4 files changed, 28 insertions, 6 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index a303972..4c54f9f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -174,15 +174,19 @@ 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; } }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 867d6ff..e7f4def 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -132,6 +132,7 @@ public static class BSParam
     public static float PhysicsUnmanLoggingFrames { get; private set; }
 
     // Avatar parameters
+    public static bool AvatarToAvatarCollisionsByDefault { get; private set; }
     public static float AvatarFriction { get; private set; }
     public static float AvatarStandingFriction { get; private set; }
     public static float AvatarAlwaysRunFactor { get; private set; }
@@ -571,6 +572,8 @@ public static class BSParam
         new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
             0.04f ),
 
+        new ParameterDefn<bool>("AvatarToAvatarCollisionsByDefault", "Should avatars collide with other avatars by default?",
+            true),
         new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
             0.2f ),
         new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a46c241..0f79a10 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -130,6 +130,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     internal int m_maxUpdatesPerFrame;
     internal EntityProperties[] m_updateArray;
 
+    /// <summary>
+    /// Used to control physics simulation timing if Bullet is running on its own thread.
+    /// </summary>
+    private ManualResetEvent m_updateWaitEvent;
+
     public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
     public const uint GROUNDPLANE_ID = 1;
     public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
@@ -288,7 +293,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             // The physics simulation should happen independently of the heartbeat loop
             m_physicsThread 
-                = Watchdog.StartThread(
+                = WorkManager.StartThread(
                     BulletSPluginPhysicsThread, 
                     string.Format("{0} ({1})", BulletEngineName, RegionName), 
                     ThreadPriority.Normal, 
@@ -838,6 +843,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public void BulletSPluginPhysicsThread()
     {
+        Thread.CurrentThread.Priority = ThreadPriority.Highest;
+        m_updateWaitEvent = new ManualResetEvent(false);
+
         while (m_initialized)
         {
             int beginSimulationRealtimeMS = Util.EnvironmentTickCount();
@@ -851,8 +859,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             if (simulationTimeVsRealtimeDifferenceMS > 0)
             {
                 // The simulation of the time interval took less than realtime.
-                // Do a sleep for the rest of realtime.
-                Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
+                // Do a wait for the rest of realtime.
+                 m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS);
+                //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 3425d9e..5932461 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -190,6 +190,7 @@ public class BulletHMapInfo
 public enum CollisionType
 {
     Avatar,
+    PhantomToOthersAvatar, // An avatar that it phantom to other avatars but not to anything else
     Groundplane,
     Terrain,
     Static,
@@ -231,7 +232,12 @@ public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeM
     { CollisionType.Avatar,
                 new CollisionTypeFilterGroup(CollisionType.Avatar,
                                 (uint)CollisionFilterGroups.BCharacterGroup,
-                                (uint)CollisionFilterGroups.BAllGroup)
+                                (uint)(CollisionFilterGroups.BAllGroup))
+    },
+    { CollisionType.PhantomToOthersAvatar,
+        new CollisionTypeFilterGroup(CollisionType.PhantomToOthersAvatar,
+                                     (uint)CollisionFilterGroups.BCharacterGroup,
+                                     (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup))
     },
     { CollisionType.Groundplane,
                 new CollisionTypeFilterGroup(CollisionType.Groundplane,