1 files changed, 69 insertions, 23 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index fc18960..9c3f160 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -61,18 +61,31 @@ public sealed class BSCharacter : BSPhysObject
     private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
 
     private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
     private float _PIDTau;
 
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
+//        public override OMV.Vector3 RawVelocity 
+//        { get { return base.RawVelocity; } 
+//            set { 
+//                if (value != base.RawVelocity)
+//                    Util.PrintCallStack();
+//                Console.WriteLine("Set rawvel to {0}", value);
+//                base.RawVelocity = value; }
+//        }
+
+    // Avatars are always complete (in the physics engine sense)
+    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)
+
             : base(parent_scene, localID, avName, "BSCharacter")
     {
         _physicsActorType = (int)ActorTypes.Agent;
-        RawPosition = pos;
+        RawPosition = pos;        
 
         _flying = isFlying;
         RawOrientation = OMV.Quaternion.Identity;
-        RawVelocity = OMV.Vector3.Zero;
+        RawVelocity = vel;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         Friction = BSParam.AvatarStandingFriction;
         Density = BSParam.AvatarDensity;
@@ -89,13 +102,15 @@ public sealed class BSCharacter : BSPhysObject
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
 
-        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6}",
-                            LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos);
+        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);
 
         // do actual creation in taint time
         PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
+
             // New body and shape into PhysBody and PhysShape
             PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
 
@@ -134,7 +149,6 @@ public sealed class BSCharacter : BSPhysObject
     {
         PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody);
 
-        ZeroMotion(true);
         ForcePosition = RawPosition;
 
         // Set the velocity
@@ -142,6 +156,7 @@ public sealed class BSCharacter : BSPhysObject
             m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
 
         ForceVelocity = RawVelocity;
+        TargetVelocity = RawVelocity;
 
         // 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.
@@ -174,15 +189,19 @@ public sealed class BSCharacter : BSPhysObject
         PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody);
 
         // Do this after the object has been added to the world
-        PhysBody.collisionType = CollisionType.Avatar;
+        if (BSParam.AvatarToAvatarCollisionsByDefault)
+            PhysBody.collisionType = CollisionType.Avatar;
+        else
+            PhysBody.collisionType = CollisionType.PhantomToOthersAvatar;
+
         PhysBody.ApplyCollisionMask(PhysScene);
     }
 
-
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
     }
+
     // No one calls this method so I don't know what it could possibly mean
     public override bool Stopped { get { return false; } }
 
@@ -263,6 +282,7 @@ public sealed class BSCharacter : BSPhysObject
                 PhysScene.PE.ClearAllForces(PhysBody);
         });
     }
+
     public override void ZeroAngularMotion(bool inTaintTime)
     {
         _rotationalVelocity = OMV.Vector3.Zero;
@@ -426,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject
             m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
             if (_setAlwaysRun && !_flying)
-                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f);
+                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
 
             if (m_moveActor != null)
                 m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
@@ -437,32 +457,40 @@ public sealed class BSCharacter : BSPhysObject
         get { return RawVelocity; }
         set {
             RawVelocity = value;
-            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity);
+                OMV.Vector3 vel = RawVelocity;
+
+            DetailLog("{0}: set Velocity = {1}", LocalID, value);
+
             PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
             {
                 if (m_moveActor != null)
-                    m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */);
+                    m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
 
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity);
-                ForceVelocity = RawVelocity;
+                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
+                ForceVelocity = vel;
             });
         }
     }
+
     public override OMV.Vector3 ForceVelocity {
         get { return RawVelocity; }
         set {
             PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+//                Util.PrintCallStack();
+            DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
 
             RawVelocity = value;
             PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
             PhysScene.PE.Activate(PhysBody, true);
         }
     }
+
     public override OMV.Vector3 Torque {
         get { return RawTorque; }
         set { RawTorque = value;
         }
     }
+
     public override float CollisionScore {
         get { return _collisionScore; }
         set { _collisionScore = value;
@@ -614,9 +642,9 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
+
+    public override bool PIDActive { get; set; }
+
     public override float PIDTau {
         set { _PIDTau = value; }
     }
@@ -657,7 +685,7 @@ public sealed class BSCharacter : BSPhysObject
 
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
-        OMV.Vector3 newScale;
+        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)
@@ -670,8 +698,6 @@ public sealed class BSCharacter : BSPhysObject
         //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
 
         // Scale is multiplier of radius with one of "0.5"
-        newScale.X = size.X / 2f;
-        newScale.Y = size.Y / 2f;
 
         float heightAdjust = BSParam.AvatarHeightMidFudge;
         if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
@@ -692,8 +718,17 @@ public sealed class BSCharacter : BSPhysObject
                 heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
             }
         }
-        // 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;
+        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
+        {
+            newScale.Z = size.Z + heightAdjust;
+        }
         // 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
@@ -737,7 +772,18 @@ public sealed class BSCharacter : BSPhysObject
         //    and will send agent updates to the clients if velocity changes by more than
         //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
         //    extra updates.
-        if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
+        //
+        // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to 
+        // avatar movement rather than removes it.  The larger the threshold, the bigger the jitter.
+        // This is most noticeable in level flight and can be seen with
+        // the "show updates" option in a viewer.  With an update threshold, the RawVelocity cycles between a lower
+        // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
+        // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients().  The cause of this cycle (feedback?)
+        // has not yet been identified.
+        //
+        // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
+        // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
+//        if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
             RawVelocity = entprop.Velocity;
 
         _acceleration = entprop.Acceleration;