1 files changed, 58 insertions, 55 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 57c5898..8e059ee 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -88,8 +88,8 @@ public sealed class BSCharacter : BSPhysObject
         // 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 = PhysicsScene.Params.avatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
 
         // A motor to control the acceleration and deceleration of the avatar movement.
         // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
@@ -108,8 +108,8 @@ public sealed class BSCharacter : BSPhysObject
         _velocity = OMV.Vector3.Zero;
         _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
+        _currentFriction = BSParam.AvatarStandingFriction;
+        _avatarDensity = BSParam.AvatarDensity;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
@@ -134,6 +134,8 @@ public sealed class BSCharacter : BSPhysObject
     // called when this character is being destroyed and the resources should be released
     public override void Destroy()
     {
+        base.Destroy();
+
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
@@ -156,19 +158,20 @@ public sealed class BSCharacter : BSPhysObject
         _velocityMotor.Reset();
         _velocityMotor.SetCurrent(_velocity);
         _velocityMotor.SetTarget(_velocity);
+        _velocityMotor.Enabled = false;
 
         // This will enable or disable the flying buoyancy of the avatar.
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
         BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
         BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+        if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass);
@@ -208,8 +211,8 @@ public sealed class BSCharacter : BSPhysObject
             _size = value;
             // 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 = PhysicsScene.Params.avatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
 
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
@@ -433,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
             OMV.Vector3 targetVel = value;
             PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
             {
-                float timeStep = 0.089f;    // DEBUG DEBUG FIX FIX FIX
                 _velocityMotor.Reset();
                 _velocityMotor.SetTarget(targetVel);
                 _velocityMotor.SetCurrent(_velocity);
-                // Compute a velocity value and make sure it gets pushed into the avatar.
-                // This makes sure the avatar will start from a stop.
-                ForceVelocity = _velocityMotor.Step(timeStep);
+                _velocityMotor.Enabled = true;
+
+                // Make sure a property update happens next step so the motor gets incorporated.
+                BulletSimAPI.PushUpdate2(PhysBody.ptr);
             });
         }
     }
@@ -448,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
         get { return _velocity; }
         set {
             _velocity = value;
-            _velocityMotor.Reset();
-            _velocityMotor.SetCurrent(_velocity);
-            _velocityMotor.SetTarget(_velocity);
             // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
+                _velocityMotor.Reset();
+                _velocityMotor.SetCurrent(_velocity);
+                _velocityMotor.SetTarget(_velocity);
+                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
+                _velocityMotor.Enabled = false;
+
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
                 ForceVelocity = _velocity;
             });
@@ -464,27 +470,27 @@ public sealed class BSCharacter : BSPhysObject
         set {
             PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
+            _velocity = value;
             // Depending on whether the avatar is moving or not, change the friction
             //    to keep the avatar from slipping around
             if (_velocity.Length() == 0)
             {
-                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                if (_currentFriction != BSParam.AvatarStandingFriction)
                 {
-                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    _currentFriction = BSParam.AvatarStandingFriction;
                     if (PhysBody.HasPhysicalBody)
                         BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
             else
             {
-                if (_currentFriction != PhysicsScene.Params.avatarFriction)
+                if (_currentFriction != BSParam.AvatarFriction)
                 {
-                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    _currentFriction = BSParam.AvatarFriction;
                     if (PhysBody.HasPhysicalBody)
                         BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
-            _velocity = value;
             // Remember the set velocity so we can suppress the reduction by friction, ...
             _appliedVelocity = value;
 
@@ -561,12 +567,6 @@ public sealed class BSCharacter : BSPhysObject
         set {
             _flying = value;
 
-            // Velocity movement is different when flying: flying velocity degrades over time.
-            if (_flying)
-                _velocityMotor.TargetValueDecayTimeScale = 1f;
-            else
-                _velocityMotor.TargetValueDecayTimeScale = BSMotor.Infinite;
-
             // simulate flying by changing the effect of gravity
             Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
@@ -750,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
         _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
+
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         PositionSanityCheck(true);
 
+        if (_velocityMotor.Enabled)
+        {
+            // TODO: Decide if the step parameters should be changed depending on the avatar's
+            //     state (flying, colliding, ...).
+
+            OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
+
+            // If falling, we keep the world's downward vector no matter what the other axis specify.
+            if (!Flying && !IsColliding)
+            {
+                stepVelocity.Z = entprop.Velocity.Z;
+                DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+            }
+
+            // If the user has said stop and we've stopped applying velocity correction,
+            //     the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
+            if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
+            {
+                stepVelocity = OMV.Vector3.Zero;
+                _velocityMotor.Enabled = false;
+                DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
+            }
+
+            _velocity = stepVelocity;
+            entprop.Velocity = _velocity;
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+        }
+
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
         CurrentEntityProperties = entprop;
 
-        // Avatars don't respond to world friction, etc. They only go the speed I tell them too.
-        // Special kludge here for falling. Even though the target velocity might not have a
-        //     Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
-        //     and that velocity component must be retained.
-        float timeStep = 0.089f;        // DEBUG DEBUG FIX FIX FIX
-        OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-        // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
-        // stepVelocity.Z += entprop.Velocity.Z;
-        _velocity = stepVelocity;
-        BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-        /*
-        OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
-        OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
-        _velocity = avVel;
-        BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
-        
-        if (entprop.Velocity != LastEntityProperties.Velocity)
-        {
-            // Changes in the velocity are suppressed in avatars.
-            // That's just the way they are defined.
-            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
-            _velocity = avVel;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
-        }
-         */
-
         // Tell the linkset about value changes
         Linkset.UpdateProperties(this, true);