12 files changed, 94 insertions, 33 deletions

diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index e43136a..0d17e0e 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -118,14 +118,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
 
         public override Vector3 Position { get; set; }
 
-        public override Vector3 Size
-        {
-            get { return _size; }
-            set {
-                  _size = value;
-                  _size.Z = _size.Z / 2.0f;
-                }
-        }
+        public override Vector3 Size { get; set; }
 
         public override PrimitiveBaseShape Shape
         {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 17ebed2..aca1ed4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1311,7 +1311,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
         /* TODO */
         ConfigurationParameters[] configparms = new ConfigurationParameters[1];
         configparms[0] = parms;
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+        Vector3 worldExtent = maxPosition;
         m_maxCollisions = maxCollisions;
         m_maxUpdatesPerFrame = maxUpdates;
         specialCollisionObjects = new Dictionary<uint, GhostObject>();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 7b98f9d..0722d70 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1011,8 +1011,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
                             ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
             }
-            else if (newVelocityLengthSq < 0.001f)
+            else if (newVelocityLengthSq < BSParam.VehicleMinLinearVelocitySquared)
+            {
+                Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
+                VDetailLog("{0},  MoveLinear,clampMin,origVelW={1},lenSq={2}",
+                            ControllingPrim.LocalID, origVelW, newVelocityLengthSq);
                 VehicleVelocity = Vector3.Zero;
+            }
 
             VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 834228e..860193f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -147,6 +147,8 @@ public static class BSParam
     // Vehicle parameters
     public static float VehicleMaxLinearVelocity { get; private set; }
     public static float VehicleMaxLinearVelocitySquared { get; private set; }
+    public static float VehicleMinLinearVelocity { get; private set; }
+    public static float VehicleMinLinearVelocitySquared { get; private set; }
     public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleMaxAngularVelocitySq { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
@@ -538,7 +540,7 @@ public static class BSParam
             (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
 
             new ParameterDefn<float>("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh ),
+            (float)BSTerrainPhys.TerrainImplementation.Heightmap ),
         new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
             2 ),
         new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
@@ -598,6 +600,10 @@ public static class BSParam
             1000.0f,
             (s) => { return (float)VehicleMaxLinearVelocity; },
             (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
+        new ParameterDefn<float>("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            0.001f,
+            (s) => { return (float)VehicleMinLinearVelocity; },
+            (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ),
         new ParameterDefn<float>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
             12.0f,
             (s) => { return (float)VehicleMaxAngularVelocity; },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 15b7090..edec949 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -376,18 +376,19 @@ public class BSPrim : BSPhysObject
     {
         bool ret = false;
 
-        uint wayOutThere = Constants.RegionSize * Constants.RegionSize;
+        int wayOverThere = -1000;
+        int wayOutThere = 10000;
         // There have been instances of objects getting thrown way out of bounds and crashing
         //    the border crossing code.
-        if (   RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere
-            || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere
-            || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere)
+        if (   RawPosition.X < wayOverThere || RawPosition.X > wayOutThere
+            || RawPosition.Y < wayOverThere || RawPosition.X > wayOutThere
+            || RawPosition.Z < wayOverThere || RawPosition.X > wayOutThere)
         {
             RawPosition = new OMV.Vector3(10, 10, 50);
             ZeroMotion(inTaintTime);
             ret = true;
         }
-        if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocity)
+        if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocitySquared)
         {
             RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
             ret = true;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index b3dfa41..2d2e55f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -208,8 +208,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         Name = EngineType + "/" + RegionName;
     }
 
+    // Old version of initialization that assumes legacy sized regions (256x256)
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
     {
+        m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up.");
+        Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize);
+        Initialise(meshmerizer, config, regionExtent);
+        
+    }
+
+    public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
+    {
         mesher = meshmerizer;
         _taintOperations = new List<TaintCallbackEntry>();
         _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
@@ -226,6 +235,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // Set default values for physics parameters plus any overrides from the ini file
         GetInitialParameterValues(config);
 
+        // Force some parameters to values depending on other configurations
+        // Only use heightmap terrain implementation if terrain larger than legacy size
+        if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize)
+        {
+            m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader);
+            BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
+        }
+
         // Get the connection to the physics engine (could be native or one of many DLLs)
         PE = SelectUnderlyingBulletEngine(BulletEngineName);
 
@@ -250,13 +267,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         //    a child in a mega-region.
         // Bullet actually doesn't care about the extents of the simulated
         //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+        Vector3 worldExtent = regionExtent;
 
         World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
 
         Constraints = new BSConstraintCollection(World);
 
-        TerrainManager = new BSTerrainManager(this);
+        TerrainManager = new BSTerrainManager(this, worldExtent);
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
         // Put some informational messages into the log file.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 006a9c1..fbe320b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -71,7 +71,7 @@ public abstract class BSShape
         lastReferenced = DateTime.Now;
     }
 
-    // Called when this shape is being used again.
+    // Called when this shape is done being used.
     protected virtual void DecrementReference()
     {
         referenceCount--;
@@ -866,6 +866,8 @@ public class BSShapeHull : BSShape
 public class BSShapeCompound : BSShape
 {
     private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
+    public static Dictionary<string, BSShapeCompound> CompoundShapes = new Dictionary<string, BSShapeCompound>();
+
     public BSShapeCompound(BulletShape pShape) : base(pShape)
     {
     }
@@ -873,7 +875,9 @@ public class BSShapeCompound : BSShape
     {
         // Base compound shapes are not shared so this returns a raw shape.
         // A built compound shape can be reused in linksets.
-        return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
+        BSShapeCompound ret = new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
+        CompoundShapes.Add(ret.AddrString, ret);
+        return ret;
     }
     public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim)
     {
@@ -911,10 +915,21 @@ public class BSShapeCompound : BSShape
                     BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii);
                     DereferenceAnonCollisionShape(physicsScene, childShape);
                 }
+
+                lock (CompoundShapes)
+                    CompoundShapes.Remove(physShapeInfo.AddrString);
                 physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
             }
         }
     }
+    public static bool TryGetCompoundByPtr(BulletShape pShape, out BSShapeCompound outCompound)
+    {
+        lock (CompoundShapes)
+        {
+            string addr = pShape.AddrString;
+            return CompoundShapes.TryGetValue(addr, out outCompound);
+        }
+    }
     private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene)
     {
         BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false);
@@ -926,10 +941,13 @@ public class BSShapeCompound : BSShape
     private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
     {
         // TODO: figure a better way to go through all the shape types and find a possible instance.
+        physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,shape={1}",
+                                            BSScene.DetailLogZero, pShape);
         BSShapeMesh meshDesc;
         if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
         {
             meshDesc.Dereference(physicsScene);
+            // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundMesh,shape={1}", BSScene.DetailLogZero, pShape);
         }
         else
         {
@@ -937,13 +955,15 @@ public class BSShapeCompound : BSShape
             if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc))
             {
                 hullDesc.Dereference(physicsScene);
+                // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundHull,shape={1}", BSScene.DetailLogZero, pShape);
             }
             else
             {
                 BSShapeConvexHull chullDesc;
-                if (BSShapeConvexHull.TryGetHullByPtr(pShape, out chullDesc))
+                if (BSShapeConvexHull.TryGetConvexHullByPtr(pShape, out chullDesc))
                 {
                     chullDesc.Dereference(physicsScene);
+                    // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundConvexHull,shape={1}", BSScene.DetailLogZero, pShape);
                 }
                 else
                 {
@@ -951,20 +971,23 @@ public class BSShapeCompound : BSShape
                     if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc))
                     {
                         gImpactDesc.Dereference(physicsScene);
+                        // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundgImpact,shape={1}", BSScene.DetailLogZero, pShape);
                     }
                     else
                     {
                         // Didn't find it in the lists of specific types. It could be compound.
-                        if (physicsScene.PE.IsCompound(pShape))
+                        BSShapeCompound compoundDesc;
+                        if (BSShapeCompound.TryGetCompoundByPtr(pShape, out compoundDesc))
                         {
-                            BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
-                            recursiveCompound.Dereference(physicsScene);
+                            compoundDesc.Dereference(physicsScene);
+                            // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,recursiveCompoundShape,shape={1}", BSScene.DetailLogZero, pShape);
                         }
                         else
                         {
                             // If none of the above, maybe it is a simple native shape.
                             if (physicsScene.PE.IsNativeShape(pShape))
                             {
+                                // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,assumingNative,shape={1}", BSScene.DetailLogZero, pShape);
                                 BSShapeNative nativeShape = new BSShapeNative(pShape);
                                 nativeShape.Dereference(physicsScene);
                             }
@@ -1021,6 +1044,8 @@ public class BSShapeConvexHull : BSShape
                     convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo);
                     convexShape.shapeKey = newMeshKey;
                     ConvexHulls.Add(convexShape.shapeKey, retConvexHull);
+                    physicsScene.DetailLog("{0},BSShapeConvexHull.GetReference,addingNewlyCreatedShape,shape={1}",
+                                        BSScene.DetailLogZero, convexShape);
                 }
 
                 // Done with the base mesh
@@ -1049,7 +1074,7 @@ public class BSShapeConvexHull : BSShape
         }
     }
     // Loop through all the known hulls and return the description based on the physical address.
-    public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull)
+    public static bool TryGetConvexHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull)
     {
         bool ret = false;
         BSShapeConvexHull foundDesc = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 8888d6d..d70b2fb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
         }
-        m_mapInfo = new BulletHMapInfo(id, initialMap);
+        m_mapInfo = new BulletHMapInfo(id, initialMap, regionSize.X, regionSize.Y);
         m_mapInfo.minCoords = minTerrainCoords;
         m_mapInfo.maxCoords = maxTerrainCoords;
         m_mapInfo.terrainRegionBase = TerrainBase;
@@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                                     Vector3 minCoords, Vector3 maxCoords)
         : base(physicsScene, regionBase, id)
     {
-        m_mapInfo = new BulletHMapInfo(id, initialMap);
+        m_mapInfo = new BulletHMapInfo(id, initialMap, maxCoords.X - minCoords.X, maxCoords.Y - minCoords.Y);
         m_mapInfo.minCoords = minCoords;
         m_mapInfo.maxCoords = maxCoords;
         m_mapInfo.minZ = minCoords.Z;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 441d2d3..3013077 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -111,9 +111,11 @@ public sealed class BSTerrainManager : IDisposable
     private Vector3 m_worldMax;
     private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
 
-    public BSTerrainManager(BSScene physicsScene)
+    public BSTerrainManager(BSScene physicsScene, Vector3 regionSize)
     {
         m_physicsScene = physicsScene;
+        DefaultRegionSize = regionSize;
+
         m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
 
         // Assume one region of default size
@@ -268,7 +270,7 @@ public sealed class BSTerrainManager : IDisposable
             {
                 // There is already a terrain in this spot. Free the old and build the new.
                 DetailLog("{0},BSTErrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
+                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords);
 
                 // Remove old terrain from the collection
                 m_terrains.Remove(terrainRegionBase);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 971ff9f..3425d9e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -165,14 +165,15 @@ public class BulletConstraint
 //      than making copies.
 public class BulletHMapInfo
 {
-    public BulletHMapInfo(uint id, float[] hm) {
+    public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) {
         ID = id;
         heightMap = hm;
         terrainRegionBase = OMV.Vector3.Zero;
         minCoords = new OMV.Vector3(100f, 100f, 25f);
         maxCoords = new OMV.Vector3(101f, 101f, 26f);
         minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
+        sizeX = pSizeX;
+        sizeY = pSizeY;
     }
     public uint ID;
     public float[] heightMap;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
index 8ccfda5..9b06353 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsPluginManager.cs
@@ -32,6 +32,7 @@ using System.Reflection;
 using Nini.Config;
 using log4net;
 using OpenSim.Framework;
+using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.Manager
 {
@@ -66,7 +67,8 @@ namespace OpenSim.Region.Physics.Manager
         /// <param name="meshEngineName"></param>
         /// <param name="config"></param>
         /// <returns></returns>
-        public PhysicsScene GetPhysicsScene(string physEngineName, string meshEngineName, IConfigSource config, string regionName)
+        public PhysicsScene GetPhysicsScene(string physEngineName, string meshEngineName,
+                                    IConfigSource config, string regionName, Vector3 regionExtent)
         {
             if (String.IsNullOrEmpty(physEngineName))
             {
@@ -94,7 +96,7 @@ namespace OpenSim.Region.Physics.Manager
             {
                 m_log.Info("[PHYSICS]: creating " + physEngineName);
                 PhysicsScene result = _PhysPlugins[physEngineName].GetScene(regionName);
-                result.Initialise(meshEngine, config);
+                result.Initialise(meshEngine, config, regionExtent);
                 return result;
             }
             else
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index c93206d..71ad795 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -126,8 +126,17 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
+        // Deprecated. Do not use this for new physics engines.
         public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
 
+        // For older physics engines that do not implement non-legacy region sizes.
+        // If the physics engine handles the region extent feature, it overrides this function.
+        public virtual void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
+        {
+            // If not overridden, call the old initialization entry.
+            Initialise(meshmerizer, config);
+        }
+
         /// <summary>
         /// Add an avatar
         /// </summary>