From fe16dc09da3f2736fad5a9e792f5f81098b5f9a1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 7 Apr 2013 08:27:49 -0700
Subject: BulletSim: complete movement of physical object action code out of
 the physical object and into actors for setForce, setTorque, hover, lock axis
 and avatar move.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 226 ++++++++-------------
 1 file changed, 80 insertions(+), 146 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 98ea833..644bc7e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -43,7 +43,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  *      VariableName: used by the simulator and performs taint operations, etc
  *      RawVariableName: direct reference to the BulletSim storage for the variable value
  *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- *  The last two (and certainly the last one) should be referenced only in taint-time.
+ *  The last one should only be referenced in taint-time.
  */
 
 /*
@@ -84,6 +84,7 @@ public abstract class BSPhysObject : PhysicsActor
         // Initialize variables kept in base.
         GravModifier = 1.0f;
         Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+        HoverActive = false;
 
         // We don't have any physical representation yet.
         PhysBody = new BulletBody(localID);
@@ -110,11 +111,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public virtual void Destroy()
     {
-        UnRegisterAllPreStepActions();
-        UnRegisterAllPostStepActions();
+        PhysicalActors.Enable(false);
         PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
         {
-            PhysicalActors.Release();
+            PhysicalActors.Dispose();
         });
     }
 
@@ -203,15 +203,48 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-    public abstract OMV.Vector3 RawVelocity { get; set; }
+    public OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
+    public OMV.Vector3 RawForce { get; set; }
+    public OMV.Vector3 RawTorque { get; set; }
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
+    {
+        AddAngularForce(force, pushforce, false);
+    }
+    public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
+
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
     public abstract float ForceBuoyancy { get; set; }
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
+    public override bool PIDActive { set { MoveToTargetActive = value; } }
+    public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } }
+    public override float PIDTau { set { MoveToTargetTau = value; } }
+
+    public bool MoveToTargetActive { get; set; }
+    public OMV.Vector3 MoveToTargetTarget { get; set; }
+    public float MoveToTargetTau { get; set; }
+
+    // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z
+    public override bool PIDHoverActive { set { HoverActive = value; } }
+    public override float PIDHoverHeight { set { HoverHeight = value; } }
+    public override PIDHoverType PIDHoverType { set { HoverType = value; } }
+    public override float PIDHoverTau { set { HoverTau = value; } }
+
+    public bool HoverActive { get; set; }
+    public float HoverHeight { get;  set; }
+    public PIDHoverType HoverType { get;  set; }
+    public float HoverTau { get; set; }
+
+    // For RotLookAt
+    public override OMV.Quaternion APIDTarget { set { return; } }
+    public override bool APIDActive { set { return; } }
+    public override float APIDStrength { set { return; } }
+    public override float APIDDamping { set { return; } }
+
     // The current velocity forward
     public virtual float ForwardSpeed
     {
@@ -237,7 +270,44 @@ public abstract class BSPhysObject : PhysicsActor
 
     public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
-    public readonly String LockedAxisActorName = "BSPrim.LockedAxis";
+
+    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+    //     they need waking up when parameters are changed.
+    // Called in taint-time!!
+    public void ActivateIfPhysical(bool forceIt)
+    {
+        if (IsPhysical && PhysBody.HasPhysicalBody)
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
+    }
+
+    // 'actors' act on the physical object to change or constrain its motion. These can range from
+    //       hovering to complex vehicle motion.
+    public delegate BSActor CreateActor();
+    public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
+    {
+        if (createRemove)
+        {
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+            {
+                if (!PhysicalActors.HasActor(actorName))
+                {
+                    DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
+                    PhysicalActors.Add(actorName, creator());
+                }
+            });
+        }
+        else
+        {
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+            {
+                if (PhysicalActors.HasActor(actorName))
+                {
+                    DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
+                    PhysicalActors.RemoveAndRelease(actorName);
+                }
+            });
+        }
+    }
 
     #region Collisions
 
@@ -255,7 +325,9 @@ public abstract class BSPhysObject : PhysicsActor
     protected CollisionFlags CurrentCollisionFlags { get; set; }
     // On a collision, check the collider and remember if the last collider was moving
     //    Used to modify the standing of avatars (avatars on stationary things stand still)
-    protected bool ColliderIsMoving;
+    public bool ColliderIsMoving;
+    // Used by BSCharacter to manage standing (and not slipping)
+    public bool IsStationary;
 
     // Count of collisions for this object
     protected long CollisionAccumulation { get; set; }
@@ -293,7 +365,7 @@ public abstract class BSPhysObject : PhysicsActor
     protected CollisionEventUpdate CollisionCollection;
     // Remember collisions from last tick for fancy collision based actions
     //     (like a BSCharacter walking up stairs).
-    protected CollisionEventUpdate CollisionsLastTick;
+    public CollisionEventUpdate CollisionsLastTick;
 
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
@@ -424,104 +496,6 @@ public abstract class BSPhysObject : PhysicsActor
 
     public BSActorCollection PhysicalActors;
 
-    // There are some actions that must be performed for a physical object before each simulation step.
-    // These actions are optional so, rather than scanning all the physical objects and asking them
-    //     if they have anything to do, a physical object registers for an event call before the step is performed.
-    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
-    private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
-    private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
-    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
-    {
-        string identifier = op + "-" + id.ToString();
-
-        lock (RegisteredPrestepActions)
-        {
-            // Clean out any existing action
-            UnRegisterPreStepAction(op, id);
-            RegisteredPrestepActions[identifier] = actn;
-            PhysicsScene.BeforeStep += actn;
-        }
-        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
-    }
-
-    // Unregister a pre step action. Safe to call if the action has not been registered.
-    // Returns 'true' if an action was actually removed
-    protected bool UnRegisterPreStepAction(string op, uint id)
-    {
-        string identifier = op + "-" + id.ToString();
-        bool removed = false;
-        lock (RegisteredPrestepActions)
-        {
-            if (RegisteredPrestepActions.ContainsKey(identifier))
-            {
-                PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
-                RegisteredPrestepActions.Remove(identifier);
-                removed = true;
-            }
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
-        return removed;
-    }
-
-    protected void UnRegisterAllPreStepActions()
-    {
-        lock (RegisteredPrestepActions)
-        {
-            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
-            {
-                PhysicsScene.BeforeStep -= kvp.Value;
-            }
-            RegisteredPrestepActions.Clear();
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
-    }
-    
-    protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
-    {
-        string identifier = op + "-" + id.ToString();
-
-        lock (RegisteredPoststepActions)
-        {
-            // Clean out any existing action
-            UnRegisterPostStepAction(op, id);
-            RegisteredPoststepActions[identifier] = actn;
-            PhysicsScene.AfterStep += actn;
-        }
-        DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
-    }
-
-    // Unregister a pre step action. Safe to call if the action has not been registered.
-    // Returns 'true' if an action was actually removed.
-    protected bool UnRegisterPostStepAction(string op, uint id)
-    {
-        string identifier = op + "-" + id.ToString();
-        bool removed = false;
-        lock (RegisteredPoststepActions)
-        {
-            if (RegisteredPoststepActions.ContainsKey(identifier))
-            {
-                PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
-                RegisteredPoststepActions.Remove(identifier);
-                removed = true;
-            }
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
-        return removed;
-    }
-
-    protected void UnRegisterAllPostStepActions()
-    {
-        lock (RegisteredPoststepActions)
-        {
-            foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
-            {
-                PhysicsScene.AfterStep -= kvp.Value;
-            }
-            RegisteredPoststepActions.Clear();
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
-    }
-
     // When an update to the physical properties happens, this event is fired to let
     //    different actors to modify the update before it is passed around
     public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
@@ -533,46 +507,6 @@ public abstract class BSPhysObject : PhysicsActor
             actions(ref entprop);
     }
 
-    private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>();
-    public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
-    {
-        lock (RegisteredPreUpdatePropertyActions)
-        {
-            // Clean out any existing action
-            UnRegisterPreUpdatePropertyAction(identifier);
-            RegisteredPreUpdatePropertyActions[identifier] = actn;
-            OnPreUpdateProperty += actn;
-        }
-        DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
-    }
-    public bool UnRegisterPreUpdatePropertyAction(string identifier)
-    {
-        bool removed = false;
-        lock (RegisteredPreUpdatePropertyActions)
-        {
-            if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
-            {
-                OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
-                RegisteredPreUpdatePropertyActions.Remove(identifier);
-                removed = true;
-            }
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
-        return removed;
-    }
-    public void UnRegisterAllPreUpdatePropertyActions()
-    {
-        lock (RegisteredPreUpdatePropertyActions)
-        {
-            foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions)
-            {
-                OnPreUpdateProperty -= kvp.Value;
-            }
-            RegisteredPreUpdatePropertyActions.Clear();
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
-    }
-
     #endregion // Per Simulation Step actions
 
     // High performance detailed logging routine used by the physical objects.
-- 
cgit v1.1


From a7a1b8b7e9269b446e3396a35153b00942c1e35b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 7 Apr 2013 14:05:35 -0700
Subject: BulletSim: clean up actor code so routines use the same coding
 pattern. Fix a few enabling problems.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 35 +++++++++++-----------
 1 file changed, 18 insertions(+), 17 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 644bc7e..64bf395 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -282,30 +282,31 @@ public abstract class BSPhysObject : PhysicsActor
 
     // 'actors' act on the physical object to change or constrain its motion. These can range from
     //       hovering to complex vehicle motion.
+    // May be called at non-taint time as this just adds the actor to the action list and the real
+    //    work is done during the simulation step.
+    // Note that, if the actor is already in the list and we are disabling same, the actor is just left
+    //    in the list disabled.
     public delegate BSActor CreateActor();
-    public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
+    public void EnableActor(bool enableActor, string actorName, CreateActor creator)
     {
-        if (createRemove)
+        lock (PhysicalActors)
         {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+            BSActor theActor;
+            if (PhysicalActors.TryGetActor(actorName, out theActor))
             {
-                if (!PhysicalActors.HasActor(actorName))
-                {
-                    DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
-                    PhysicalActors.Add(actorName, creator());
-                }
-            });
-        }
-        else
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+                // The actor already exists so just turn it on or off
+                theActor.Enabled = enableActor;
+            }
+            else
             {
-                if (PhysicalActors.HasActor(actorName))
+                // The actor does not exist. If it should, create it.
+                if (enableActor)
                 {
-                    DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
-                    PhysicalActors.RemoveAndRelease(actorName);
+                    theActor = creator();
+                    PhysicalActors.Add(actorName, theActor);
+                    theActor.Enabled = true;
                 }
-            });
+            }
         }
     }
 
-- 
cgit v1.1


From 5f2cbfc0fd27198f8f05f4a9a4e2908d8b11752e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Apr 2013 17:53:18 -0700
Subject: BulletSim: fixing problems with llMoveToTarget. Not all fixed yet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 ++++++
 1 file changed, 6 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 64bf395..98eb4ca 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -295,6 +295,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (PhysicalActors.TryGetActor(actorName, out theActor))
             {
                 // The actor already exists so just turn it on or off
+                DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor);
                 theActor.Enabled = enableActor;
             }
             else
@@ -302,10 +303,15 @@ public abstract class BSPhysObject : PhysicsActor
                 // The actor does not exist. If it should, create it.
                 if (enableActor)
                 {
+                    DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName);
                     theActor = creator();
                     PhysicalActors.Add(actorName, theActor);
                     theActor.Enabled = true;
                 }
+                else
+                {
+                    DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName);
+                }
             }
         }
     }
-- 
cgit v1.1


From 522ab85045066cb58bb76881032adab7cc6a2d68 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Apr 2013 18:31:12 -0700
Subject: BulletSim: improve avatar stair walking up. Add more parameters to
 control force of both position change and up force that move avatars over
 barrier. Default parameters are for steps up to 0.5m in height.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 98eb4ca..309d004 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,7 +96,7 @@ public abstract class BSPhysObject : PhysicsActor
         SetMaterial((int)MaterialAttributes.Material.Wood);
 
         CollisionCollection = new CollisionEventUpdate();
-        CollisionsLastTick = CollisionCollection;
+        CollisionsLastReported = CollisionCollection;
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
@@ -368,11 +368,14 @@ public abstract class BSPhysObject : PhysicsActor
         }
     }
 
-    // The collisions that have been collected this tick
+    // The collisions that have been collected for the next collision reporting (throttled by subscription)
     protected CollisionEventUpdate CollisionCollection;
-    // Remember collisions from last tick for fancy collision based actions
+    // This is the collision collection last reported to the Simulator.
+    public CollisionEventUpdate CollisionsLastReported;
+    // Remember the collisions recorded in the last tick for fancy collision checking
     //     (like a BSCharacter walking up stairs).
     public CollisionEventUpdate CollisionsLastTick;
+    private long CollisionsLastTickStep = -1;
 
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
@@ -399,6 +402,15 @@ public abstract class BSPhysObject : PhysicsActor
         // For movement tests, remember if we are colliding with an object that is moving.
         ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
 
+        // Make a collection of the collisions that happened the last simulation tick.
+        // This is different than the collection created for sending up to the simulator as it is cleared every tick.
+        if (CollisionsLastTickStep != PhysicsScene.SimulationStep)
+        {
+            CollisionsLastTick = new CollisionEventUpdate();
+            CollisionsLastTickStep = PhysicsScene.SimulationStep;
+        }
+        CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+
         // If someone has subscribed for collision events log the collision so it will be reported up
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
@@ -419,7 +431,7 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = true;
 
         // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -438,7 +450,7 @@ public abstract class BSPhysObject : PhysicsActor
             base.SendCollisionUpdate(CollisionCollection);
 
             // Remember the collisions from this tick for some collision specific processing.
-            CollisionsLastTick = CollisionCollection;
+            CollisionsLastReported = CollisionCollection;
 
             // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.
-- 
cgit v1.1


From e5582939fd8d78b61c6f1eeda6de45d94f4b4926 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 28 Apr 2013 14:44:21 -0700
Subject: BulletSim: massive refactor of shape classes. Removed shape specific
 code from BSShapeCollection. Using BSShape* classes to hold references to
 shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods
 and have each class specify shape type. Disable compound shape linkset for a
 later commit that will simplify linkset implementation.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 309d004..b6eb619 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -88,7 +88,7 @@ public abstract class BSPhysObject : PhysicsActor
 
         // We don't have any physical representation yet.
         PhysBody = new BulletBody(localID);
-        PhysShape = new BulletShape();
+        PhysShape = new BSShapeNull();
 
         PrimAssetState = PrimAssetCondition.Unknown;
 
@@ -138,7 +138,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical body (btCollisionObject) of this object
     public BulletBody PhysBody;
     // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape PhysShape;
+    public BSShape PhysShape;
 
     // The physical representation of the prim might require an asset fetch.
     // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
@@ -151,13 +151,6 @@ public abstract class BSPhysObject : PhysicsActor
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
 
-    // Some types of objects have preferred physical representations.
-    // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
-    }
-
     // When the physical properties are updated, an EntityProperty holds the update values.
     // Keep the current and last EntityProperties to enable computation of differences
     //      between the current update and the previous values.
-- 
cgit v1.1


From ad1787770ed02f71feaa002ab689467e187803bb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 28 Apr 2013 21:50:47 -0700
Subject: BulletSim: rename variable 'PhysicsScene' to be either 'PhysScene' or
 'm_physicsScene' to match coding conventions and reduce confusion.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 52 +++++++++++-----------
 1 file changed, 26 insertions(+), 26 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index b6eb619..6a3ada2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -72,14 +72,14 @@ public abstract class BSPhysObject : PhysicsActor
     }
     protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
-        PhysicsScene = parentScene;
+        PhysScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
         Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
         // The collection of things that push me around
-        PhysicalActors = new BSActorCollection(PhysicsScene);
+        PhysicalActors = new BSActorCollection(PhysScene);
 
         // Initialize variables kept in base.
         GravModifier = 1.0f;
@@ -112,13 +112,13 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual void Destroy()
     {
         PhysicalActors.Enable(false);
-        PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
+        PhysScene.TaintedObject("BSPhysObject.Destroy", delegate()
         {
             PhysicalActors.Dispose();
         });
     }
 
-    public BSScene PhysicsScene { get; protected set; }
+    public BSScene PhysScene { get; protected set; }
     // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
@@ -270,7 +270,7 @@ public abstract class BSPhysObject : PhysicsActor
     public void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical && PhysBody.HasPhysicalBody)
-            PhysicsScene.PE.Activate(PhysBody, forceIt);
+            PhysScene.PE.Activate(PhysBody, forceIt);
     }
 
     // 'actors' act on the physical object to change or constrain its motion. These can range from
@@ -333,29 +333,29 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollisionAccumulation { get; set; }
 
     public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        get { return (CollidingStep == PhysScene.SimulationStep); }
         set {
             if (value)
-                CollidingStep = PhysicsScene.SimulationStep;
+                CollidingStep = PhysScene.SimulationStep;
             else
                 CollidingStep = 0;
             }
     }
     public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
         {
             if (value)
-                CollidingGroundStep = PhysicsScene.SimulationStep;
+                CollidingGroundStep = PhysScene.SimulationStep;
             else
                 CollidingGroundStep = 0;
         }
     }
     public override bool CollidingObj {
-        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
+        get { return (CollidingObjectStep == PhysScene.SimulationStep); }
         set { 
             if (value)
-                CollidingObjectStep = PhysicsScene.SimulationStep;
+                CollidingObjectStep = PhysScene.SimulationStep;
             else
                 CollidingObjectStep = 0;
         }
@@ -380,14 +380,14 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = false;
 
         // The following lines make IsColliding(), CollidingGround() and CollidingObj work
-        CollidingStep = PhysicsScene.SimulationStep;
-        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        CollidingStep = PhysScene.SimulationStep;
+        if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID)
         {
-            CollidingGroundStep = PhysicsScene.SimulationStep;
+            CollidingGroundStep = PhysScene.SimulationStep;
         }
         else
         {
-            CollidingObjectStep = PhysicsScene.SimulationStep;
+            CollidingObjectStep = PhysScene.SimulationStep;
         }
 
         CollisionAccumulation++;
@@ -397,10 +397,10 @@ public abstract class BSPhysObject : PhysicsActor
 
         // Make a collection of the collisions that happened the last simulation tick.
         // This is different than the collection created for sending up to the simulator as it is cleared every tick.
-        if (CollisionsLastTickStep != PhysicsScene.SimulationStep)
+        if (CollisionsLastTickStep != PhysScene.SimulationStep)
         {
             CollisionsLastTick = new CollisionEventUpdate();
-            CollisionsLastTickStep = PhysicsScene.SimulationStep;
+            CollisionsLastTickStep = PhysScene.SimulationStep;
         }
         CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
 
@@ -427,9 +427,9 @@ public abstract class BSPhysObject : PhysicsActor
         bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
+        if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
         {
-            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysScene.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.
@@ -464,10 +464,10 @@ public abstract class BSPhysObject : PhysicsActor
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
 
-            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
+            PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -479,11 +479,11 @@ public abstract class BSPhysObject : PhysicsActor
     public override void UnSubscribeEvents() {
         // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
-        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
+        PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
@@ -497,7 +497,7 @@ public abstract class BSPhysObject : PhysicsActor
     {
         // Scale the collision count by the time since the last collision.
         // The "+1" prevents dividing by zero.
-        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        long timeAgo = PhysScene.SimulationStep - CollidingStep + 1;
         CollisionScore = CollisionAccumulation / timeAgo;
     }
     public override float CollisionScore { get; set; }
@@ -524,8 +524,8 @@ public abstract class BSPhysObject : PhysicsActor
     // High performance detailed logging routine used by the physical objects.
     protected void DetailLog(string msg, params Object[] args)
     {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
+        if (PhysScene.PhysicsLogging.Enabled)
+            PhysScene.DetailLog(msg, args);
     }
 
 }
-- 
cgit v1.1


From 92ee288d666963aae2a058cc964be009a504f084 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Apr 2013 07:54:50 -0700
Subject: BulletSim: remove trailing white space to make git happier. No
 functional changes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 6a3ada2..28d4bd7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -38,7 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * Class to wrap all objects.
  * The rest of BulletSim doesn't need to keep checking for avatars or prims
  *        unless the difference is significant.
- * 
+ *
  *  Variables in the physicsl objects are in three forms:
  *      VariableName: used by the simulator and performs taint operations, etc
  *      RawVariableName: direct reference to the BulletSim storage for the variable value
@@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
  * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
  * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
+ * BS.ApplyCentralForce BS.ApplyTorque
  */
 
 // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
@@ -353,7 +353,7 @@ public abstract class BSPhysObject : PhysicsActor
     }
     public override bool CollidingObj {
         get { return (CollidingObjectStep == PhysScene.SimulationStep); }
-        set { 
+        set {
             if (value)
                 CollidingObjectStep = PhysScene.SimulationStep;
             else
@@ -447,7 +447,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
+            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
             //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
-- 
cgit v1.1


From 7cdb07b386ffe88749fcc6cabadd9851f254699d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Apr 2013 11:42:11 -0700
Subject: BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all
 working yet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 28d4bd7..7eba851 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     // The user can optionally set the center of mass. The user's setting will override any
     //    computed center-of-mass (like in linksets).
-    public OMV.Vector3? UserSetCenterOfMass { get; set; }
+    // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
+    public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
     public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
-- 
cgit v1.1


From 46ae84cfba4b3256119422dd5dfba84da5d07165 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Apr 2013 13:10:15 -0700
Subject: BulletSim: fix error messages created while an avatar has no initial
 collisions. Usually happens when logging in an avatar that had been
 previously flying. Uninitialized variable.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +++
 1 file changed, 3 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 309d004..f047176 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -97,6 +97,9 @@ public abstract class BSPhysObject : PhysicsActor
 
         CollisionCollection = new CollisionEventUpdate();
         CollisionsLastReported = CollisionCollection;
+        CollisionsLastTick = new CollisionEventUpdate();
+        CollisionsLastTickStep = -1;
+
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
-- 
cgit v1.1


From f9fb1484aa00f8bfadead06ce71d004502fb564e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 3 May 2013 15:46:35 -0700
Subject: BulletSim: extend BSActorLockAxis to allow locking linear movement in
 addition to angular movement. Not enabled by anything yet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index e796804..cca887a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -108,7 +108,8 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionScore = 0;
 
         // All axis free.
-        LockedAxis = LockedAxisFree;
+        LockedLinearAxis = LockedAxisFree;
+        LockedAngularAxis = LockedAxisFree;
     }
 
     // Tell the object to clean up.
@@ -265,8 +266,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
     public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
 
-    public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
-    public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
+    public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
+    public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
+    public const float FreeAxis = 1f;
+    public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis);  // All axis are free
 
     // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
     //     they need waking up when parameters are changed.
-- 
cgit v1.1


From 795acaa6aa8e32ad0281226208a6b1bbc2292bf5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 10 Jun 2013 14:12:45 -0700
Subject: BulletSim: add failure flag for meshing failure vs asset fetch
 failure so error messages make more sense. Change some BulletSim status log
 messages from WARN to INFO. Update TODO list.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index cca887a..a4c5e08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -148,7 +148,7 @@ public abstract class BSPhysObject : PhysicsActor
     // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
     public enum PrimAssetCondition
     {
-        Unknown, Waiting, Failed, Fetched
+        Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched
     }
     public PrimAssetCondition PrimAssetState { get; set; }
 
-- 
cgit v1.1


From 23516717e48095011c1c06d64785ef7d91754ff2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Jun 2013 13:39:58 -0700
Subject: BulletSim: a better version of llMoveToTarget that doesn't go crazy.
 There is still some overshoot but mostly fixes Mantis 6693. Fix bug where
 moveToTarget was active for non-physical objects and while selected. Fix bug
 where move target was not getting changed if the script changed the target
 during a move.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a4c5e08..a0d5c42 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -210,6 +210,7 @@ public abstract class BSPhysObject : PhysicsActor
         AddAngularForce(force, pushforce, false);
     }
     public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
+    public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
-- 
cgit v1.1


From a65cec3986431f5a2f4f9eb2424157def0d035c8 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 6 Jul 2013 08:22:59 -0700
Subject: BulletSim: implementation of linkset center-of-mass. Default off, for
 the moment, until more testing. Add separate thread and center-of-mass flags
 to OpenSimDefaults.ini. Clean up comments in OpenSimDefaults.ini.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +++
 1 file changed, 3 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a0d5c42..738e2d0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor
         PhysBody = new BulletBody(localID);
         PhysShape = new BSShapeNull();
 
+        UserSetCenterOfMassDisplacement = null;
+
         PrimAssetState = PrimAssetCondition.Unknown;
 
         // Default material type. Also sets Friction, Restitution and Density.
@@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
         Material = (MaterialAttributes.Material)material;
 
         // Setting the material sets the material attributes also.
+        // TODO: decide if this is necessary -- the simulator does this.
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-- 
cgit v1.1


From 70d24a654b8eb0257ca927327d51bd0e47f85259 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 7 Jul 2013 05:46:24 -0700
Subject: BulletSim: rename position and orientation variables to remove the
 inconsistant use of Raw* and _* conventions.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 738e2d0..a41eaf8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
-    public abstract OMV.Vector3 RawPosition { get; set; }
+    public virtual OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
-    public abstract OMV.Quaternion RawOrientation { get; set; }
+    public virtual OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     public OMV.Vector3 RawVelocity { get; set; }
-- 
cgit v1.1


From 2c8bf4aaa66a4cc9fc8fd9f89825e7cd1b43f3d6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 17 Jul 2013 10:19:44 -0700
Subject: BulletSim: fix small bug where everything looked like it was
 colliding before the first simulator step.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a41eaf8..fc4545f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -103,9 +103,10 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionsLastTickStep = -1;
 
         SubscribedEventsMs = 0;
-        CollidingStep = 0;
-        CollidingGroundStep = 0;
-        CollisionAccumulation = 0;
+        // Crazy values that will never be true
+        CollidingStep = BSScene.NotASimulationStep;
+        CollidingGroundStep = BSScene.NotASimulationStep;
+        CollisionAccumulation = BSScene.NotASimulationStep;
         ColliderIsMoving = false;
         CollisionScore = 0;
 
@@ -349,7 +350,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (value)
                 CollidingStep = PhysScene.SimulationStep;
             else
-                CollidingStep = 0;
+                CollidingStep = BSScene.NotASimulationStep;
             }
     }
     public override bool CollidingGround {
@@ -359,7 +360,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (value)
                 CollidingGroundStep = PhysScene.SimulationStep;
             else
-                CollidingGroundStep = 0;
+                CollidingGroundStep = BSScene.NotASimulationStep;
         }
     }
     public override bool CollidingObj {
@@ -368,7 +369,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (value)
                 CollidingObjectStep = PhysScene.SimulationStep;
             else
-                CollidingObjectStep = 0;
+                CollidingObjectStep = BSScene.NotASimulationStep;
         }
     }
 
-- 
cgit v1.1


From b4c3a791aa55390bff071b3fe4bbe70c1d252703 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 11 Jul 2013 14:33:03 -0700
Subject: BulletSim: move collision processing for linksets from BSPrimLinkable
 into the linkset implementation classes. Add HasSomeCollision attribute that
 remembers of any component of    a linkset has a collision. Update vehicle
 code (BSDynamic) to use the HasSomeCollision in place of    IsColliding to
 make constraint based linksets properly notice the ground. Add linkset
 functions to change physical attributes of all the members    of a linkset.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index fc4545f..d34b797 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
+    // Complex objects (like linksets) need to know if there is a collision on any part of
+    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
+    //    only this specific prim or component of linksets.
+    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
+    //    the complex body that this prim is the root of.
+    public virtual bool HasSomeCollision
+    {
+        get { return IsColliding; }
+        set { IsColliding = value; }
+    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
+    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-- 
cgit v1.1


From c45659863d8821a48a32e5b687c7b2a6d90b0300 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Jul 2013 12:09:17 -0700
Subject: Revert "BulletSim: move collision processing for linksets from
 BSPrimLinkable" The changes don't seem to be ready for prime time.

This reverts commit b4c3a791aa55390bff071b3fe4bbe70c1d252703.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 -----------
 1 file changed, 11 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..fc4545f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,16 +353,6 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
-    // Complex objects (like linksets) need to know if there is a collision on any part of
-    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
-    //    only this specific prim or component of linksets.
-    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
-    //    the complex body that this prim is the root of.
-    public virtual bool HasSomeCollision
-    {
-        get { return IsColliding; }
-        set { IsColliding = value; }
-    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -396,7 +386,6 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
-    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-- 
cgit v1.1


From aec8852af793699a4c1093a38b992daf2dbd97f3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Jul 2013 08:13:01 -0700
Subject: Revert "Revert "BulletSim: move collision processing for linksets
 from BSPrimLinkable"" Found that the vehicle movement problem was not caused
 by these physics changes.

This reverts commit c45659863d8821a48a32e5b687c7b2a6d90b0300.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 +++++++++++
 1 file changed, 11 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index fc4545f..d34b797 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
+    // Complex objects (like linksets) need to know if there is a collision on any part of
+    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
+    //    only this specific prim or component of linksets.
+    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
+    //    the complex body that this prim is the root of.
+    public virtual bool HasSomeCollision
+    {
+        get { return IsColliding; }
+        set { IsColliding = value; }
+    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
+    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-- 
cgit v1.1


From 5a7784a0e6c3f549d0e7b59380ad05729cb93a4f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 24 Jul 2013 10:52:54 -0700
Subject: BulletSim: make density display and return value consistant with how
 the simulator expects it (scaled to 100kg/m^3).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..0704591 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-        Density = matAttrib.density / BSParam.DensityScaleFactor;
+        Density = matAttrib.density;
         // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
     }
 
+    public override float Density
+    {
+        get
+        {
+            return base.Density;
+        }
+        set
+        {
+            DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
+            base.Density = value;
+        }
+    }
+
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);
-- 
cgit v1.1


From 2c31fe4614fc193f2600b36eac892ceee86f61e0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 12 Aug 2013 13:44:53 -0700
Subject: BulletSim: add check in avatar stair step code to verify the
 collision is not with a volume detect object.

This fixes a problem of avatars trying to step over a volume detect object
that they collide with. This appeared as the avatar popping up as it started
to step up but then continuing on since the object wasn't physically interacting.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 +
 1 file changed, 1 insertion(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 0704591..27caf62 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -175,6 +175,7 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
     public abstract bool IsSelected { get; }
+    public abstract bool IsVolumeDetect { get; }
 
     // Materialness
     public MaterialAttributes.Material Material { get; private set; }
-- 
cgit v1.1


From 7c3b71d294987943058c8b3bcb18a424ca70dea5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 14 Aug 2013 14:13:08 -0700
Subject: BulletSim: add physical object initialized flag so updates and
 collisions don't happen until the object is completely initialized.

This fixes the problem of doing a teleport while the simulator is running.
The destruction of the physical object while the engine is running means
that the physics parameter update would overwrite the new position of the
newly created avatar.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++++
 1 file changed, 4 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 27caf62..b26fef0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -72,6 +72,8 @@ public abstract class BSPhysObject : PhysicsActor
     }
     protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
+        IsInitialized = false;
+
         PhysScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
@@ -130,6 +132,8 @@ public abstract class BSPhysObject : PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
 
+    // Set to 'true' when the object is completely initialized
+    public bool IsInitialized { get; protected set; }
 
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
-- 
cgit v1.1


From e8b1e91a1d4bb3ca65886c367c654a82033f4e03 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 14 Aug 2013 14:36:13 -0700
Subject: BulletSim: include check for volume detect in check for zeroing
 avatar motion.

Normally, avatar motion is zeroed if colliding with a stationary object so
they don't slide down hills and such. Without volume detect check this also
allowed avatars to stand on volume detect objects and to have some jiggling
when they were in the volume detect object. This commit fixes both.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index b26fef0..9dc52d5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -132,7 +132,8 @@ public abstract class BSPhysObject : PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
 
-    // Set to 'true' when the object is completely initialized
+    // Set to 'true' when the object is completely initialized.
+    // This mostly prevents property updates and collisions until the object is completely here.
     public bool IsInitialized { get; protected set; }
 
     // Return the object mass without calculating it or having side effects
@@ -356,6 +357,8 @@ public abstract class BSPhysObject : PhysicsActor
     // On a collision, check the collider and remember if the last collider was moving
     //    Used to modify the standing of avatars (avatars on stationary things stand still)
     public bool ColliderIsMoving;
+    // 'true' if the last collider was a volume detect object
+    public bool ColliderIsVolumeDetect;
     // Used by BSCharacter to manage standing (and not slipping)
     public bool IsStationary;
 
@@ -435,6 +438,7 @@ public abstract class BSPhysObject : PhysicsActor
 
         // For movement tests, remember if we are colliding with an object that is moving.
         ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
+        ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false;
 
         // Make a collection of the collisions that happened the last simulation tick.
         // This is different than the collection created for sending up to the simulator as it is cleared every tick.
-- 
cgit v1.1


From 995314f91f72eef0048a58f30e8dd8051f6bf14e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 20 Aug 2013 09:20:48 -0700
Subject: BulletSim: add ID parameter to TaintedObject calls so logging will
 include LocalID of object which created the taint.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 9dc52d5..2efb1a5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -121,7 +121,7 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual void Destroy()
     {
         PhysicalActors.Enable(false);
-        PhysScene.TaintedObject("BSPhysObject.Destroy", delegate()
+        PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate()
         {
             PhysicalActors.Dispose();
         });
@@ -509,7 +509,7 @@ public abstract class BSPhysObject : PhysicsActor
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
 
-            PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
+            PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
                     CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
@@ -524,7 +524,7 @@ public abstract class BSPhysObject : PhysicsActor
     public override void UnSubscribeEvents() {
         // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
-        PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
+        PhysScene.TaintedObject(LocalID, TypeName+".UnSubscribeEvents", delegate()
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-- 
cgit v1.1


From 6e39cc316f502855a89c51775e7394b73135ab86 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 10 Sep 2013 17:32:01 -0700
Subject: BulletSim: add ClearCollisionProxyCache function to API. Add proxy
 cache clearing when some properties are changed. This fixes a problem where
 objects would stop colliding of they were moved with setPosition mulitple
 times.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 2efb1a5..47df611 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -300,8 +300,16 @@ public abstract class BSPhysObject : PhysicsActor
     // Called in taint-time!!
     public void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical && PhysBody.HasPhysicalBody)
-            PhysScene.PE.Activate(PhysBody, forceIt);
+        if (PhysBody.HasPhysicalBody)
+        {
+            // Clear the collision cache since we've changed some properties.
+            PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody);
+            if (IsPhysical)
+            {
+                // Physical objects might need activating
+                PhysScene.PE.Activate(PhysBody, forceIt);
+            }
+        }
     }
 
     // 'actors' act on the physical object to change or constrain its motion. These can range from
-- 
cgit v1.1


From dacc20ee48883efe3702c284edff5ee3fa0e96b0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 11 Sep 2013 16:48:15 -0700
Subject: BulletSim: remove collision cache clearing logic for physical
 objects. This fixes constraints from getting messed up when properties
 change.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 47df611..f89b376 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -302,13 +302,16 @@ public abstract class BSPhysObject : PhysicsActor
     {
         if (PhysBody.HasPhysicalBody)
         {
-            // Clear the collision cache since we've changed some properties.
-            PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody);
             if (IsPhysical)
             {
                 // Physical objects might need activating
                 PhysScene.PE.Activate(PhysBody, forceIt);
             }
+            else
+            {
+                // Clear the collision cache since we've changed some properties.
+                PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody);
+            }
         }
     }
 
-- 
cgit v1.1