BulletSim: Fix llApplyImpulse so it works after the first impulse. The problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).

2 files changed, 29 insertions, 4 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 9525a11..19de1e5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -304,17 +304,21 @@ public abstract class BSPhysObject : PhysicsActor
         string identifier = op + "-" + id.ToString();
         RegisteredActions[identifier] = actn;
         PhysicsScene.BeforeStep += actn;
+        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
     }
 
     // Unregister a pre step action. Safe to call if the action has not been registered.
     protected void UnRegisterPreStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
+        bool removed = false;
         if (RegisteredActions.ContainsKey(identifier))
         {
             PhysicsScene.BeforeStep -= RegisteredActions[identifier];
             RegisteredActions.Remove(identifier);
+            removed = true;
         }
+        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
     }
 
     protected void UnRegisterAllPreStepActions()
@@ -324,6 +328,7 @@ public abstract class BSPhysObject : PhysicsActor
             PhysicsScene.BeforeStep -= kvp.Value;
         }
         RegisteredActions.Clear();
+        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
     }
 
     
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e6aeebb..d137b2a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -442,8 +442,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setForce", LocalID,
                     delegate(float timeStep)
                     {
+                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
+                        {
                             BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                            ActivateIfPhysical(false);
+                        }
                     }
                 );
             }
@@ -554,7 +558,10 @@ public sealed class BSPrim : BSPhysObject
 
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override OMV.Vector3 Torque {
@@ -845,7 +852,7 @@ public sealed class BSPrim : BSPhysObject
     // Called in taint-time!!
     private void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical)
+        if (IsPhysical && PhysBody.HasPhysicalBody)
             BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
     }
 
@@ -919,8 +926,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
             });
         }
     }
@@ -930,7 +936,11 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override bool Kinematic {
@@ -959,6 +969,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                ActivateIfPhysical(false);
             }
         }
     }
@@ -1011,7 +1022,10 @@ public sealed class BSPrim : BSPhysObject
                 // Bullet adds this central force to the total force for this tick
                 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
+                {
                     BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    ActivateIfPhysical(false);
+                }
             });
         }
         else
@@ -1032,7 +1046,10 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
+                {
                     BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+                    ActivateIfPhysical(false);
+                }
             });
         }
         else
@@ -1052,7 +1069,10 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                ActivateIfPhysical(false);
+            }
         });
     }