6 files changed, 57 insertions, 52 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8e1171a..e7bff6e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -89,13 +89,15 @@ public class BSCharacter : BSPhysObject
         _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
         ComputeAvatarScale(_size);
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
         // 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}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
         ShapeData shapeData = new ShapeData();
         shapeData.ID = LocalID;
@@ -103,6 +105,7 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
+        shapeData.Size = Scale;
         shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
@@ -114,8 +117,9 @@ public class BSCharacter : BSPhysObject
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);

-

+            // New body and shape into BSBody and BSShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+
             SetPhysicalProperties();
         });
         return;
@@ -138,7 +142,7 @@ public class BSCharacter : BSPhysObject
 
         ZeroMotion();
 
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);

+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
         BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
 
         ForcePosition = _position;
@@ -151,13 +155,13 @@ public class BSCharacter : BSPhysObject
         {
             BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
             BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
-        }

-

+        }
+
         BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
-        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
         // Do this after the object has been added to the world
@@ -176,7 +180,7 @@ public class BSCharacter : BSPhysObject
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z);
+            return _size;
         }
 
         set {
@@ -184,11 +188,13 @@ public class BSCharacter : BSPhysObject
             _size = value;
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
                 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
-                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
                 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
@@ -578,13 +584,13 @@ public class BSCharacter : BSPhysObject
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale = OMV.Vector3.Zero;
-        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // Scale wants the diameter so mult radius by two
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f;
 
-        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
-        // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y);
-        // From the total height, remove the capsule half spheres that are at each end 
-        newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f);
+        // From the total height, add the capsule half spheres that are at each end 
+        // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y);
+        newScale.Z = (size.Z * 2f);
         Scale = newScale;
     }
 
@@ -593,14 +599,14 @@ public class BSCharacter : BSPhysObject
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * Scale.X
-                        * Scale.Y  // the area of capsule cylinder
+                        * (Scale.X / 2f)
+                        * (Scale.Y / 2f)  // the area of capsule cylinder
                         * Scale.Z  // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y  // plus the volume of the capsule end caps
+                        * (Scale.X / 2f)
+                        * (Math.Min(Scale.X, Scale.Y) / 2f)
+                        * (Scale.Y / 2f)  // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 34dec26..b8ef338 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -141,18 +141,15 @@ public abstract class BSPhysObject : PhysicsActor
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
 
             ret = true;
         }
         return ret;
     }
 
-    // Routine to send the collected collisions into the simulator.
-    // Also handles removal of this from the collection of objects with collisions if
-    //      there are no collisions from this object. Mechanism is create one last
-    //      collision event to make collision_end work.
+    // Send the collected collisions into the simulator.
     // Called at taint time from within the Step() function thus no locking problems
     //      with CollisionCollection and ObjectsWithNoMoreCollisions.
     // Return 'true' if there were some actual collisions passed up
@@ -161,10 +158,9 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = true;
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        int nowTime = PhysicsScene.SimulationNowTime;
-        if (nowTime >= NextCollisionOkTime)
+        if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)
         {
-            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
 
             // We are called if we previously had collisions. If there are no collisions
             //   this time, send up one last empty event so OpenSim can sense collision end.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b9e1908..8013e68 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -48,10 +48,10 @@ public sealed class BSPrim : BSPhysObject
 
     private PrimitiveBaseShape _pbs;
 
-    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
-    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
+    // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
 
     private bool _grabbed;
     private bool _isSelected;
@@ -98,7 +98,7 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
@@ -166,7 +166,7 @@ public sealed class BSPrim : BSPhysObject
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
                 //   scale and margins are set.
                 CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
+                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical);
             });
         }
     }
@@ -1224,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
         shape.Position = _position;
         shape.Rotation = _orientation;
         shape.Velocity = _velocity;
-        shape.Scale = _scale;
+        shape.Size = _size;
+        shape.Scale = Scale;
         shape.Mass = _isPhysical ? _mass : 0f;
         shape.Buoyancy = _buoyancy;
         shape.HullKey = 0;
@@ -1234,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
         shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Size = _size;
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c6e8bc4..ab2835c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -533,7 +533,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // This is a kludge to get avatar movement updates.
-        //   the simulator expects collisions for avatars even if there are have been no collisions. This updates
+        //   The simulator expects collisions for avatars even if there are have been no collisions. This updates
         //   avatar animations and stuff.
         // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
         foreach (BSPhysObject bsp in m_avatars)
@@ -577,9 +577,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 45 to give a recognizable running rate (45 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 45;
-        // return timeStep * 1000 * 45;
+        // We multiply by 55 to give a recognizable running rate (55 or less).
+        return numSubSteps * m_fixedTimeStep * 1000 * 55;
+        // return timeStep * 1000 * 55;
     }
 
     // Something has collided
@@ -795,7 +795,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
-    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);

+    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
     delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
 
     private struct ParameterDefn
@@ -805,7 +805,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         public float defaultValue;  // default value if not specified anywhere else
         public ParamUser userParam; // get the value from the configuration file
         public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter

+        public ParamSet setter;     // set the current value for this parameter
         public SetOnObject onObject;    // set the value on an object in the physical domain
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
         {
@@ -814,7 +814,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             defaultValue = v;
             userParam = u;
             getter = g;
-            setter = s;

+            setter = s;
             onObject = null;
         }
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
@@ -824,7 +824,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             defaultValue = v;
             userParam = u;
             getter = g;
-            setter = s;

+            setter = s;
             onObject = o;
         }
     }
@@ -1266,13 +1266,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 objectIDs.Add(TERRAIN_ID);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:

+            case PhysParameterEntry.APPLY_TO_ALL:
                 defaultLoc = val;  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);

+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             default:
-                // setting only one localID

+                // setting only one localID
                 objectIDs.Add(localID);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
@@ -1282,8 +1282,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
-        float xval = val;

-        List<uint> xlIDs = lIDs;

+        float xval = val;
+        List<uint> xlIDs = lIDs;
         string xparm = parm;
         TaintedObject("BSScene.UpdateParameterSet", delegate() {
             ParameterDefn thisParam;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index bbfdac6..3d15eaa 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -417,7 +417,10 @@ public class BSShapeCollection : IDisposable
 
         if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
-            newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            // The radius is scaled by 1/2 because we scale by the diameter.
+            newShape = new BulletShape(
+                    BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), 
+                    shapeType);
             newShape.shapeKey = (System.UInt64)shapeKey;
             newShape.isNativeShape = true;
         }
@@ -428,7 +431,7 @@ public class BSShapeCollection : IDisposable
             newShape.isNativeShape = true;
         }
 
-        // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
+        // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
         // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
 
         prim.BSShape = newShape;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 30754a7..24d8db6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -608,7 +608,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, ShapeData shapeData);
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);