5 files changed, 133 insertions, 107 deletions

diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index ec74297..058b6f6 100755
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -418,17 +418,6 @@ namespace OpenSim.Region.Framework.Scenes
         private float terrainMS;
         private float landMS;
 
-        // A temporary configuration flag to enable using FireAndForget to process
-        //   collisions from the physics engine. There is a problem with collisions
-        //   stopping sometimes and MB's suspicion is some race condition passing
-        //   collisions from the physics engine callback to the script engine.
-        //   This causes the collision events to be passed with a FireAndForget
-        //   call which should eliminate that linkage. Testers can turn this on
-        //   and see if collisions stop. If they don't, the problem is somewhere else.
-        //   This feature defaults to 'off' so, by default, the simulator operation
-        //   is not changed.
-        public bool ShouldUseFireAndForgetForCollisions = false;
-
         /// <summary>
         /// Tick at which the last frame was processed.
         /// </summary>
@@ -1147,10 +1136,6 @@ namespace OpenSim.Region.Framework.Scenes
                 m_update_terrain          = startupConfig.GetInt("UpdateTerrainEveryNFrames",         m_update_terrain);
                 m_update_temp_cleaning    = startupConfig.GetInt("UpdateTempCleaningEveryNSeconds",   m_update_temp_cleaning);
 
-                if (startupConfig.Contains("ShouldUseFireAndForgetForCollisions"))
-                {
-                    ShouldUseFireAndForgetForCollisions = startupConfig.GetBoolean("ShouldUseFireAndForgetForCollisions", false);
-                }
             }
 
 
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index b281e5f..e4c9de1 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -3571,6 +3571,9 @@ namespace OpenSim.Region.Framework.Scenes
                         !Rotation.ApproxEquals(m_lastRotation, ROTATION_TOLERANCE)
                         || !Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE)
                         || !m_pos.ApproxEquals(m_lastPosition, POSITION_LARGETOLERANCE)
+                        // if velocity is zero and it wasn't zero last time, send the update
+                        || (Velocity == Vector3.Zero && m_lastVelocity != Vector3.Zero)
+                        // if position has moved just a little and velocity is very low, send  the update
                         || (!m_pos.ApproxEquals(m_lastPosition, POSITION_SMALLTOLERANCE) && Velocity.LengthSquared() < LOWVELOCITYSQ )
                 ) )
             {
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 6d5589f..5ad2136 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -40,7 +40,6 @@ public sealed class BSCharacter : BSPhysObject
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
     // private bool _stopped;
-    private OMV.Vector3 _size;
     private bool _grabbed;
     private bool _selected;
     private float _mass;
@@ -57,6 +56,9 @@ public sealed class BSCharacter : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    private OMV.Vector3 _size;
+    private float _footOffset;
+
     private BSActorAvatarMove m_moveActor;
     private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
 
@@ -76,7 +78,7 @@ public sealed class BSCharacter : BSPhysObject
     public override bool IsIncomplete { get { return false; } }
 
     public BSCharacter(
-            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
+            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, float footOffset, bool isFlying)
 
             : base(parent_scene, localID, avName, "BSCharacter")
     {
@@ -91,21 +93,13 @@ public sealed class BSCharacter : BSPhysObject
         Density = BSParam.AvatarDensity;
         _isPhysical = true;
 
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-        // The dimensions of the physical capsule are kept in the scale.
-        // Physics creates a unit capsule which is scaled by the physics engine.
-        Scale = ComputeAvatarScale(_size);
-        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        ComputeAvatarVolumeAndMass();
+        // Adjustments for zero X and Y made in Size()
+        // This also computes avatar scale, volume, and mass
+        SetAvatarSize(size, footOffset, true /* initializing */);
 
         DetailLog(
             "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
-            LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
+            LocalID, Size, Scale, Density, _avatarVolume, RawMass, pos, vel);
 
         // do actual creation in taint time
         PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
@@ -209,45 +203,68 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Size {
         get
         {
-            // Avatar capsule size is kept in the scale parameter.
             return _size;
         }
 
         set {
-            // This is how much the avatar size is changing. Positive means getting bigger.
-            // The avatar altitude must be adjusted for this change.
-            float heightChange = value.Z - _size.Z;
+            setAvatarSize(value, _footOffset);
+        }
+    }
 
-            _size = value;
+    // OpenSim 0.9 introduces a common avatar size computation
+    public override void setAvatarSize(OMV.Vector3 size, float feetOffset)
+    {
+        SetAvatarSize(size, feetOffset, false /* initializing */);
+    }
+
+    // Internal version that, if initializing, doesn't do all the updating of the physics engine
+    public void SetAvatarSize(OMV.Vector3 size, float feetOffset, bool initializing)
+    {
+        OMV.Vector3 newSize = size;
+        if (newSize.IsFinite())
+        {
             // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
             //     replace with the default values.
-            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+            if (newSize.X == 0f) newSize.X = BSParam.AvatarCapsuleDepth;
+            if (newSize.Y == 0f) newSize.Y = BSParam.AvatarCapsuleWidth;
 
-            Scale = ComputeAvatarScale(_size);
-            ComputeAvatarVolumeAndMass();
-            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
+            if (newSize.X < 0.01f) newSize.X = 0.01f;
+            if (newSize.Y < 0.01f) newSize.Y = 0.01f;
+            if (newSize.Z < 0.01f) newSize.Z = BSParam.AvatarCapsuleHeight;
+        }
+        else
+        {
+            newSize = new OMV.Vector3(BSParam.AvatarCapsuleDepth, BSParam.AvatarCapsuleWidth, BSParam.AvatarCapsuleHeight);
+        }
 
-            PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
-            {
-                if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
-                {
-                    PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
-                    UpdatePhysicalMassProperties(RawMass, true);
+        // This is how much the avatar size is changing. Positive means getting bigger.
+        // The avatar altitude must be adjusted for this change.
+        float heightChange = newSize.Z - Size.Z;
 
-                    // Adjust the avatar's position to account for the increase/decrease in size
-                    ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+        _size = newSize;
 
-                    // Make sure this change appears as a property update event
-                    PhysScene.PE.PushUpdate(PhysBody);
-                }
-            });
+        Scale = ComputeAvatarScale(Size);
+        ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                        LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
-        }
+        PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
+        {
+            if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
+            {
+                PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+                UpdatePhysicalMassProperties(RawMass, true);
+
+                // Adjust the avatar's position to account for the increase/decrease in size
+                ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+
+                // Make sure this change appears as a property update event
+                PhysScene.PE.PushUpdate(PhysBody);
+            }
+        });
     }
 
-    public override PrimitiveBaseShape Shape
+        public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
     }
@@ -702,60 +719,71 @@ public sealed class BSCharacter : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) {
     }
 
+    // The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets
+    //    the scale of that unit shape to create the avatars full size.
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale = size;
 
-        // Bullet's capsule total height is the "passed height + radius * 2";
-        // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
-        // The number we pass in for 'scaling' is the multiplier to get that base
-        //     shape to be the size desired.
-        // So, when creating the scale for the avatar height, we take the passed height
-        //     (size.Z) and remove the caps.
-        // An oddity of the Bullet capsule implementation is that it presumes the Y
-        //     dimension is the radius of the capsule. Even though some of the code allows
-        //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
+        if (BSParam.AvatarUseBefore09SizeComputation)
+        {
 
-        // Scale is multiplier of radius with one of "0.5"
+            // Bullet's capsule total height is the "passed height + radius * 2";
+            // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
+            // The number we pass in for 'scaling' is the multiplier to get that base
+            //     shape to be the size desired.
+            // So, when creating the scale for the avatar height, we take the passed height
+            //     (size.Z) and remove the caps.
+            // An oddity of the Bullet capsule implementation is that it presumes the Y
+            //     dimension is the radius of the capsule. Even though some of the code allows
+            //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
 
-        float heightAdjust = BSParam.AvatarHeightMidFudge;
-        if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
-        {
-            const float AVATAR_LOW = 1.1f;
-            const float AVATAR_MID = 1.775f; // 1.87f
-            const float AVATAR_HI = 2.45f;
-            // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
-            float midHeightOffset = size.Z - AVATAR_MID;
-            if (midHeightOffset < 0f)
+            // Scale is multiplier of radius with one of "0.5"
+
+            float heightAdjust = BSParam.AvatarHeightMidFudge;
+            if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
             {
-                // Small avatar. Add the adjustment based on the distance from midheight
-                heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+                const float AVATAR_LOW = 1.1f;
+                const float AVATAR_MID = 1.775f; // 1.87f
+                const float AVATAR_HI = 2.45f;
+                // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
+                float midHeightOffset = size.Z - AVATAR_MID;
+                if (midHeightOffset < 0f)
+                {
+                    // Small avatar. Add the adjustment based on the distance from midheight
+                    heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+                }
+                else
+                {
+                    // Large avatar. Add the adjustment based on the distance from midheight
+                    heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+                }
+            }
+            if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+            {
+                newScale.X = size.X / 2f;
+                newScale.Y = size.Y / 2f;
+                // The total scale height is the central cylindar plus the caps on the two ends.
+                newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
             }
             else
             {
-                // Large avatar. Add the adjustment based on the distance from midheight
-                heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+                newScale.Z = size.Z + heightAdjust;
             }
-        }
-        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
-        {
-            newScale.X = size.X / 2f;
-            newScale.Y = size.Y / 2f;
-            // The total scale height is the central cylindar plus the caps on the two ends.
-            newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
+            // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
+
+            // If smaller than the endcaps, just fake like we're almost that small
+            if (newScale.Z < 0)
+                newScale.Z = 0.1f;
+
+            DetailLog("{0},BSCharacter.ComputeAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
+                LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
         }
         else
         {
-            newScale.Z = size.Z + heightAdjust;
+            newScale.Z = size.Z + _footOffset;
+            DetailLog("{0},BSCharacter.ComputeAvatarScale,using newScale={1}, footOffset={2}", LocalID, newScale, _footOffset);
         }
-        // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
-
-        // If smaller than the endcaps, just fake like we're almost that small
-        if (newScale.Z < 0)
-            newScale.Z = 0.1f;
-
-        DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
-            LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
 
         return newScale;
     }
@@ -763,17 +791,24 @@ public sealed class BSCharacter : BSPhysObject
     // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
-        _avatarVolume = (float)(
-                        Math.PI
-                        * Size.X / 2f
-                        * Size.Y / 2f    // the area of capsule cylinder
-                        * Size.Z         // times height of capsule cylinder
-                      + 1.33333333f
-                        * Math.PI
-                        * Size.X / 2f
-                        * Math.Min(Size.X, Size.Y) / 2
-                        * Size.Y / 2f    // plus the volume of the capsule end caps
-                        );
+        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+        {
+            _avatarVolume = (float)(
+                            Math.PI
+                            * Size.X / 2f
+                            * Size.Y / 2f    // the area of capsule cylinder
+                            * Size.Z         // times height of capsule cylinder
+                          + 1.33333333f
+                            * Math.PI
+                            * Size.X / 2f
+                            * Math.Min(Size.X, Size.Y) / 2
+                            * Size.Y / 2f    // plus the volume of the capsule end caps
+                            );
+        }
+        else
+        {
+            _avatarVolume = Size.X * Size.Y * Size.Z;
+        }
         _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
     }
 
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
index 389a441..28df2d9 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
@@ -142,6 +142,7 @@ public static class BSParam
     public static float AvatarCapsuleWidth { get; private set; }
     public static float AvatarCapsuleDepth { get; private set; }
     public static float AvatarCapsuleHeight { get; private set; }
+    public static bool AvatarUseBefore09SizeComputation { get; private set; }
     public static float AvatarHeightLowFudge { get; private set; }
     public static float AvatarHeightMidFudge { get; private set; }
     public static float AvatarHeightHighFudge { get; private set; }
@@ -616,6 +617,8 @@ public static class BSParam
             0.45f ),
         new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
             1.5f ),
+        new ParameterDefn<bool>("AvatarUseBefore09SizeComputation", "Use the old fudge method of computing avatar capsule size",
+            true ),
         new ParameterDefn<float>("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
             0f ),
         new ParameterDefn<float>("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
@@ -633,7 +636,7 @@ public static class BSParam
             new ParameterDefn<float>("AvatarAddForcePushFactor", "BSCharacter.AddForce is multiplied by this and mass to be like other physics engines",
             0.315f ),
             new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
-            0.4f,
+            0.45f,
             (s) => { return (float)AvatarStopZeroThreshold; },
             (s,v) => { AvatarStopZeroThreshold = v; AvatarStopZeroThresholdSquared = v * v; } ),
             new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index 747bad5..bd9f325 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -523,13 +523,13 @@ namespace OpenSim.Region.PhysicsModule.BulletS
             return null;
         }
 
-        public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float footOffset, bool isFlying)
         {
             // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
 
             if (!m_initialized) return null;
 
-            BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying);
+            BSCharacter actor = new BSCharacter(localID, avName, this, position, Vector3.Zero, size, footOffset, isFlying);
             lock (PhysObjects)
                 PhysObjects.Add(localID, actor);