpoint
+                uint circuit;
+                if (clientCircuits.TryGetValue(epSender, out circuit))
+                {
+                    //if so then send packet to the packetserver
+                    //MainLog.Instance.Warn("UDPSERVER", "ALREADY HAVE Circuit!");
+                    m_packetServer.InPacket(circuit, packet);
+                }
+                else if (packet.Type == PacketType.UseCircuitCode)
+                {
+                    // new client
+                    MainLog.Instance.Debug("UDPSERVER", "Adding New Client");
+                    AddNewClient(packet);
+                }
+                else
+                {
 
-                // invalid client
-                //CFK: This message seems to have served its usefullness as of 12-15 so I am commenting it out for now
-                //m_log.Warn("client", "Got a packet from an invalid client - " + epSender.ToString());
+                    // invalid client
+                    //CFK: This message seems to have served its usefullness as of 12-15 so I am commenting it out for now
+                    //m_log.Warn("client", "Got a packet from an invalid client - " + epSender.ToString());
+                }
             }
 
             Server.BeginReceiveFrom(RecvBuffer, 0, RecvBuffer.Length, SocketFlags.None, ref epSender, ReceivedData, null);
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 273ee23..33b2e4f 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -40,6 +40,7 @@ namespace OpenSim.Region.Physics.OdePlugin
     {
         private PhysicsVector _position;
         private d.Vector3 _zeroPosition;
+        private d.Matrix3 m_StandUpRotation;
         private bool _zeroFlag = false;
         private bool m_lastUpdateSent = false;
         private PhysicsVector _velocity;
@@ -86,6 +87,8 @@ namespace OpenSim.Region.Physics.OdePlugin
             _acceleration = new PhysicsVector();
             _parent_scene = parent_scene;
 
+            m_StandUpRotation = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f);
+
             for (int i = 0; i < 11; i++)
             {
                 m_colliderarr[i] = false;
@@ -100,7 +103,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.BodySetMass(Body, ref ShellMass);
                 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
                 d.GeomSetBody(Shell, Body);
-                Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero);
+
+
+
+                
+                d.BodySetRotation(Body, ref m_StandUpRotation);
+
+
+
+                Amotor = d.JointCreateAMotor(parent_scene.world, IntPtr.Zero); 
                 d.JointAttach(Amotor, Body, IntPtr.Zero);
                 d.JointSetAMotorMode(Amotor, dAMotorEuler);
                 d.JointSetAMotorNumAxes(Amotor, 3);
@@ -117,6 +128,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.JointSetAMotorParam(Amotor, 3, 0);
                 d.JointSetAMotorParam(Amotor, 2, 0);
                 
+
+                
             }
             m_name = avName;
             parent_scene.geom_name_map[Shell] = avName;
@@ -381,16 +394,21 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.BodyAddForce(Body, force.X, force.Y, force.Z);
 
                 //  ok -- let's stand up straight!
-                d.Vector3 feet;
-                d.Vector3 head;
-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
-                d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
-                float posture = head.Z - feet.Z;
+                //d.Matrix3 StandUpRotationalMatrix = new d.Matrix3(0.8184158f, -0.5744568f, -0.0139677f, 0.5744615f, 0.8185215f, -0.004074608f, 0.01377355f, -0.004689182f, 0.9998941f);
+                //d.BodySetRotation(Body, ref StandUpRotationalMatrix);
+                d.BodySetRotation(Body, ref m_StandUpRotation);
+                // The above matrix was generated with the amazing standup routine below by danX0r *cheer*
+                //d.Vector3 feet;
+                //d.Vector3 head;
+                //d.BodyGetRelPointPos(Body, 0.0f, 0.0f, -1.0f, out feet);
+                //d.BodyGetRelPointPos(Body, 0.0f, 0.0f, 1.0f, out head);
+                //float posture = head.Z - feet.Z;
 
                 // restoring force proportional to lack of posture:
-                float servo = (2.5f - posture) * POSTURE_SERVO;
-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
-                d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
+                //float servo = (2.5f - posture) * POSTURE_SERVO;
+                //d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
+                //d.BodyAddForceAtRelPos(Body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
+
                 //m_lastUpdateSent = false;
 
             }