3 files changed, 18 insertions, 12 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 1f186c3..f442ca2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -204,7 +204,7 @@ public sealed class BSCharacter : BSPhysObject
             //   move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
             //   errors can creap in and the avatar will slowly float off in some direction.
             // So, the problem is that, when an avatar is standing, we cannot tell creaping error
-            //   from real pushing.OMV.Vector3.Zero;
+            //   from real pushing.
             // The code below keeps setting the velocity to zero hoping the world will keep pushing.
 
             _velocityMotor.Step(timeStep);
@@ -254,9 +254,11 @@ public sealed class BSCharacter : BSPhysObject
                 }
 
                 // If falling, we keep the world's downward vector no matter what the other axis specify.
+                // The check for _velocity.Z < 0 makes jumping work (temporary upward force).
                 if (!Flying && !IsColliding)
                 {
-                    stepVelocity.Z = _velocity.Z;
+                    if (_velocity.Z < 0)
+                        stepVelocity.Z = _velocity.Z;
                     // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
                 }
 
@@ -512,7 +514,7 @@ public sealed class BSCharacter : BSPhysObject
             //    just assign to "Position" because of potential call loops.
             PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
-                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);

+                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
             });
             ret = true;
@@ -572,7 +574,7 @@ public sealed class BSCharacter : BSPhysObject
             m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
             if (_setAlwaysRun)
-                targetVel *= BSParam.AvatarAlwaysRunFactor;
+                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f);
 
             PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4dff927..8f660c4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -470,7 +470,7 @@ public class BSPrim : BSPhysObject
     // Note that this does not change _mass!
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        if (PhysBody.HasPhysicalBody)
+        if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
         {
             if (IsStatic)
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 49718c4..4dc16f4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,5 +1,12 @@
 CURRENT PRIORITIES
 =================================================
+Use the HACD convex hull routine in Bullet rather than the C# version.  
+        Speed up hullifying large meshes.
+Enable vehicle border crossings (at least as poorly as ODE)
+        Terrain skirts
+        Avatar created in previous region and not new region when crossing border
+        Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
+Lock axis
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
         Not sure if it is because standing on it. Done with large prim linksets.
 Vehicle angular vertical attraction
@@ -7,16 +14,11 @@ vehicle angular banking
 Center-of-gravity
 Vehicle angular deflection
         Preferred orientation angular correction fix
-Enable vehicle border crossings (at least as poorly as ODE)
-        Terrain skirts
-        Avatar created in previous region and not new region when crossing border
-        Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
 when should angular and linear motor targets be zeroed? when selected?
         Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
         Mixing of hover, buoyancy/gravity, moveToTarget, into one force
         Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
-Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
 llRotLookAt
 llLookAt
@@ -66,6 +68,8 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
 
 GENERAL TODO LIST:
 =================================================
+Resitution of a prim works on another prim but not on terrain.
+        The dropped prim doesn't bounce properly on the terrain.
 Add a sanity check for PIDTarget location.
 Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
         Is much saved with lower LODs? At the moment, all set to 32.
@@ -163,7 +167,6 @@ Create tests for different interface components
         Have test objects/scripts measure themselves and turn color if correct/bad
         Test functions in SL and calibrate correctness there
         Create auto rezzer and tracker to run through the tests
-Use the HACD convex hull routine in Bullet rather than the C# version.
 Do we need to do convex hulls all the time? Can complex meshes be left meshes?
         There is some problem with meshes and collisions
         Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
@@ -334,4 +337,5 @@ Child movement in linkset (don't rebuild linkset) (DONE 20130122))
 Avatar standing on a moving object should start to move with the object. (DONE 20130125)
 Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
         Verify that angular motion specified around Z moves in the vehicle coordinates.
-        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
\ No newline at end of file
+        DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
+Nebadon vehicles turning funny in arena (DONE)
\ No newline at end of file