From 68698975f1537725a1f53bc4b2db2cfc798ac7f3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Oct 2012 12:58:06 -0700
Subject: BulletSim: Add Force* operations to objects to allow direct push to
 engine. Update BSDynamics to use same (don't want to delay updates til next
 taint-time. Suppress queuing a taint update for position and orientation
 calls if value     does not change. Move Bullet timing statistics call from
 C# back to C++ code. Throttle taints per simulation step and add parameter to
 set. By default, don't create hulls for physical objects. Add a     parameter
 to turn on and off.

---
 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 11 +++++++++++
 1 file changed, 11 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2a52e01..c23ccd5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -332,6 +332,13 @@ public class BSCharacter : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            _velocity = value;
+            BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+        }
+    }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set { _torque = value;
@@ -432,6 +439,10 @@ public class BSCharacter : BSPhysObject
         get { return _rotationalVelocity; }
         set { _rotationalVelocity = value; }
     }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get { return _rotationalVelocity; }
+        set { _rotationalVelocity = value; }
+    }
     public override bool Kinematic {
         get { return _kinematic; }
         set { _kinematic = value; }
-- 
cgit v1.1


From a791620622dc0a67a6af2c4a9c011d9057360411 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 10 Oct 2012 08:02:37 -0700
Subject: BulletSim: cosmetic changes (comments and renaming). Give mass to
 terrain to improve interactions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index c23ccd5..2e6b2da 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -263,7 +263,7 @@ public class BSCharacter : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck2(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -275,7 +275,7 @@ public class BSCharacter : BSPhysObject
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
-- 
cgit v1.1


From fd7a097849b8a405bdd62cfe6d4ee2bbf0a3961c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 12 Oct 2012 16:03:03 -0700
Subject: BulletSim: Update BSCharacter to use API2 interface. Add capsule
 shape to BSShapeCollection(). Remember last updated values so inter frame
 diffs can be computed. Parameterize avatarStandingFriction and reduce to 10
 from 999.     The latter high value made avatars very hard to push. Set CCD
 parameters for prims and characters of specified.

---
 .../Region/Physics/BulletSPlugin/BSCharacter.cs    | 182 +++++++++++++++------
 1 file changed, 133 insertions(+), 49 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2e6b2da..7c2f856 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
 
     // private bool _stopped;
     private OMV.Vector3 _size;
-    private OMV.Vector3 _scale;
-    private PrimitiveBaseShape _pbs;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    // The friction and velocity of the avatar is modified depending on whether walking or not.
+    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
+    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
+
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -84,13 +86,15 @@ public class BSCharacter : BSPhysObject
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
+        _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+        _currentFriction = PhysicsScene.Params.avatarStandingFriction;
 
         // 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
+        // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
 
         ShapeData shapeData = new ShapeData();
@@ -99,24 +103,24 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
-        shapeData.Scale = _scale;
+        shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarFriction;
+        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
         shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+
+            SetPhysicalProperties();
 
             // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
             // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
-
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
+            ForceBuoyancy = _buoyancy;
 
             // This works here because CreateObject has already put the character into the physical world.
             BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
@@ -131,10 +135,40 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
         });
     }
 
+    private void SetPhysicalProperties()
+    {
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        ZeroMotion();
+
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+
+        // Set the velocity and compute the proper friction
+        ForceVelocity = _velocity;
+
+        BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+        BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+
+        BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+
+        if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+        {
+            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+        }
+
+        BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION);
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+    }
+
     public override void RequestPhysicsterseUpdate()
     {
         base.RequestPhysicsterseUpdate();
@@ -147,7 +181,7 @@ 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 new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z);
         }
 
         set {
@@ -162,22 +196,25 @@ public class BSCharacter : BSPhysObject
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
+                BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
         }
     }
-    public override PrimitiveBaseShape Shape {
-        set { _pbs = value;
-        }
+    public override OMV.Vector3 Scale { get; set; }
+    private PrimitiveBaseShape _pbs;
+    public override PrimitiveBaseShape Shape
+    {
+        set { _pbs = value;}
     }
+
     public override bool Grabbed {
-        set { _grabbed = value;
-        }
+        set { _grabbed = value; }
     }
     public override bool Selected {
-        set { _selected = value;
-        }
+        set { _selected = value; }
     }
     public override void CrossingFailure() { return; }
     public override void link(PhysicsActor obj) { return; }
@@ -204,7 +241,7 @@ public class BSCharacter : BSPhysObject
 
     public override OMV.Vector3 Position {
         get {
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
             return _position;
         }
         set {
@@ -214,7 +251,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -273,7 +310,7 @@ public class BSCharacter : BSPhysObject
             BSScene.TaintCallback sanityOperation = delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             };
             if (inTaintTime)
                 sanityOperation();
@@ -284,11 +321,7 @@ public class BSCharacter : BSPhysObject
         return ret;
     }
 
-    public override float Mass {
-        get {
-            return _mass;
-        }
-    }
+    public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
     public override float MassRaw { get {return _mass; } }
@@ -301,15 +334,13 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         }
     }
 
-    public override int VehicleType {
-        get { return 0; }
-        set { return; }
-    }
+    // Avatars don't do vehicles
+    public override int VehicleType { get { return 0; } set { return; } }
     public override void VehicleFloatParam(int param, float value) { }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -328,15 +359,35 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            // Depending on whether the avatar is moving or not, change the friction
+            //    to keep the avatar from slipping around
+            if (_velocity.Length() == 0)
+            {
+                if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
+            else
+            {
+                if (_currentFriction == 999f)
+                {
+                    _currentFriction = PhysicsScene.Params.avatarFriction;
+                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                }
+            }
             _velocity = value;
-            BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
+            _appliedVelocity = value;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -360,8 +411,8 @@ public class BSCharacter : BSPhysObject
             // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         }
     }
@@ -389,12 +440,18 @@ public class BSCharacter : BSPhysObject
         set { _isPhysical = value;
         }
     }
+    public override bool IsSolid {
+        get { return true; }
+    }
+    public override bool IsStatic {
+        get { return false; }
+    }
     public override bool Flying {
         get { return _flying; }
         set {
             _flying = value;
             // simulate flying by changing the effect of gravity
-            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
+            Buoyancy = ComputeBuoyancyFromFlying(_flying);
         }
     }
     // Flying is implimented by changing the avatar's buoyancy.
@@ -454,10 +511,19 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set { _buoyancy = value;
+            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -518,27 +584,29 @@ public class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
-        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
 
         // 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);
-        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+        // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y);
+        newScale.Z = (_size.Z) - (Scale.X + Scale.Y);
+        Scale = newScale;
     }
 
-    // set _avatarVolume and _mass based on capsule size, _density and _scale
+    // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * _scale.X
-                        * _scale.Y  // the area of capsule cylinder
-                        * _scale.Z  // times height of capsule cylinder
+                        * Scale.X
+                        * Scale.Y  // 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
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y  // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
@@ -555,6 +623,22 @@ public class BSCharacter : BSPhysObject
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         PositionSanityCheck2(true);
 
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
+
+        if (entprop.Velocity != LastEntityProperties.Velocity)
+        {
+            // Changes in the velocity are suppressed in avatars.
+            // That's just the way they are defined.
+            OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
+            _velocity = avVel;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+        }
+
+        // Tell the linkset about this
+        Linkset.UpdateProperties(this);
+
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();
 
-- 
cgit v1.1


From eaccfa6d99ac51b4963ae0fa457ff0d2b9ce65e7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 14 Oct 2012 19:23:35 -0700
Subject: BulletSim: Fix small problems with last patch: BSScene.World properly
 initialized and setting of C++ parameters commented out. Comments and logging
 added.

---
 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 7c2f856..7bc6b69 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -146,7 +146,7 @@ public class BSCharacter : BSPhysObject
 
         ZeroMotion();
 
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
         BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
 
         // Set the velocity and compute the proper friction
-- 
cgit v1.1


From fc33afddd360843d05f030750b7075315a526ae1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 15 Oct 2012 12:11:00 -0700
Subject: BulletSim: remove code in ShapeCollection that hinted at shape
 sharing. Add new function to ParameterDefn for calling BulletSimAPI to set
 values. Tweaking to BSCharacter parameter setting to try and have avatars
 stand.

---
 .../Region/Physics/BulletSPlugin/BSCharacter.cs    | 56 ++++++++++------------
 1 file changed, 25 insertions(+), 31 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 7bc6b69..8e1171a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -114,17 +114,9 @@ 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);
-
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+
             SetPhysicalProperties();
-
-            // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
-            // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
-            ForceBuoyancy = _buoyancy;
-
-            // This works here because CreateObject has already put the character into the physical world.
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
-                            (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
         });
         return;
     }
@@ -146,27 +138,32 @@ 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;
         // Set the velocity and compute the proper friction
         ForceVelocity = _velocity;
-
-        BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
         BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
-
         BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
         BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
-
         if (PhysicsScene.Params.ccdMotionThreshold > 0f)
         {
             BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
             BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
-        }
-
-        BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION);
+        }
+
+        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        // Do this after the object has been added to the world
+        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+                        (uint)CollisionFilterGroups.AvatarFilter, 
+                        (uint)CollisionFilterGroups.AvatarMask);
     }
 
     public override void RequestPhysicsterseUpdate()
@@ -174,9 +171,7 @@ public class BSCharacter : BSPhysObject
         base.RequestPhysicsterseUpdate();
     }
     // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped {
-        get { return false; }
-    }
+    public override bool Stopped { get { return false; } }
     public override OMV.Vector3 Size {
         get
         {
@@ -185,18 +180,14 @@ public class BSCharacter : BSPhysObject
         }
 
         set {
-            // When an avatar's size is set, only the height is changed
-            //    and that really only depends on the radius.
+            // When an avatar's size is set, only the height is changed.
             _size = value;
             ComputeAvatarScale(_size);
-
-            // TODO: something has to be done with the avatar's vertical position
-
             ComputeAvatarVolumeAndMass();
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale);
+                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
                 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
                 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
@@ -300,7 +291,7 @@ public class BSCharacter : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -378,14 +369,16 @@ public class BSCharacter : BSPhysObject
             }
             else
             {
-                if (_currentFriction == 999f)
+                if (_currentFriction != PhysicsScene.Params.avatarFriction)
                 {
                     _currentFriction = PhysicsScene.Params.avatarFriction;
                     BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
                 }
             }
             _velocity = value;
+            // Remember the set velocity so we can suppress the reduction by friction, ...
             _appliedVelocity = value;
+
             BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
             BulletSimAPI.Activate2(BSBody.ptr, true);
         }
@@ -590,7 +583,8 @@ public class BSCharacter : BSPhysObject
 
         // 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);
-        newScale.Z = (_size.Z) - (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);
         Scale = newScale;
     }
 
@@ -621,7 +615,7 @@ public class BSCharacter : BSPhysObject
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck2(true);
+        PositionSanityCheck(true);
 
         // remember the current and last set values
         LastEntityProperties = CurrentEntityProperties;
-- 
cgit v1.1


From e87a179c893ef246dae8338e0f56c3fe20458fbc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 17 Oct 2012 08:30:10 -0700
Subject: BulletSim: change nonimal physics frame rate to 55 to give same
 numbers as ODE. Change character scaling to represent size of capsule
 (diameter rather than radius) Modify create capsule call to pass radius and
 height. Eliminate errors when calculating shape inertia (should have some
 type checking).

---
 .../Region/Physics/BulletSPlugin/BSCharacter.cs    | 46 ++++++++++++----------
 1 file changed, 26 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

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;
     }
-- 
cgit v1.1


From f422b9b388fe67c61e610c79efabd5e07512884b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 19 Oct 2012 10:48:45 -0700
Subject: BulletSim: reorder avatar collision checking to eliminate double
 collision_end. Various tweekings to avatar shape/mass/inertia/etc. Remove
 change from avatar radius to diameter. But still the avatar sinks.
 Collision_end now happens immediately rather than at the next subscription
 time.

---
 .../Region/Physics/BulletSPlugin/BSCharacter.cs    | 33 +++++++++++-----------
 1 file changed, 17 insertions(+), 16 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index e7bff6e..fc4526b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -141,10 +141,6 @@ public class BSCharacter : BSPhysObject
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
         ZeroMotion();
-
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
-        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
-
         ForcePosition = _position;
         // Set the velocity and compute the proper friction
         ForceVelocity = _velocity;
@@ -157,6 +153,9 @@ public class BSCharacter : BSPhysObject
             BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
         }
 
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
+        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+
         BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -583,14 +582,16 @@ public class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
+        // The 'size' given by the simulator is the mid-point of the avatar
+        //    and X and Y are unspecified.
+
         OMV.Vector3 newScale = OMV.Vector3.Zero;
-        // Scale wants the diameter so mult radius by two
-        newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f;
-        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f;
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
 
-        // 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);
+        // From the total height, remote the capsule half spheres that are at each end 
+        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
+        // newScale.Z = (size.Z * 2f);
         Scale = newScale;
     }
 
@@ -599,14 +600,14 @@ public class BSCharacter : BSPhysObject
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * (Scale.X / 2f)
-                        * (Scale.Y / 2f)  // the area of capsule cylinder
-                        * Scale.Z  // times height of capsule cylinder
+                        * Scale.X
+                        * Scale.Y    // the area of capsule cylinder
+                        * Scale.Z    // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * (Scale.X / 2f)
-                        * (Math.Min(Scale.X, Scale.Y) / 2f)
-                        * (Scale.Y / 2f)  // plus the volume of the capsule end caps
+                        * Scale.X
+                        * Math.Min(Scale.X, Scale.Y)
+                        * Scale.Y    // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }
-- 
cgit v1.1


From d94c4646ccf0703019dd5a7915afb43706a4de35 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 19 Oct 2012 15:43:31 -0700
Subject: BulletSim: add asset fetching so BulletSim works with new physics
 asset handling. Refactor some names to make them available for the asset
 tracking and fetching.

---
 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index fc4526b..623ac8f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -200,10 +200,9 @@ public class BSCharacter : BSPhysObject
         }
     }
     public override OMV.Vector3 Scale { get; set; }
-    private PrimitiveBaseShape _pbs;
     public override PrimitiveBaseShape Shape
     {
-        set { _pbs = value;}
+        set { BaseShape = value; }
     }
 
     public override bool Grabbed {
-- 
cgit v1.1