From 7b6987ce83d16871f6070f3cc7d56280ad3d5dbe Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 24 Aug 2012 12:58:42 -0700
Subject: BulletSim: unify physical objects under BSPhysObjects. Now BSScene
 and BSLinkset only know of BSPhysObject's and there is only one list to
 search in BSScene.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 58 ++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
new file mode 100755
index 0000000..6e205a9
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+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.
+public abstract class BSPhysObject : PhysicsActor
+{
+    public abstract BSLinkset Linkset { get; set; }
+
+    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
+            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
+    public abstract void SendCollisions();
+
+    // Return the object mass without calculating it or side effects
+    public abstract float MassRaw { get; }
+
+    public abstract BulletBody Body { get; set; }
+    public abstract void ZeroMotion();
+
+    public abstract void UpdateProperties(EntityProperties entprop);
+
+    public abstract void Destroy();
+}
+}
-- 
cgit v1.1


From 7c140570db3b01eb83efc0d42a47715d3047e376 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 25 Aug 2012 23:18:46 -0700
Subject: BulletSim: Changes to terrain storage and management so mega-regions
 work. Moved all terrain code out of BSScene and into new BSTerrainManager.
 Added logic to manage multiple terrains for mega-regions. Added new functions
 to BulletSimAPI to match the library. Moved all of the terrain creation and
 setup logic from C++ code to C# code.     The unused code has not yet been
 removed from either place. Soon. Moved checks for avatar above ground and in
 bounds into BSCharacter.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 118 +++++++++++----------
 1 file changed, 60 insertions(+), 58 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 6e205a9..ef463ca 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -1,58 +1,60 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-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.
-public abstract class BSPhysObject : PhysicsActor
-{
-    public abstract BSLinkset Linkset { get; set; }
-
-    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
-            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
-    public abstract void SendCollisions();
-
-    // Return the object mass without calculating it or side effects
-    public abstract float MassRaw { get; }
-
-    public abstract BulletBody Body { get; set; }
-    public abstract void ZeroMotion();
-
-    public abstract void UpdateProperties(EntityProperties entprop);
-
-    public abstract void Destroy();
-}
-}
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OMV = OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+
+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.
+public abstract class BSPhysObject : PhysicsActor
+{
+    public abstract BSLinkset Linkset { get; set; }
+
+    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
+            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
+    public abstract void SendCollisions();
+
+    // Return the object mass without calculating it or side effects
+    public abstract float MassRaw { get; }
+
+    public abstract BulletBody Body { get; set; }
+    public abstract void ZeroMotion();
+
+    public virtual void StepVehicle(float timeStep) { }
+
+    public abstract void UpdateProperties(EntityProperties entprop);
+
+    public abstract void Destroy();
+}
+}
-- 
cgit v1.1


From 126eae71009001c5455e4896cf12317422bbac51 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 7 Sep 2012 15:46:14 -0700
Subject: BulletSim: Add Bullet body and shape to BSPhysObject and rename    
 'Body' to 'BSBody' for disambiguation when reading code. Complete the API2
 interface so nearly all methods on bullet     classes are available to the
 managed code. The efficient     single call simulation step is kept in place
 while all     other creation/destruction/parameterization can be done     in
 the managed code.

---
 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 ef463ca..e411fcb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -48,7 +48,11 @@ public abstract class BSPhysObject : PhysicsActor
     // Return the object mass without calculating it or side effects
     public abstract float MassRaw { get; }
 
-    public abstract BulletBody Body { get; set; }
+    // Reference to the physical body (btCollisionObject) of this object
+    public abstract BulletBody BSBody { get; set; }
+    // Reference to the physical shape (btCollisionShape) of this object
+    public abstract BulletShape BSShape { get; set; }
+
     public abstract void ZeroMotion();
 
     public virtual void StepVehicle(float timeStep) { }
-- 
cgit v1.1


From 2c5ff9399063080276a23bcd06fb696d653bef2e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 13 Sep 2012 08:11:54 -0700
Subject: BulletSim:  Way too many changes in one commit. Many changes to
 BSDynamic for readability and commentary. Linkset hacking for vehicles: don't
 over mass the root prim. Add parameter for link constraint solver iterations.
 Correct uses of timestep in timescale calculations for vehicles. Reorganize
 code/logic for making objects static and dynamic for readability     and use
 of API2. Changed most calls in BSPrim to use API2 calls (the new way).
 Avatars do not generate default Bullet collision events but do call up     to
 the simulator for every avatar. Reduces overhead. Objects added to collision
 list only if they are processing collisions.     Reduces overhead especially
 for large numbers of avatars. Generalize call for water height to
 GetWaterHeightAtXYZ(). Catch and correct exception getting terrain height
 when out of bounds. Correct race condition in Terrain Manager where creation
 wasn't at taint-time. Add API calls for constructing compound shapes. Move
 NeedsMeshing() logic into object class. Reorganize logic for object meshing
 to reduce rebuilding of meshs/hulls.

---
 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 e411fcb..969c53e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor
 {
     public abstract BSLinkset Linkset { get; set; }
 
-    public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
+    public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
             OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public abstract void SendCollisions();
 
-- 
cgit v1.1


From 6632eb7c051e2638ea1c58c2876e7d6825398556 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 13 Sep 2012 13:51:42 -0700
Subject: BulletSim: Remove calculation and passing of unused collied object
 type. Fix collision code to properly sense mega-region children regions as
 terrain. When setting an object physical, reset all the physical properties
 (friction, ...).

---
 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 969c53e..3fe71e1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor
 {
     public abstract BSLinkset Linkset { get; set; }
 
-    public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
+    public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
             OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public abstract void SendCollisions();
 
-- 
cgit v1.1


From ee7cda261cbbc9dcd558c35eabc070cc0bf45644 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 18 Sep 2012 08:39:52 -0700
Subject: BulletSim: move a bunch of common logic out of BSPrim and BSCharacter
     and into the parent class BSPhysObject. Rework collision logic to enable
 extra collision after done colliding. Rename 'Scene' to 'PhysicsScene' to
 differentiate it from the simulator 'Scene'.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 138 +++++++++++++++++++--
 1 file changed, 131 insertions(+), 7 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 3fe71e1..242aa80 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -39,26 +39,150 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 // unless the difference is significant.
 public abstract class BSPhysObject : PhysicsActor
 {
-    public abstract BSLinkset Linkset { get; set; }
+    protected void BaseInitialize(BSScene parentScene)
+    {
+        PhysicsScene = parentScene;
+        Linkset = new BSLinkset(PhysicsScene, this);
 
-    public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
-            OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
-    public abstract void SendCollisions();
+        CollisionCollection = new CollisionEventUpdate();
+        SubscribedEventsMs = 0;
+        CollidingStep = 0;
+        CollidingGroundStep = 0;
+    }
 
-    // Return the object mass without calculating it or side effects
+    public BSScene PhysicsScene { get; protected set; }
+
+    public BSLinkset Linkset { get; set; }
+
+    // Return the object mass without calculating it or having side effects
     public abstract float MassRaw { get; }
 
     // Reference to the physical body (btCollisionObject) of this object
-    public abstract BulletBody BSBody { get; set; }
+    public BulletBody BSBody { get; protected set; }
     // Reference to the physical shape (btCollisionShape) of this object
-    public abstract BulletShape BSShape { get; set; }
+    public BulletShape BSShape { get; protected set; }
 
+    // Stop all physical motion.
     public abstract void ZeroMotion();
 
+    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
     public virtual void StepVehicle(float timeStep) { }
 
+    // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
+    // Tell the object to clean up.
     public abstract void Destroy();
+
+    #region Collisions
+
+    // Requested number of milliseconds between collision events. Zero means disabled.
+    protected int SubscribedEventsMs { get; set; }
+    // Given subscription, the time that a collision may be passed up
+    protected int NextCollisionOkTime { get; set; }
+    // The simulation step that last had a collision
+    protected long CollidingStep { get; set; }
+    // The simulation step that last had a collision with the ground
+    protected long CollidingGroundStep { get; set; }
+    // The collision flags we think are set in Bullet
+    protected CollisionFlags CurrentCollisionFlags { get; set; }
+
+    // The collisions that have been collected this tick
+    protected CollisionEventUpdate CollisionCollection;
+
+    // The simulation step is telling this object about a collision.
+    // Return 'true' if a collision was processed and should be sent up.
+    // Called at taint time from within the Step() function
+    public virtual bool Collide(uint collidingWith, BSPhysObject collidee, 
+                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // The following lines make IsColliding() and IsCollidingGround() work
+        CollidingStep = PhysicsScene.SimulationStep;
+        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
+        {
+            CollidingGroundStep = PhysicsScene.SimulationStep;
+        }
+
+        // prims in the same linkset cannot collide with each other
+        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
+        {
+            return ret;
+        }
+
+        PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
+
+        // if someone has subscribed for collision events....
+        if (SubscribedEvents()) {
+            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+            PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", 
+                    LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Routine to send the collected collisions into the simulator.
+    // Also handles removal of this from the collection of objects with collisions if
+    //      there are no collisions from this object. Mechanism is create one last
+    //      collision event to make collision_end work.
+    public virtual void SendCollisions()
+    {
+        // throttle the collisions to the number of milliseconds specified in the subscription
+        int nowTime = PhysicsScene.SimulationNowTime;
+        if (nowTime >= NextCollisionOkTime)
+        {
+            NextCollisionOkTime = nowTime + 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.
+            if (CollisionCollection.Count == 0)
+                PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
+
+            base.SendCollisionUpdate(CollisionCollection);
+
+            // The collisionCollection structure is passed around in the simulator.
+            // Make sure we don't have a handle to that one and that a new one is used next time.
+            CollisionCollection = new CollisionEventUpdate();
+        }
+    }
+
+    // Subscribe for collision events.
+    // Parameter is the millisecond rate the caller wishes collision events to occur.
+    public override void SubscribeEvents(int ms) { 
+        SubscribedEventsMs = ms;
+        if (ms > 0)
+        {
+            // make sure first collision happens
+            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
+            PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", 
+                    LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+
+            PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate()
+            {
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            });
+        }
+        else
+        {
+            // Subscribing for zero or less is the same as unsubscribing
+            UnSubscribeEvents();
+        }
+    }
+    public override void UnSubscribeEvents() { 
+        SubscribedEventsMs = 0;
+        PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID);
+        PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate()
+        {
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        });
+    }
+    // Return 'true' if the simulator wants collision events
+    public override bool SubscribedEvents() { 
+        return (SubscribedEventsMs > 0);
+    }
+
+    #endregion // Collisions
 }
 }
-- 
cgit v1.1


From 91efccabdcb45ed95ae35ab24ed5d3ed5508b463 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 18 Sep 2012 11:26:19 -0700
Subject: BulletSim: Convert BSCharacter to use common BSPhysObject code and
 variables. Fix avatar height calculation to properly account for the capsule
 ends. Rearrange some locking in TerrainManager to eliminate possible race
 conditions. Move DetailLog() definition into common BSPhysObject class. Some
 variable renaming to make usage clearer (refactor.rename makes this so easy).

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 29 ++++++++++++++++------
 1 file changed, 21 insertions(+), 8 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 242aa80..b575e37 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -39,9 +39,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 // unless the difference is significant.
 public abstract class BSPhysObject : PhysicsActor
 {
-    protected void BaseInitialize(BSScene parentScene)
+    protected void BaseInitialize(BSScene parentScene, uint localID, string name)
     {
         PhysicsScene = parentScene;
+        LocalID = localID;
+        PhysObjectName = name;
+
         Linkset = new BSLinkset(PhysicsScene, this);
 
         CollisionCollection = new CollisionEventUpdate();
@@ -51,6 +54,8 @@ public abstract class BSPhysObject : PhysicsActor
     }
 
     public BSScene PhysicsScene { get; protected set; }
+    // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
+    public string PhysObjectName { get; protected set; }
 
     public BSLinkset Linkset { get; set; }
 
@@ -111,13 +116,13 @@ public abstract class BSPhysObject : PhysicsActor
             return ret;
         }
 
-        PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
+        DetailLog("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
 
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", 
-                    LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            DetailLog("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4}",
+                            LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth);
             ret = true;
         }
         return ret;
@@ -127,6 +132,8 @@ public abstract class BSPhysObject : PhysicsActor
     // Also handles removal of this from the collection of objects with collisions if
     //      there are no collisions from this object. Mechanism is create one last
     //      collision event to make collision_end work.
+    // Called at taint time from within the Step() function thus no locking problems
+    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
     public virtual void SendCollisions()
     {
         // throttle the collisions to the number of milliseconds specified in the subscription
@@ -140,10 +147,11 @@ public abstract class BSPhysObject : PhysicsActor
             if (CollisionCollection.Count == 0)
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
 
+            DetailLog("{0},SendCollisions.SendCollisionUpdate,call,numCollisions={1}", LocalID, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // The collisionCollection structure is passed around in the simulator.
-            // Make sure we don't have a handle to that one and that a new one is used next time.
+            // Make sure we don't have a handle to that one and that a new one is used for next time.
             CollisionCollection = new CollisionEventUpdate();
         }
     }
@@ -156,8 +164,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-            PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", 
-                    LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff"));
+            DetailLog("{0},SubscribeEvents,call,ms={1}", LocalID, SubscribedEventsMs);
 
             PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate()
             {
@@ -172,7 +179,7 @@ public abstract class BSPhysObject : PhysicsActor
     }
     public override void UnSubscribeEvents() { 
         SubscribedEventsMs = 0;
-        PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID);
+        DetailLog("{0},UnSubscribeEvents,call", LocalID);
         PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate()
         {
             CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
@@ -184,5 +191,11 @@ public abstract class BSPhysObject : PhysicsActor
     }
 
     #endregion // Collisions
+
+    // High performance detailed logging routine used by the physical objects.
+    protected void DetailLog(string msg, params Object[] args)
+    {
+        PhysicsScene.PhysicsLogging.Write(msg, args);
+    }
 }
 }
-- 
cgit v1.1


From 22290ef35aa13edb1501c69b3cce63a885302563 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 20 Sep 2012 10:12:51 -0700
Subject: BulletSim: complete code for managed code shape and body tracking.
 Not debugged. Eliminate some null exceptions created adding the above code.
 Add and remove some detailed logging statements.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 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 b575e37..70a10b1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -39,11 +39,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 // unless the difference is significant.
 public abstract class BSPhysObject : PhysicsActor
 {
-    protected void BaseInitialize(BSScene parentScene, uint localID, string name)
+    protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
     {
         PhysicsScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
+        TypeName = typeName;
 
         Linkset = new BSLinkset(PhysicsScene, this);
 
@@ -56,6 +57,7 @@ public abstract class BSPhysObject : PhysicsActor
     public BSScene PhysicsScene { 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; }
 
     public BSLinkset Linkset { get; set; }
 
@@ -63,9 +65,9 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract float MassRaw { get; }
 
     // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody BSBody { get; protected set; }
+    public BulletBody BSBody;
     // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape BSShape { get; protected set; }
+    public BulletShape BSShape;
 
     // Stop all physical motion.
     public abstract void ZeroMotion();
@@ -116,13 +118,11 @@ public abstract class BSPhysObject : PhysicsActor
             return ret;
         }
 
-        DetailLog("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith);
-
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4}",
-                            LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
             ret = true;
         }
         return ret;
@@ -147,7 +147,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (CollisionCollection.Count == 0)
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
 
-            DetailLog("{0},SendCollisions.SendCollisionUpdate,call,numCollisions={1}", LocalID, CollisionCollection.Count);
+            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // The collisionCollection structure is passed around in the simulator.
@@ -164,9 +164,8 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // make sure first collision happens
             NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-            DetailLog("{0},SubscribeEvents,call,ms={1}", LocalID, SubscribedEventsMs);
 
-            PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate()
+            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
@@ -179,8 +178,7 @@ public abstract class BSPhysObject : PhysicsActor
     }
     public override void UnSubscribeEvents() { 
         SubscribedEventsMs = 0;
-        DetailLog("{0},UnSubscribeEvents,call", LocalID);
-        PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate()
+        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
             CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
-- 
cgit v1.1


From d016051fa028a485b09fac47b3fa3d8fd08e207a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 23 Sep 2012 18:39:46 -0700
Subject: BulletSim: renamed members of BulletShape, BulletSim and BulletBody  
   so the members case is consistant. Caused modifications everywhere. New
 logic in BSShapeCollection to track use and sharing of shapes.     I just
 reslized, though, that shapes cannot be shared because the     shape's
 UserPointer is the localID of the prim and is required     for tracking
 collisions. More changes coming. Added DuplicateCollisionShape2() to API and
 changed BuildNativeShape2     to take a ShapeData structure so don't have to
 pass so many parameters.     This matches the latest version of
 BulletSim.dll. Additions and removal of DetailLog() statements for debugging.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 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 70a10b1..6a9fe50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -121,8 +121,8 @@ public abstract class BSPhysObject : PhysicsActor
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
             ret = true;
         }
         return ret;
@@ -147,7 +147,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (CollisionCollection.Count == 0)
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
 
-            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // The collisionCollection structure is passed around in the simulator.
@@ -158,7 +158,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     // Subscribe for collision events.
     // Parameter is the millisecond rate the caller wishes collision events to occur.
-    public override void SubscribeEvents(int ms) { 
+    public override void SubscribeEvents(int ms) {
+        DetailLog("{0},BSScene.SubscribeEvents,subscribing,ms={1}", BSScene.DetailLogZero, ms);
         SubscribedEventsMs = ms;
         if (ms > 0)
         {
@@ -167,7 +168,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -177,10 +178,11 @@ public abstract class BSPhysObject : PhysicsActor
         }
     }
     public override void UnSubscribeEvents() { 
+        DetailLog("{0},BSScene.UnSubscribeEvents,unsubscribing", BSScene.DetailLogZero);
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
-- 
cgit v1.1


From 735d89e3692bb7c620b9e3c248a1dbd5924b8b3f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 25 Sep 2012 15:01:18 -0700
Subject: BulletSim: btGhostObjects working to make 'volume detect' work.
 Rearrangement and cleanup of shape collection code. Much more readable.
 Enabling and use of collision filters and masks. Addition of ID to body
 creation BulletSimAPI calls so always set in     shape for collision
 reporting. Change default of ShouldSplitSimulationIslands and
 ShouldRandomizeSolverOrder     from 'false' to 'true'. When 'false', this
 suppresses NO_CONTACT_RESPONSE     which makes volume detect fail.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 ++++++--
 1 file changed, 6 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 6a9fe50..3458477 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -123,6 +123,7 @@ public abstract class BSPhysObject : PhysicsActor
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
             DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
                             LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+
             ret = true;
         }
         return ret;
@@ -145,7 +146,10 @@ public abstract class BSPhysObject : PhysicsActor
             // 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.
             if (CollisionCollection.Count == 0)
+            {
+                // If I have no collisions this time, remove me from the list of objects with collisions.
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
+            }
 
             DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
@@ -159,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Subscribe for collision events.
     // Parameter is the millisecond rate the caller wishes collision events to occur.
     public override void SubscribeEvents(int ms) {
-        DetailLog("{0},BSScene.SubscribeEvents,subscribing,ms={1}", BSScene.DetailLogZero, ms);
+        DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
         SubscribedEventsMs = ms;
         if (ms > 0)
         {
@@ -178,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
         }
     }
     public override void UnSubscribeEvents() { 
-        DetailLog("{0},BSScene.UnSubscribeEvents,unsubscribing", BSScene.DetailLogZero);
+        DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-- 
cgit v1.1


From 4589bc84a32366c6aae68b67f1fc7a2ee08be86d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 26 Sep 2012 09:25:56 -0700
Subject: BulletSim: Terrain sets proper collision flags on creation. Static
 objects are set to ISLAND_SLEEPING rather than DISABLE_SIMULATION.     Might
 reconsider this and, alternatively, have dynamic objects force activation.
 Clean up use of DetailLog().

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 +++++-----
 1 file changed, 5 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 3458477..4f83adc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -121,8 +121,8 @@ public abstract class BSPhysObject : PhysicsActor
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
 
             ret = true;
         }
@@ -151,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor
                 PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
             }
 
-            DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // The collisionCollection structure is passed around in the simulator.
@@ -163,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Subscribe for collision events.
     // Parameter is the millisecond rate the caller wishes collision events to occur.
     public override void SubscribeEvents(int ms) {
-        DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
+        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
         SubscribedEventsMs = ms;
         if (ms > 0)
         {
@@ -182,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
         }
     }
     public override void UnSubscribeEvents() { 
-        DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
+        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-- 
cgit v1.1


From f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Sep 2012 08:23:29 -0700
Subject: BulletSim: Fix linkset crash. Caused by the different body and shape 
    pointers at runtime and at taint-time. Now passes the body into the    
 taint. Vehicles zero inertia when active to eliminate Bullet's contribution  
   to vehicle motion.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 ++++++--
 1 file changed, 6 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 4f83adc..df95625 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -135,8 +135,11 @@ public abstract class BSPhysObject : PhysicsActor
     //      collision event to make collision_end work.
     // Called at taint time from within the Step() function thus no locking problems
     //      with CollisionCollection and ObjectsWithNoMoreCollisions.
-    public virtual void SendCollisions()
+    // Return 'true' if there were some actual collisions passed up
+    public virtual bool SendCollisions()
     {
+        bool ret = true;
+
         // throttle the collisions to the number of milliseconds specified in the subscription
         int nowTime = PhysicsScene.SimulationNowTime;
         if (nowTime >= NextCollisionOkTime)
@@ -148,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor
             if (CollisionCollection.Count == 0)
             {
                 // If I have no collisions this time, remove me from the list of objects with collisions.
-                PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
+                ret = false;
             }
 
             // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
@@ -158,6 +161,7 @@ public abstract class BSPhysObject : PhysicsActor
             // Make sure we don't have a handle to that one and that a new one is used for next time.
             CollisionCollection = new CollisionEventUpdate();
         }
+        return ret;
     }
 
     // Subscribe for collision events.
-- 
cgit v1.1


From 7b65985047bdf0789fe3eccf8f515279f362abf1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Sep 2012 09:31:33 -0700
Subject: BulletSim: remove the trailing spaces from lines to make git happier

---
 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 df95625..d9b738b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -100,7 +100,7 @@ public abstract class BSPhysObject : PhysicsActor
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
     // Called at taint time from within the Step() function
-    public virtual bool Collide(uint collidingWith, BSPhysObject collidee, 
+    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         bool ret = false;
-- 
cgit v1.1


From ce47d0c4541159a730b2d83a7b2ccffc908d06f1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 2 Oct 2012 11:06:07 -0700
Subject: BulletSim: Add ForcePosition and ForceOrientation to BSPhysObject and
 to its children of BSPrim and BSCharacter.

---
 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 d9b738b..1ac8c59 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -81,6 +81,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public abstract void Destroy();
 
+    public abstract OMV.Vector3 ForcePosition { get; set; }
+
+    public abstract OMV.Quaternion ForceOrientation { get; set; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
-- 
cgit v1.1


From 87825b0abee76c28dcffdaa2c532779b813b6d14 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 5 Oct 2012 15:33:17 -0700
Subject: BulletSim: Fix crash when linking large physical linksets. Properly
 remove and restore linkage constraints when upgrading     a prim's mesh to a
 hull. Lots more debug logging. Definitions and use of Bullet structure
 dumping. Centralize detail logging so a Flush() can be added for debugging.

---
 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 1ac8c59..0665292 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -207,7 +207,8 @@ public abstract class BSPhysObject : PhysicsActor
     // High performance detailed logging routine used by the physical objects.
     protected void DetailLog(string msg, params Object[] args)
     {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            PhysicsScene.DetailLog(msg, args);
     }
 }
 }
-- 
cgit v1.1


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/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 0665292..cae599c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -85,6 +85,10 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    public abstract OMV.Vector3 ForceVelocity { get; set; }
+
+    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
-- 
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.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++++++
 1 file changed, 12 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 cae599c..34dec26 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -69,6 +69,16 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape BSShape;
 
+    // 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.
+    public EntityProperties CurrentEntityProperties { get; set; }
+    public EntityProperties LastEntityProperties { get; set; }
+
+    public abstract OMV.Vector3 Scale { get; set; }
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+
     // Stop all physical motion.
     public abstract void ZeroMotion();
 
@@ -89,6 +99,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
 
+    public abstract float ForceBuoyancy { get; set; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
-- 
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).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 14 +++++---------
 1 file changed, 5 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 34dec26..b8ef338 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -141,18 +141,15 @@ public abstract class BSPhysObject : PhysicsActor
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-            //                 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
 
             ret = true;
         }
         return ret;
     }
 
-    // Routine to send the collected collisions into the simulator.
-    // Also handles removal of this from the collection of objects with collisions if
-    //      there are no collisions from this object. Mechanism is create one last
-    //      collision event to make collision_end work.
+    // Send the collected collisions into the simulator.
     // Called at taint time from within the Step() function thus no locking problems
     //      with CollisionCollection and ObjectsWithNoMoreCollisions.
     // Return 'true' if there were some actual collisions passed up
@@ -161,10 +158,9 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = true;
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        int nowTime = PhysicsScene.SimulationNowTime;
-        if (nowTime >= NextCollisionOkTime)
+        if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)
         {
-            NextCollisionOkTime = nowTime + SubscribedEventsMs;
+            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
 
             // We are called if we previously had collisions. If there are no collisions
             //   this time, send up one last empty event so OpenSim can sense collision end.
-- 
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.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++-
 1 file changed, 3 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 b8ef338..202052d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -156,9 +156,11 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual bool SendCollisions()
     {
         bool ret = true;
+        // If the 'no collision' call, force it to happen right now so quick collision_end
+        bool force = CollisionCollection.Count == 0;
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-        if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)
+        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
         {
             NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
 
-- 
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/BSPhysObject.cs | 10 ++++++++++
 1 file changed, 10 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 202052d..ead6a08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor
         TypeName = typeName;
 
         Linkset = new BSLinkset(PhysicsScene, this);
+        LastAssetBuildFailed = false;
 
         CollisionCollection = new CollisionEventUpdate();
         SubscribedEventsMs = 0;
@@ -69,6 +70,13 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape BSShape;
 
+    // 'true' if the mesh's underlying asset failed to build.
+    // This will keep us from looping after the first time the build failed.
+    public bool LastAssetBuildFailed { get; set; }
+
+    // The objects base shape information. Null if not a prim type shape.
+    public PrimitiveBaseShape BaseShape { get; protected set; }
+
     // 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.
@@ -101,6 +109,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     public abstract float ForceBuoyancy { get; set; }
 
+    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
-- 
cgit v1.1


From a61f20ac74836049cbd24397670c2dcd75fb22da Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 21 Oct 2012 16:12:06 -0700
Subject: BulletSim: Create LinkSet abstract class and sparate constraint based
 linksets into own subclass. Will eventually add manual movement linkset
 subclass.

---
 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 ead6a08..51b9196 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -46,7 +46,7 @@ public abstract class BSPhysObject : PhysicsActor
         PhysObjectName = name;
         TypeName = typeName;
 
-        Linkset = new BSLinkset(PhysicsScene, this);
+        Linkset = BSLinkset.Factory(PhysicsScene, this);
         LastAssetBuildFailed = false;
 
         CollisionCollection = new CollisionEventUpdate();
-- 
cgit v1.1


From 65c131c4a362bed347a6240184ce40b9ddeaaae1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 08:23:21 -0700
Subject: BulletSim: remove trailing spaces to make git happy.

---
 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 51b9196..538f905 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,7 +78,7 @@ public abstract class BSPhysObject : PhysicsActor
     public PrimitiveBaseShape BaseShape { get; protected set; }
 
     // When the physical properties are updated, an EntityProperty holds the update values.
-    // Keep the current and last EntityProperties to enable computation of differences 
+    // Keep the current and last EntityProperties to enable computation of differences
     //      between the current update and the previous values.
     public EntityProperties CurrentEntityProperties { get; set; }
     public EntityProperties LastEntityProperties { get; set; }
@@ -213,7 +213,7 @@ public abstract class BSPhysObject : PhysicsActor
             UnSubscribeEvents();
         }
     }
-    public override void UnSubscribeEvents() { 
+    public override void UnSubscribeEvents() {
         // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
@@ -222,7 +222,7 @@ public abstract class BSPhysObject : PhysicsActor
         });
     }
     // Return 'true' if the simulator wants collision events
-    public override bool SubscribedEvents() { 
+    public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
 
-- 
cgit v1.1


From e20bad12cc0584c6368e46e0f326e6b616133e8f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Oct 2012 11:30:47 -0700
Subject: BulletSim: centralize mass/inertia computation with
 UpdatePhysicalMassProperties() function. Didn't add setMassRaw because
 assignment with side effect is dirty.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 ++
 1 file changed, 2 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 538f905..be8d64b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -64,6 +64,8 @@ public abstract class BSPhysObject : PhysicsActor
 
     // Return the object mass without calculating it or having side effects
     public abstract float MassRaw { get; }
+    // Set the raw mass but also update physical mass properties (inertia, ...)
+    public abstract void UpdatePhysicalMassProperties(float mass);
 
     // Reference to the physical body (btCollisionObject) of this object
     public BulletBody BSBody;
-- 
cgit v1.1


From 364a7c308804a3e331199ca60c6dfafa406b5d0d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Oct 2012 14:49:28 -0700
Subject: BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add
 skeleton of BSLinksetCompound.

---
 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 be8d64b..6220b21 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -68,9 +68,9 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract void UpdatePhysicalMassProperties(float mass);
 
     // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody BSBody;
+    public BulletBody PhysBody;
     // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape BSShape;
+    public BulletShape PhysShape;
 
     // 'true' if the mesh's underlying asset failed to build.
     // This will keep us from looping after the first time the build failed.
@@ -206,7 +206,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -220,7 +220,7 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
-- 
cgit v1.1


From 39c02dcc8c537d5989238ec97c876e033895a8a9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 1 Nov 2012 10:23:37 -0700
Subject: BulletSim: Remove use of shapeData in ShapeCollection and rely on the
 available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.

---
 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 6220b21..7d91468 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,10 @@ 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 ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return ShapeData.PhysicsShapeType.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
-- 
cgit v1.1


From f53b4e7a21f62a84e237c4ce8d2806124c3a76d2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 1 Nov 2012 10:53:55 -0700
Subject: BulletSim: Add RawPosition and RawOrientation to BSPhysObject and
 rename MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the
 body to eliminate exception from referencing the physical body before it has
 been created.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++-
 1 file changed, 3 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 7d91468..65d7f34 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -63,7 +63,7 @@ public abstract class BSPhysObject : PhysicsActor
     public BSLinkset Linkset { get; set; }
 
     // Return the object mass without calculating it or having side effects
-    public abstract float MassRaw { get; }
+    public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
     public abstract void UpdatePhysicalMassProperties(float mass);
 
@@ -105,8 +105,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public abstract void Destroy();
 
+    public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     public abstract OMV.Vector3 ForceVelocity { get; set; }
-- 
cgit v1.1


From b0eccd5044b1a20b995a62d6fb76fdd73b712f9a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 09:53:41 -0700
Subject: BulletSim: debugging of compound shape implementation of linksets.
 Add compound shape creation and freeing in shape manager. Add optional
 taint-time execution method and update code to use it. Add API2 linkage for
 more compound shape methods (get num, get/remove by index, ...) Modify
 perferred shape return so linkset children can have differet shapes than
 root. Add Position and Orientation calls to linksets so children can be moved
 around by     the linkset by its own calculation. Allows for very general
 linkset implementations.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++-
 1 file changed, 3 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 65d7f34..7127aaf 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -81,7 +81,9 @@ public abstract class BSPhysObject : PhysicsActor
     // Some types of objects have preferred physical representations.
     // Returns SHAPE_UNKNOWN if there is no preference.
     public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
-        { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } }
+    {
+        get { return ShapeData.PhysicsShapeType.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
-- 
cgit v1.1


From 76cc3030314b3302da46bfe4078f076ba1b3d8a1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 6 Nov 2012 17:58:55 -0800
Subject: BulletSim: Add ZeroAngularMotion method to physical objects. Add
 inTaint flag to ZeroMotion method. Update the references to those functions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 20 ++++++++++++++++----
 1 file changed, 16 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 7127aaf..e803072 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -34,9 +34,17 @@ using OpenSim.Region.Physics.Manager;
 
 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.
+/*
+ * 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
+ *      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.
+ */
 public abstract class BSPhysObject : PhysicsActor
 {
     protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
@@ -67,6 +75,9 @@ public abstract class BSPhysObject : PhysicsActor
     // Set the raw mass but also update physical mass properties (inertia, ...)
     public abstract void UpdatePhysicalMassProperties(float mass);
 
+    // The last value calculated for the prim's inertia
+    public OMV.Vector3 Inertia { get; set; }
+
     // Reference to the physical body (btCollisionObject) of this object
     public BulletBody PhysBody;
     // Reference to the physical shape (btCollisionShape) of this object
@@ -96,7 +107,8 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract bool IsStatic { get; }
 
     // Stop all physical motion.
-    public abstract void ZeroMotion();
+    public abstract void ZeroMotion(bool inTaintTime);
+    public abstract void ZeroAngularMotion(bool inTaintTime);
 
     // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
     public virtual void StepVehicle(float timeStep) { }
-- 
cgit v1.1


From 6c961d8addf5c6aad81165042e684e45429b3b21 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 18 Nov 2012 22:58:36 -0800
Subject: BulletSim: Use base class constructors for initialization of BSShape
 and other classes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 ++++-
 1 file changed, 4 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 e803072..991e5b1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  */
 public abstract class BSPhysObject : PhysicsActor
 {
-    protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
+    protected BSPhysObject()
+    {
+    }
+    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
         PhysicsScene = parentScene;
         LocalID = localID;
-- 
cgit v1.1


From d6db0d5740dae03174f65846556f2f06d573b5c4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 20 Nov 2012 11:24:25 -0800
Subject: BulletSim: uplevel PhysicsShapeType out of ShapeData structure (since
 it is getting simplified out of existance someday) and update all the
 references to that enum.

---
 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 991e5b1..e68b167 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor
     public PrimitiveBaseShape BaseShape { get; protected set; }
     // Some types of objects have preferred physical representations.
     // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
+    public virtual PhysicsShapeType PreferredPhysicalShape
     {
-        get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; }
+        get { return PhysicsShapeType.SHAPE_UNKNOWN; }
     }
 
     // When the physical properties are updated, an EntityProperty holds the update values.
-- 
cgit v1.1


From 3b2caa63b0ba890555990a88821ee37daa2607b4 Mon Sep 17 00:00:00 2001
From: Melanie
Date: Thu, 22 Nov 2012 14:45:41 +0000
Subject: Rename BulletSim's PhysicsShapeType to BSPhysicsShapeType because it
 conflicts with PhysicsShape type defined in later libOMV

---
 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 e68b167..f6a890e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor
     public PrimitiveBaseShape BaseShape { get; protected set; }
     // Some types of objects have preferred physical representations.
     // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual PhysicsShapeType PreferredPhysicalShape
+    public virtual BSPhysicsShapeType PreferredPhysicalShape
     {
-        get { return PhysicsShapeType.SHAPE_UNKNOWN; }
+        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
     }
 
     // When the physical properties are updated, an EntityProperty holds the update values.
-- 
cgit v1.1


From ce5083a504a82712149f5e3dab622d42e260bba3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 9 Dec 2012 22:10:32 -0800
Subject: BulletSim: adjust friction and restitution based on material type.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++
 1 file changed, 10 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 f6a890e..b05d4ee 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -60,6 +60,9 @@ public abstract class BSPhysObject : PhysicsActor
         Linkset = BSLinkset.Factory(PhysicsScene, this);
         LastAssetBuildFailed = false;
 
+        // Default material type
+        Material = MaterialAttributes.Material.Wood;
+
         CollisionCollection = new CollisionEventUpdate();
         SubscribedEventsMs = 0;
         CollidingStep = 0;
@@ -109,6 +112,13 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
 
+    // Materialness
+    public MaterialAttributes.Material Material { get; private set; }
+    public override void SetMaterial(int material)
+    {
+        Material = (MaterialAttributes.Material)material;
+    }
+
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);
-- 
cgit v1.1


From 9df85eadf4b3719a898fda8769313ae023962c25 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 10 Dec 2012 15:35:53 -0800
Subject: BulletSim: Fix crash on the destruction of physical linksets. While
 fixing the above, add methods to physical body and shape pointer wrapper so
 routines won't have to know that IntPtr.Zero means no physical instance. Fix
 problem with physical linksets failing after a few sits and unsits by
 properly restoring child prom positions for compound linksets after multiple
 selection and deselections.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 ++++-
 1 file changed, 4 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 b05d4ee..d2fc15c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -75,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor
     public string TypeName { get; protected set; }
 
     public BSLinkset Linkset { get; set; }
+    public BSLinksetInfo LinksetInfo { get; set; }
 
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
@@ -253,7 +254,9 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
+            if (PhysBody.HasPhysicalBody)
+                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
-- 
cgit v1.1


From bb6eeb54296246e26594bc06edc3a42c0e5824e9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 12 Dec 2012 11:01:36 -0800
Subject: BulletSim: do not return the current velocity for targetVelocity.

---
 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 d2fc15c..f3b6993 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -139,6 +139,17 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    // The system is telling us the velocity it wants to move at.
+    protected OMV.Vector3 m_targetVelocity;
+    public override OMV.Vector3 TargetVelocity
+    {
+        get { return m_targetVelocity; }
+        set
+        {
+            m_targetVelocity = value;
+            Velocity = value;
+        }
+    }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
-- 
cgit v1.1


From e1814aa827c2d0af21d087bd34e3c7f4f7cf25bd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 12 Dec 2012 16:29:03 -0800
Subject: BulletSim: fix problem of avatar's floating off the ground after
 unsitting. Reworked size/scale logic so physical scale is kept in Bullet and
 physObject scale is the preferred size -- usually same as size but avatars
 are computed differently.

---
 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 f3b6993..6539b43 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -109,7 +109,7 @@ public abstract class BSPhysObject : PhysicsActor
     public EntityProperties CurrentEntityProperties { get; set; }
     public EntityProperties LastEntityProperties { get; set; }
 
-    public abstract OMV.Vector3 Scale { get; set; }
+    public virtual OMV.Vector3 Scale { get; set; }
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
 
-- 
cgit v1.1


From 2b8efa24dd816fda23fe3aed5822af1d50febf5d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 16 Dec 2012 21:18:32 -0800
Subject: BulletSim: add parameter to UpdateProperties call into the linkset so
 changes from the physics engine can be differentiated from changes made by
 the user. This eliminates a linkset rebuild loop. Also add logic to not
 rebuild or freak out when the object/linkset crosses a terrain boundry.

---
 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 6539b43..92a5f2f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -214,7 +214,7 @@ 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;
+        bool force = (CollisionCollection.Count == 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -232,8 +232,10 @@ public abstract class BSPhysObject : PhysicsActor
             // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
-            // The collisionCollection structure is passed around in the simulator.
+            // 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, 
+            //    a race condition is created for the other users of this instance.
             CollisionCollection = new CollisionEventUpdate();
         }
         return ret;
@@ -251,7 +253,8 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                if (PhysBody.HasPhysicalBody)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
-- 
cgit v1.1


From 3d659fe97d79c04983dcfa8c78e9dde1623f54f2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 17:27:53 -0800
Subject: BulletSim: add BSPhysObject code to manage registrations of preStep
 events. Use same to implement setForce and setTorque so the values are
 restored at the beginning of each step (since Bullet zeros forces applied
 last step). Simplify implementation of AddForce and AddTorque by relying on
 the addition of forces in Bullet.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 56 ++++++++++++++++++++--
 1 file changed, 53 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 92a5f2f..9525a11 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -45,6 +45,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  *      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.
  */
+
+/*
+ * As of 20121221, the following are the call sequences (going down) for different script physical functions:
+ * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
+ * 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              
+ */
+
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()
@@ -69,6 +79,12 @@ public abstract class BSPhysObject : PhysicsActor
         CollidingGroundStep = 0;
     }
 
+    // Tell the object to clean up.
+    public virtual void Destroy()
+    {
+        UnRegisterAllPreStepActions();
+    }
+
     public BSScene PhysicsScene { get; protected set; }
     // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
     public string PhysObjectName { get; protected set; }
@@ -130,9 +146,6 @@ 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);
 
-    // Tell the object to clean up.
-    public abstract void Destroy();
-
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
@@ -280,11 +293,48 @@ public abstract class BSPhysObject : PhysicsActor
 
     #endregion // Collisions
 
+    #region Per Simulation Step actions
+    // 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> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
+    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
+    {
+        string identifier = op + "-" + id.ToString();
+        RegisteredActions[identifier] = actn;
+        PhysicsScene.BeforeStep += actn;
+    }
+
+    // Unregister a pre step action. Safe to call if the action has not been registered.
+    protected void UnRegisterPreStepAction(string op, uint id)
+    {
+        string identifier = op + "-" + id.ToString();
+        if (RegisteredActions.ContainsKey(identifier))
+        {
+            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+            RegisteredActions.Remove(identifier);
+        }
+    }
+
+    protected void UnRegisterAllPreStepActions()
+    {
+        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+        {
+            PhysicsScene.BeforeStep -= kvp.Value;
+        }
+        RegisteredActions.Clear();
+    }
+
+    
+    #endregion // Per Simulation Step actions
+
     // 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);
     }
+
 }
 }
-- 
cgit v1.1


From 37fb691ba56a72b95eeeacc13fb16c1f03af6006 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 23:03:27 -0800
Subject: BulletSim: Fix llApplyImpulse so it works after the first impulse.
 The problem was Bullet deactivating the object between the pushes (when, as
 far as the physics engine is concerned, it isn't moving).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +++++
 1 file changed, 5 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 9525a11..19de1e5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -304,17 +304,21 @@ public abstract class BSPhysObject : PhysicsActor
         string identifier = op + "-" + id.ToString();
         RegisteredActions[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.
     protected void UnRegisterPreStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
+        bool removed = false;
         if (RegisteredActions.ContainsKey(identifier))
         {
             PhysicsScene.BeforeStep -= RegisteredActions[identifier];
             RegisteredActions.Remove(identifier);
+            removed = true;
         }
+        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
     }
 
     protected void UnRegisterAllPreStepActions()
@@ -324,6 +328,7 @@ public abstract class BSPhysObject : PhysicsActor
             PhysicsScene.BeforeStep -= kvp.Value;
         }
         RegisteredActions.Clear();
+        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
     }
 
     
-- 
cgit v1.1


From 30807b81cc9f91917fd3b4bf8dc24a1622013afa Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 22 Dec 2012 17:09:40 -0800
Subject: BulletSim: modify avatar motor code to make falling movement better.
 Clean up some usages. Disable motor when done.

---
 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 19de1e5..c76f869 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -153,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     // The system is telling us the velocity it wants to move at.
-    protected OMV.Vector3 m_targetVelocity;
+    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
     public override OMV.Vector3 TargetVelocity
     {
         get { return m_targetVelocity; }
-- 
cgit v1.1


From 80cee1b85a646045c02e2bb675056d532ce2fe27 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 24 Dec 2012 08:56:02 -0800
Subject: BulletSim: Fix single physical prim reporting its mass as zero.
 Properly return root mass as mass of just the root prim rather than the mass
 of the linkset. SOG has the logic to add the masses together to get the
 linkset mass. Update TODO list.

---
 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 c76f869..4bed535 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
-    public abstract void UpdatePhysicalMassProperties(float mass);
+    // 'inWorld' true if the object has already been added to the dynamic world.
+    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
 
     // The last value calculated for the prim's inertia
     public OMV.Vector3 Inertia { get; set; }
-- 
cgit v1.1


From 7a5f598399c7373bd146061b478e6d04cb204879 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 16:05:11 -0800
Subject: BulletSim: move logic for IsColliding, CollidingGround and
 CollidingObj from individual sub-classes and up to parent BSPhysObject class.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 37 +++++++++++++++++++++-
 1 file changed, 36 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 4bed535..73b5764 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -182,9 +182,40 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingStep { get; set; }
     // The simulation step that last had a collision with the ground
     protected long CollidingGroundStep { get; set; }
+    // The simulation step that last collided with an object
+    protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
 
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set {
+            if (value)
+                CollidingStep = PhysicsScene.SimulationStep;
+            else
+                CollidingStep = 0;
+            }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set
+        {
+            if (value)
+                CollidingGroundStep = PhysicsScene.SimulationStep;
+            else
+                CollidingGroundStep = 0;
+        }
+    }
+    public override bool CollidingObj {
+        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
+        set { 
+            if (value)
+                CollidingObjectStep = PhysicsScene.SimulationStep;
+            else
+                CollidingObjectStep = 0;
+        }
+    }
+
     // The collisions that have been collected this tick
     protected CollisionEventUpdate CollisionCollection;
 
@@ -196,12 +227,16 @@ public abstract class BSPhysObject : PhysicsActor
     {
         bool ret = false;
 
-        // The following lines make IsColliding() and IsCollidingGround() work
+        // The following lines make IsColliding(), CollidingGround() and CollidingObj work
         CollidingStep = PhysicsScene.SimulationStep;
         if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
         {
             CollidingGroundStep = PhysicsScene.SimulationStep;
         }
+        else
+        {
+            CollidingObjectStep = PhysicsScene.SimulationStep;
+        }
 
         // prims in the same linkset cannot collide with each other
         if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-- 
cgit v1.1


From 203588e3c0374505a6aa564d8f7a655d968653d7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 29 Dec 2012 18:34:46 -0800
Subject: BulletSim: change physical data structures to classes. Add default
 instantiations for PhysBody and PhysShape when BSPhysObject is created to
 account for them being classes and not structures. Update TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +++++
 1 file changed, 5 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 73b5764..b093890 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -67,6 +67,11 @@ public abstract class BSPhysObject : PhysicsActor
         PhysObjectName = name;
         TypeName = typeName;
 
+        // We don't have any physical representation yet.
+        PhysBody = new BulletBody(localID);
+        PhysShape = new BulletShape();
+
+        // A linkset of just me
         Linkset = BSLinkset.Factory(PhysicsScene, this);
         LastAssetBuildFailed = false;
 
-- 
cgit v1.1


From 9218748321519ed04da5cdffa1f29e69030171b5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Dec 2012 10:21:47 -0800
Subject: BulletSim: another round of conversion: dynamics world and collision
 object functions.

---
 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 b093890..e7cb3e0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -308,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -324,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
-- 
cgit v1.1


From 92a6958b6d56293693b92c082595f46e7c9b1119 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 3 Jan 2013 19:34:14 -0800
Subject: BulletSim: fix problem where pre-step actions would not replaced by
 new registrations thus causing multiple instances of an action.

---
 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 e7cb3e0..534f929 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -343,6 +343,10 @@ public abstract class BSPhysObject : PhysicsActor
     protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
     {
         string identifier = op + "-" + id.ToString();
+
+        // Clean out any existing action
+        UnRegisterPreStepAction(op, id);
+
         RegisteredActions[identifier] = actn;
         PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
-- 
cgit v1.1


From 8452c0a8702ccf7ea045740dd829c69a6f509845 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 7 Jan 2013 16:05:02 -0800
Subject: BulletSim: add function to push avatar up when hitting stairs. It
 looks like BulletSim and ODE rely on penetration correction to cause the
 avatar to move up and thus allowing walking up stairs. Object penetration was
 minimized for walking and flying (so one doesn't go through walls) and this
 stopped stairs from working. This commit introduces avatar movement code to
 check for collisions at the feet while walking and attempts to raise the
 avatar for the steps. Not yet perfect but movement is better.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 27 ++++++++++++++++++++++
 1 file changed, 27 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 534f929..e8575f6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -79,6 +79,7 @@ public abstract class BSPhysObject : PhysicsActor
         Material = MaterialAttributes.Material.Wood;
 
         CollisionCollection = new CollisionEventUpdate();
+        CollisionsLastTick = CollisionCollection;
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
@@ -159,6 +160,7 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     // The system is telling us the velocity it wants to move at.
+    // Velocity in world coordinates.
     // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
     public override OMV.Vector3 TargetVelocity
     {
@@ -169,6 +171,15 @@ public abstract class BSPhysObject : PhysicsActor
             Velocity = value;
         }
     }
+    public virtual float TargetSpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+    public abstract OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
     public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
@@ -177,6 +188,15 @@ public abstract class BSPhysObject : PhysicsActor
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
+    public virtual float ForwardSpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
@@ -223,9 +243,13 @@ public abstract class BSPhysObject : PhysicsActor
 
     // The collisions that have been collected this tick
     protected CollisionEventUpdate CollisionCollection;
+    // Remember collisions from last tick for fancy collision based actions
+    //     (like a BSCharacter walking up stairs).
+    protected CollisionEventUpdate CollisionsLastTick;
 
     // The simulation step is telling this object about a collision.
     // 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 virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
@@ -286,6 +310,9 @@ public abstract class BSPhysObject : PhysicsActor
             // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
+            // Remember the collisions from this tick for some collision specific processing.
+            CollisionsLastTick = 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.
             //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
-- 
cgit v1.1


From 93adc4cb6689b156db4db315d44b5ba0ddcd65ac Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 9 Jan 2013 22:45:01 -0800
Subject: BulletSim: Add IsSelected attribute to physical objects. Have
 vehicles check to see if physical before trying to step. Replace vehicle
 gravity application. Previously relying on Bullet to apply gravity but since
 vehicles over-ride the velocity calculation, gravity never had a chance to
 accelerate the body down. Added AddForceImpulse as well as AddForce for those
 who need to apply immediate velocity updates. Use the impulse to apply the
 linear motion.

---
 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 e8575f6..2c84293 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -135,6 +135,7 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual OMV.Vector3 Scale { get; set; }
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
+    public abstract bool IsSelected { get; }
 
     // Materialness
     public MaterialAttributes.Material Material { get; private set; }
-- 
cgit v1.1


From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 11 Jan 2013 16:36:34 -0800
Subject: BulletSim: move center of gravity of linkset to its geometric center.
 Necessitated allowing simulator and physical position of a body to get out of
 sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and
 SOs for the UpdateChildTransform so positions of   individual prim in a
 linkset can be implemented.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++
 1 file changed, 10 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 2c84293..185f111 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -73,6 +73,8 @@ public abstract class BSPhysObject : PhysicsActor
 
         // A linkset of just me
         Linkset = BSLinkset.Factory(PhysicsScene, this);
+        PositionDisplacement = OMV.Vector3.Zero;
+
         LastAssetBuildFailed = false;
 
         // Default material type
@@ -157,6 +159,14 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    // Position is what the simulator thinks the positions of the prim is.
+    // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
+    //     sometimes it is necessary to displace the position the physics engine thinks
+    //     the position is. PositionDisplacement must be added and removed from the
+    //     position as the simulator position is stored and fetched from the physics
+    //     engine. 
+    public virtual OMV.Vector3 PositionDisplacement { get; set; }
+
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-- 
cgit v1.1


From 4e1ca890c2d41bf244ed7d4847c0d0a4fc7f6c51 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 14 Jan 2013 15:46:46 -0800
Subject: BulletSim: fix not moving physical objects below terrain to over
 terrain. Add locking on register prestep action list preventing potential
 race conditions. Little comment and formatting changes.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 29 ++++++++++++++--------
 1 file changed, 19 insertions(+), 10 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 185f111..821f470 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -382,10 +382,13 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
 
-        // Clean out any existing action
-        UnRegisterPreStepAction(op, id);
+        lock (RegisteredActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreStepAction(op, id);
 
-        RegisteredActions[identifier] = actn;
+            RegisteredActions[identifier] = actn;
+        }
         PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
     }
@@ -395,22 +398,28 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
+            if (RegisteredActions.ContainsKey(identifier))
+            {
+                PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+                RegisteredActions.Remove(identifier);
+                removed = true;
+            }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
     }
 
     protected void UnRegisterAllPreStepActions()
     {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= kvp.Value;
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+            {
+                PhysicsScene.BeforeStep -= kvp.Value;
+            }
+            RegisteredActions.Clear();
         }
-        RegisteredActions.Clear();
         DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
     }
 
-- 
cgit v1.1


From 75f710f1e70a3c9d3459d549eb4334a445aca834 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 17 Jan 2013 14:47:35 -0800
Subject: BulletSim: Add one function that all actors who act on the physical
 can use to know if the object is currently active. Code cleaning including
 use of Util.ClampV function.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++--
 1 file changed, 8 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 821f470..bac0427 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -139,6 +139,11 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract bool IsStatic { get; }
     public abstract bool IsSelected { get; }
 
+    // It can be confusing for an actor to know if it should move or update an object
+    //    depeneding on the setting of 'selected', 'physical, ...
+    // This flag is the true test -- if true, the object is being acted on in the physical world
+    public abstract bool IsPhysicallyActive { get; }
+
     // Materialness
     public MaterialAttributes.Material Material { get; private set; }
     public override void SetMaterial(int material)
@@ -302,8 +307,9 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual bool SendCollisions()
     {
         bool ret = true;
+
         // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = (CollisionCollection.Count == 0);
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -318,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
                 ret = false;
             }
 
-            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+            DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
             base.SendCollisionUpdate(CollisionCollection);
 
             // Remember the collisions from this tick for some collision specific processing.
-- 
cgit v1.1


From c6b6c94ccbbbd5226a377a510a988bedec7a418c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 18 Jan 2013 11:39:24 -0800
Subject: BulletSim: reduce jitter in avatar velocity when walking or flying.
 OpenSimulator is VERY sensitive to changes in avatar velocity and will send
 an avatar update message when velocity changes more than 0.001m/s. This
 significantly reduces the number of avatar update messages by smoothing the
 avatar velocity returned by Bullet.

---
 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 bac0427..5353c75 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -141,7 +141,7 @@ public abstract class BSPhysObject : PhysicsActor
 
     // It can be confusing for an actor to know if it should move or update an object
     //    depeneding on the setting of 'selected', 'physical, ...
-    // This flag is the true test -- if true, the object is being acted on in the physical world
+    // This flag is the true test -- if true, the object is being acted on in the physical world
     public abstract bool IsPhysicallyActive { get; }
 
     // Materialness
-- 
cgit v1.1


From 471c4778639aec60078e6cee7c964682c959f033 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 21 Jan 2013 15:58:22 -0800
Subject: BulletSim: allow changing position and rotation of a child of a
 linkset without rebuilding the whole compound shape. Should make vehicles
 move smoother.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++
 1 file changed, 10 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 5353c75..027c786 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * BS.ApplyCentralForce BS.ApplyTorque              
  */
 
+// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
+public enum UpdatedProperties : uint
+{
+    Position                = 1 << 0,
+    Orientation             = 1 << 1,
+    Velocity                = 1 << 2,
+    Acceleration            = 1 << 3,
+    RotationalVelocity      = 1 << 4,
+    EntPropUpdates          = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
+}
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()
-- 
cgit v1.1


From c44a8e9f925c0195c4754c5e763af06dae657b53 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 25 Jan 2013 10:17:20 -0800
Subject: BulletSim: finish the post step event for physical object actions.
 Modify vehicle to use post step event for logging.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 66 ++++++++++++++++++----
 1 file changed, 56 insertions(+), 10 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 027c786..285d4a2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -101,6 +101,7 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual void Destroy()
     {
         UnRegisterAllPreStepActions();
+        UnRegisterAllPostStepActions();
     }
 
     public BSScene PhysicsScene { get; protected set; }
@@ -393,17 +394,18 @@ public abstract class BSPhysObject : PhysicsActor
     // 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> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
+    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 (RegisteredActions)
+        lock (RegisteredPrestepActions)
         {
             // Clean out any existing action
             UnRegisterPreStepAction(op, id);
 
-            RegisteredActions[identifier] = actn;
+            RegisteredPrestepActions[identifier] = actn;
         }
         PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
@@ -414,12 +416,12 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
-        lock (RegisteredActions)
+        lock (RegisteredPrestepActions)
         {
-            if (RegisteredActions.ContainsKey(identifier))
+            if (RegisteredPrestepActions.ContainsKey(identifier))
             {
-                PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-                RegisteredActions.Remove(identifier);
+                PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
+                RegisteredPrestepActions.Remove(identifier);
                 removed = true;
             }
         }
@@ -428,17 +430,61 @@ public abstract class BSPhysObject : PhysicsActor
 
     protected void UnRegisterAllPreStepActions()
     {
-        lock (RegisteredActions)
+        lock (RegisteredPrestepActions)
         {
-            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
             {
                 PhysicsScene.BeforeStep -= kvp.Value;
             }
-            RegisteredActions.Clear();
+            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.
+    protected void 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);
+    }
 
+    protected void UnRegisterAllPostStepActions()
+    {
+        lock (RegisteredPoststepActions)
+        {
+            foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
+            {
+                PhysicsScene.AfterStep -= kvp.Value;
+            }
+            RegisteredPoststepActions.Clear();
+        }
+        DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
+    }
     
     #endregion // Per Simulation Step actions
 
-- 
cgit v1.1


From ddef8f16e58471d19baa63f14134b25309cf2570 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 25 Jan 2013 16:00:17 -0800
Subject: BulletSim: first attempt at reporting top colliders

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 17 +++++++++++++++++
 1 file changed, 17 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 285d4a2..5e8143c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -95,6 +95,8 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
+        CollisionAccumulation = 0;
+        CollisionScore = 0;
     }
 
     // Tell the object to clean up.
@@ -239,6 +241,9 @@ public abstract class BSPhysObject : PhysicsActor
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
 
+    // Count of collisions for this object
+    protected long CollisionAccumulation { get; set; }
+
     public override bool IsColliding {
         get { return (CollidingStep == PhysicsScene.SimulationStep); }
         set {
@@ -300,6 +305,8 @@ public abstract class BSPhysObject : PhysicsActor
             return ret;
         }
 
+        CollisionAccumulation++;
+
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
@@ -386,6 +393,16 @@ public abstract class BSPhysObject : PhysicsActor
     public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
+    // Because 'CollisionScore' is calls many times while sorting it should not be recomputed
+    //    each time called. So this is built to be light weight for each collision and to do
+    //    all the processing when the user asks for the info.
+    public void ComputeCollisionScore()
+    {
+        // Scale the collision count by the time since the last collision
+        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        CollisionScore = CollisionAccumulation / timeAgo;
+    }
+    public override float CollisionScore { get; set; }
 
     #endregion // Collisions
 
-- 
cgit v1.1


From e9aff0a91d6a4d02498ce45759389bb09b34fcbc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 28 Jan 2013 15:11:50 -0800
Subject: BulletSim: do not zero an avatar's standing velocity if it is
 standing on a moving object. Rearrange pre/post action subscription code to
 put more in locks. Add meshmerizer params to BulletSimTestUtil scene creation
 (and fix line endings). Rebuilt version of DLLs and SOs with cleaned up code
 and no profiling for sure.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 33 ++++++++++++++++------
 1 file changed, 24 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 5e8143c..a113530 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,6 +96,7 @@ public abstract class BSPhysObject : PhysicsActor
         CollidingStep = 0;
         CollidingGroundStep = 0;
         CollisionAccumulation = 0;
+        ColliderIsMoving = false;
         CollisionScore = 0;
     }
 
@@ -177,13 +178,14 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
-    // Position is what the simulator thinks the positions of the prim is.
+    // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
     // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
     //     sometimes it is necessary to displace the position the physics engine thinks
     //     the position is. PositionDisplacement must be added and removed from the
     //     position as the simulator position is stored and fetched from the physics
-    //     engine. 
+    //     engine. Similar to OrientationDisplacement.
     public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
 
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
@@ -240,6 +242,9 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     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;
 
     // Count of collisions for this object
     protected long CollisionAccumulation { get; set; }
@@ -307,7 +312,10 @@ public abstract class BSPhysObject : PhysicsActor
 
         CollisionAccumulation++;
 
-        // if someone has subscribed for collision events....
+        // For movement tests, remember if we are colliding with an object that is moving.
+        ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
+
+        // 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));
             DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
@@ -393,12 +401,13 @@ public abstract class BSPhysObject : PhysicsActor
     public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
-    // Because 'CollisionScore' is calls many times while sorting it should not be recomputed
+    // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
     //    each time called. So this is built to be light weight for each collision and to do
     //    all the processing when the user asks for the info.
     public void ComputeCollisionScore()
     {
-        // Scale the collision count by the time since the last collision
+        // Scale the collision count by the time since the last collision.
+        // The "+1" prevents dividing by zero.
         long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
         CollisionScore = CollisionAccumulation / timeAgo;
     }
@@ -423,13 +432,15 @@ public abstract class BSPhysObject : PhysicsActor
             UnRegisterPreStepAction(op, id);
 
             RegisteredPrestepActions[identifier] = actn;
+
+            PhysicsScene.BeforeStep += 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.
-    protected void UnRegisterPreStepAction(string op, uint id)
+    // Returns 'true' if an action was actually removed
+    protected bool UnRegisterPreStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
@@ -443,6 +454,7 @@ public abstract class BSPhysObject : PhysicsActor
             }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
     }
 
     protected void UnRegisterAllPreStepActions()
@@ -468,13 +480,15 @@ public abstract class BSPhysObject : PhysicsActor
             UnRegisterPostStepAction(op, id);
 
             RegisteredPoststepActions[identifier] = actn;
+
+            PhysicsScene.AfterStep += 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.
-    protected void UnRegisterPostStepAction(string op, uint id)
+    // Returns 'true' if an action was actually removed.
+    protected bool UnRegisterPostStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
@@ -488,6 +502,7 @@ public abstract class BSPhysObject : PhysicsActor
             }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
     }
 
     protected void UnRegisterAllPostStepActions()
-- 
cgit v1.1


From 371449db2ff27ffcd6d8317ffec1c0176937f38f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 30 Jan 2013 14:38:19 -0800
Subject: BulletSim: clean up TargetVelocity implementation by using the
 default defn in the PhysicsActor base class.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ------------
 1 file changed, 12 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 a113530..823402b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -190,18 +190,6 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-    // The system is telling us the velocity it wants to move at.
-    // Velocity in world coordinates.
-    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
-    public override OMV.Vector3 TargetVelocity
-    {
-        get { return m_targetVelocity; }
-        set
-        {
-            m_targetVelocity = value;
-            Velocity = value;
-        }
-    }
     public virtual float TargetSpeed
     {
         get
-- 
cgit v1.1


From d2ece00e68c070bf9ffbda3f76e4eccf3c33545f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 6 Feb 2013 15:59:59 -0800
Subject: BulletSim: set removing zero width triangles in meshes to be enabled
 by default. This should fix the invisible barrier in sculptie doorways bug.

---
 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 823402b..ec25aa9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -75,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor
         PhysicsScene = parentScene;
         LocalID = localID;
         PhysObjectName = name;
+        Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
         // We don't have any physical representation yet.
-- 
cgit v1.1


From ebb63b55aab98da6d44e82fc0ecfd5d22f245172 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 11:53:49 -0800
Subject: BulletSim: add user setting of friction, density and restitution.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 17 ++++++++++++-----
 1 file changed, 12 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 ec25aa9..0b35f3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
         Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
+        // Initialize variables kept in base.
+        GravityModifier = 1.0f;
+        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+
         // We don't have any physical representation yet.
         PhysBody = new BulletBody(localID);
         PhysShape = new BulletShape();
@@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor
 
         LastAssetBuildFailed = false;
 
-        // Default material type
-        Material = MaterialAttributes.Material.Wood;
+        // Default material type. Also sets Friction, Restitution and Density.
+        SetMaterial((int)MaterialAttributes.Material.Wood);
 
         CollisionCollection = new CollisionEventUpdate();
         CollisionsLastTick = CollisionCollection;
@@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor
     // 'inWorld' true if the object has already been added to the dynamic world.
     public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
 
+    // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
+    public virtual OMV.Vector3 Gravity { get; set; }
     // The last value calculated for the prim's inertia
     public OMV.Vector3 Inertia { get; set; }
 
@@ -164,15 +170,16 @@ public abstract class BSPhysObject : PhysicsActor
     public override void SetMaterial(int material)
     {
         Material = (MaterialAttributes.Material)material;
+        MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+        Friction = matAttrib.friction;
+        Restitution = matAttrib.restitution;
+        Density = matAttrib.density;
     }
 
     // Stop all physical motion.
     public abstract void ZeroMotion(bool inTaintTime);
     public abstract void ZeroAngularMotion(bool inTaintTime);
 
-    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
-    public virtual void StepVehicle(float timeStep) { }
-
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
-- 
cgit v1.1


From 913965256fecd4e25e06fe374fa5d8b8712a3b15 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 17:05:40 -0800
Subject: BulletSim: Adapt BulletSim to the newer physical properties. Viewer
 dialog setting of friction, restitution, ... working.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++-
 1 file changed, 3 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 0b35f3a..0d8bb03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -79,7 +79,7 @@ public abstract class BSPhysObject : PhysicsActor
         TypeName = typeName;
 
         // Initialize variables kept in base.
-        GravityModifier = 1.0f;
+        GravModifier = 1.0f;
         Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
 
         // We don't have any physical representation yet.
@@ -170,6 +170,8 @@ public abstract class BSPhysObject : PhysicsActor
     public override void SetMaterial(int material)
     {
         Material = (MaterialAttributes.Material)material;
+
+        // Setting the material sets the material attributes also.
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-- 
cgit v1.1


From 1b203601f43662541526369f540dd04f5b485be6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 21:57:31 -0800
Subject: BulletSim: include the linkage to the layered prim implementation.
 Separate layers for physical (vs simulator) location displacement and
 linksets.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs    | 21 ---------------------
 1 file changed, 21 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 0d8bb03..e1d269a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor
         PhysBody = new BulletBody(localID);
         PhysShape = new BulletShape();
 
-        // A linkset of just me
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
-        PositionDisplacement = OMV.Vector3.Zero;
-
         LastAssetBuildFailed = false;
 
         // Default material type. Also sets Friction, Restitution and Density.
@@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor
     public string PhysObjectName { get; protected set; }
     public string TypeName { get; protected set; }
 
-    public BSLinkset Linkset { get; set; }
-    public BSLinksetInfo LinksetInfo { get; set; }
 
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
@@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
-    // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
-    // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
-    //     sometimes it is necessary to displace the position the physics engine thinks
-    //     the position is. PositionDisplacement must be added and removed from the
-    //     position as the simulator position is stored and fetched from the physics
-    //     engine. Similar to OrientationDisplacement.
-    public virtual OMV.Vector3 PositionDisplacement { get; set; }
-    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
-
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
@@ -302,12 +287,6 @@ public abstract class BSPhysObject : PhysicsActor
             CollidingObjectStep = PhysicsScene.SimulationStep;
         }
 
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-        {
-            return ret;
-        }
-
         CollisionAccumulation++;
 
         // For movement tests, remember if we are colliding with an object that is moving.
-- 
cgit v1.1


From 1b55a9d81e66972312fdc801d17da697466f9ed4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 8 Feb 2013 15:25:57 -0800
Subject: BulletSim: fix avatar bobbing or jiggling while stationary flying.
 Various comments and debugging message mods.

---
 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 e1d269a..de69fa0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -290,13 +290,13 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionAccumulation++;
 
         // For movement tests, remember if we are colliding with an object that is moving.
-        ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
+        ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
 
         // 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));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
 
             ret = true;
         }
-- 
cgit v1.1


From fb903ff49089d5fd7a56aa2401528c3e7cf1800c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 10 Feb 2013 09:51:34 -0800
Subject: BulletSim: More work on center-of-mass. Remove linksetinfo and rely
 on simulator to update info.

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 31 ++++++++++++++--------
 1 file changed, 20 insertions(+), 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 de69fa0..8ebb532 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -136,6 +136,7 @@ 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
@@ -150,15 +151,17 @@ public abstract class BSPhysObject : PhysicsActor
     public EntityProperties LastEntityProperties { get; set; }
 
     public virtual OMV.Vector3 Scale { get; set; }
-    public abstract bool IsSolid { get; }
-    public abstract bool IsStatic { get; }
-    public abstract bool IsSelected { get; }
 
     // It can be confusing for an actor to know if it should move or update an object
     //    depeneding on the setting of 'selected', 'physical, ...
     // This flag is the true test -- if true, the object is being acted on in the physical world
     public abstract bool IsPhysicallyActive { get; }
 
+    // Detailed state of the object.
+    public abstract bool IsSolid { get; }
+    public abstract bool IsStatic { get; }
+    public abstract bool IsSelected { get; }
+
     // Materialness
     public MaterialAttributes.Material Material { get; private set; }
     public override void SetMaterial(int material)
@@ -185,14 +188,6 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-    public virtual float TargetSpeed
-    {
-        get
-        {
-            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
-            return characterOrientedVelocity.X;
-        }
-    }
     public abstract OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
@@ -202,6 +197,7 @@ public abstract class BSPhysObject : PhysicsActor
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
+    // The current velocity forward
     public virtual float ForwardSpeed
     {
         get
@@ -210,6 +206,19 @@ public abstract class BSPhysObject : PhysicsActor
             return characterOrientedVelocity.X;
         }
     }
+    // The forward speed we are trying to achieve (TargetVelocity)
+    public virtual float TargetVelocitySpeed
+    {
+        get
+        {
+            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
+            return characterOrientedVelocity.X;
+        }
+    }
+
+    // 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; }
 
     #region Collisions
 
-- 
cgit v1.1


From 0194a3d890b95c8a29fcdf130c378e3a8a629c77 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 12 Feb 2013 15:45:44 -0800
Subject: BulletSim: fix density since the simulator/viewer track density in a
 funny unit that is 100 times real density (default 1000). Fix avatar drifting
 slowly when stationary flying. Fix for physical prims getting corrected for
 being under terrain when it was just its geometric center that was below
 terrain. Add PreUpdatePropertyAction allowing plugable modifiction of phys
 parameters returned from Bullet. Fix an exception setting GravityMultiplier
 on initialization. Update DLLs and SOs for good measure (no functional
 change).

---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 66 ++++++++++++++++++++--
 1 file changed, 60 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 8ebb532..f953c1e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -99,6 +99,9 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionAccumulation = 0;
         ColliderIsMoving = false;
         CollisionScore = 0;
+
+        // All axis free.
+        LockedAxis = LockedAxisFree;
     }
 
     // Tell the object to clean up.
@@ -172,7 +175,8 @@ public abstract class BSPhysObject : PhysicsActor
         MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
-        Density = matAttrib.density;
+        Density = matAttrib.density / BSParam.DensityScaleFactor;
+        DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
     }
 
     // Stop all physical motion.
@@ -220,6 +224,9 @@ public abstract class BSPhysObject : PhysicsActor
     //    computed center-of-mass (like in linksets).
     public OMV.Vector3? UserSetCenterOfMass { 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
+
     #region Collisions
 
     // Requested number of milliseconds between collision events. Zero means disabled.
@@ -416,9 +423,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // Clean out any existing action
             UnRegisterPreStepAction(op, id);
-
             RegisteredPrestepActions[identifier] = actn;
-
             PhysicsScene.BeforeStep += actn;
         }
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
@@ -464,9 +469,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // Clean out any existing action
             UnRegisterPostStepAction(op, id);
-
             RegisteredPoststepActions[identifier] = actn;
-
             PhysicsScene.AfterStep += actn;
         }
         DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
@@ -503,7 +506,58 @@ public abstract class BSPhysObject : PhysicsActor
         }
         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);
+    public event PreUpdatePropertyAction OnPreUpdateProperty;
+    protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
+    {
+        PreUpdatePropertyAction actions = OnPreUpdateProperty;
+        if (actions != null)
+            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 953090fd62c2f8647d0e04bc3890a04a7076dbad Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 23 Mar 2013 11:00:52 -0700
Subject: BulletSim: fix possible race condition where an prim's asset can be
 requested quicker than the asset fetcher returns and thus falsely reporting
 that an asset was not fetched and defaulting the assset to a bounding box.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++----
 1 file changed, 8 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 f953c1e..6bb88c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -86,7 +86,7 @@ public abstract class BSPhysObject : PhysicsActor
         PhysBody = new BulletBody(localID);
         PhysShape = new BulletShape();
 
-        LastAssetBuildFailed = false;
+        PrimAssetState = PrimAssetCondition.Unknown;
 
         // Default material type. Also sets Friction, Restitution and Density.
         SetMaterial((int)MaterialAttributes.Material.Wood);
@@ -133,9 +133,13 @@ public abstract class BSPhysObject : PhysicsActor
     // Reference to the physical shape (btCollisionShape) of this object
     public BulletShape PhysShape;
 
-    // 'true' if the mesh's underlying asset failed to build.
-    // This will keep us from looping after the first time the build failed.
-    public bool LastAssetBuildFailed { get; set; }
+    // The physical representation of the prim might require an asset fetch.
+    // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
+    public enum PrimAssetCondition
+    {
+        Unknown, Waiting, Failed, Fetched
+    }
+    public PrimAssetCondition PrimAssetState { get; set; }
 
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
-- 
cgit v1.1


From 2c581cae2a77628704ae7ae2f9f0f0a87cbb0072 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 31 Mar 2013 09:12:18 -0700
Subject: BulletSim: Add physical 'actors' that operate on the physical object.
 Add first 'actor' for locked axis.

---
 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 6bb88c7..cba2646 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor
         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);
+
         // Initialize variables kept in base.
         GravModifier = 1.0f;
         Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
@@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor
     {
         UnRegisterAllPreStepActions();
         UnRegisterAllPostStepActions();
+        PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
+        {
+            PhysicalActors.Release();
+        });
     }
 
     public BSScene PhysicsScene { get; protected set; }
@@ -230,6 +237,7 @@ 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";
 
     #region Collisions
 
@@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor
     #endregion // Collisions
 
     #region Per Simulation Step actions
+
+    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.
-- 
cgit v1.1


From 747ece59d20370115fdaf90a5a08ab77f5605b1c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 31 Mar 2013 17:36:15 -0700
Subject: BulletSim: convert BSDynamic to a BSActor and change BSPrim to set up
 the vehicle actor.

---
 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 cba2646..98ea833 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -187,7 +187,7 @@ public abstract class BSPhysObject : PhysicsActor
         Friction = matAttrib.friction;
         Restitution = matAttrib.restitution;
         Density = matAttrib.density / BSParam.DensityScaleFactor;
-        DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
+        // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
     }
 
     // Stop all physical motion.
-- 
cgit v1.1


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


From 481b7c71c34167e903b8e0d65bc8932076929675 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 20 Jun 2014 21:42:08 -0700
Subject: BulletSim: add some locking for collision lists to prevent collsions
 from locking up when running BulletSim on a separate thread.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 +++++++--
 1 file changed, 7 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 f89b376..7a46550 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -462,7 +462,10 @@ public abstract class BSPhysObject : PhysicsActor
 
         // 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));
+            lock (PhysScene.CollisionLock)
+            {
+                CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+            }
             DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
                             LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
 
@@ -474,12 +477,14 @@ public abstract class BSPhysObject : PhysicsActor
     // Send the collected collisions into the simulator.
     // Called at taint time from within the Step() function thus no locking problems
     //      with CollisionCollection and ObjectsWithNoMoreCollisions.
+    // Called with BSScene.CollisionLock locked to protect the collision lists.
     // Return 'true' if there were some actual collisions passed up
     public virtual bool SendCollisions()
     {
         bool ret = true;
 
-        // If the 'no collision' call, force it to happen right now so quick collision_end
+        // If no collisions this call but there were collisions last call, force the collision
+        //     event to be happen right now so quick collision_end.
         bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
-- 
cgit v1.1


From 9c804466e504275ea4e6379b42113d2fce80f30c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 26 Jul 2014 16:03:43 -0700
Subject: BulletSim: rearrange code for sensing whether shapes have been
 constructed. Add routine to check for failed and use that method rather than 
    checking individual state.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +++++
 1 file changed, 5 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 7a46550..75ffeb4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -159,6 +159,11 @@ public abstract class BSPhysObject : PhysicsActor
         Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched
     }
     public PrimAssetCondition PrimAssetState { get; set; }
+    public virtual bool AssetFailed()
+    {
+        return ( (this.PrimAssetState == PrimAssetCondition.FailedAssetFetch)
+              || (this.PrimAssetState == PrimAssetCondition.FailedMeshing) );
+    }
 
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
-- 
cgit v1.1


From 7a2c77e7eace93d722ef37595e9fab21d3cd266f Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey
Date: Wed, 19 Nov 2014 20:06:56 +0000
Subject: If calling llStopMoveToTarget() on an in-world prim, don't send an
 unnecessary object update if the prim was not moving to target.

This involves making PhysicsActor.PIDActive get as well as set.
On physics components that don't implement this (all characters and some phys engines) we return false.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 ++++++-
 1 file changed, 6 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 75ffeb4..f059322 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -246,7 +246,12 @@ public abstract class BSPhysObject : PhysicsActor
 
     public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
 
-    public override bool PIDActive { set { MoveToTargetActive = value; } }
+    public override bool PIDActive 
+    {
+        get { return MoveToTargetActive; }
+        set { MoveToTargetActive = value; } 
+    }
+
     public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } }
     public override float PIDTau { set { MoveToTargetTau = value; } }
 
-- 
cgit v1.1


From 265fe349e00b3ece59ec02e56f83bb7623e9d962 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Sat, 29 Nov 2014 00:12:11 +0000
Subject: Somewhat improve avatar region crossings by properly preserving
 velocity when avatar enters the new region.

This commit addresses the following issues were causing velocity to be set to 0 on the new region, disrupting flight in particular
* Full avatar updates contained no velocity information, which does appear to have some effect in testing.
* BulletSim was always setting the velocity to 0 for the new BSCharacter.  Now, physics engines take a velocity parameter when setting up characters so we can avoid this.
This patch applies to both Bullet and ODE.
---
 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 f059322..e4d8df8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -228,7 +228,7 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
-    public OMV.Vector3 RawVelocity { get; set; }
+    public virtual OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
     public OMV.Vector3 RawForce { get; set; }
-- 
cgit v1.1


From cf85ade81e38e692fe99c71386ab2c306ab77319 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 2 Oct 2014 18:45:36 -0700
Subject: BulletSim: add shape and linkset rebuild scheduled flags. Add
 BSPrim.Incomplete flag based on rebuild flags to say when an object is being
 rebuilt.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 +++++++++
 1 file changed, 9 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 e4d8df8..2b744a0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -136,6 +136,15 @@ public abstract class BSPhysObject : PhysicsActor
     // This mostly prevents property updates and collisions until the object is completely here.
     public bool IsInitialized { get; protected set; }
 
+    // Set to 'true' if an object (mesh/linkset/sculpty) is not completely constructed.
+    // This test is used to prevent some updates to the object when it only partially exists.
+    // There are several reasons and object might be incomplete:
+    //     Its underlying mesh/sculpty is an asset which must be fetched from the asset store
+    //     It is a linkset who is being added to or removed from
+    //     It is changing state (static to physical, for instance) which requires rebuilding
+    // This is a computed value based on the underlying physical object construction
+    abstract public bool IsIncomplete { get; }
+
     // Return the object mass without calculating it or having side effects
     public abstract float RawMass { get; }
     // Set the raw mass but also update physical mass properties (inertia, ...)
-- 
cgit v1.1


From 291c7cdbcc80dc270418a4959ccfa0ed8cc0c190 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Dec 2014 12:43:26 -0800
Subject: BulletSim: Add axis locking enabled through the ExtendedPhysics
 module. Allows locking of prim/linkset relative moving in each of the linear
 and angular axis. Limits on movement or rotation can be set.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 13 +++++++++++--
 1 file changed, 11 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 2b744a0..d20d094 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -309,11 +309,20 @@ 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 LockedLinearAxis { get; set; } // zero means locked. one means free.
-    public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
+    public OMV.Vector3 LockedLinearAxis;   // zero means locked. one means free.
+    public OMV.Vector3 LockedAngularAxis;  // zero means locked. one means free.
     public const float FreeAxis = 1f;
+    public const float LockedAxis = 0f;
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis);  // All axis are free
 
+    // If an axis is locked (flagged above) then the limits of that axis are specified here.
+    // Linear axis limits are relative to the object's starting coordinates.
+    // Angular limits are limited to -PI to +PI
+    public OMV.Vector3 LockedLinearAxisLow;
+    public OMV.Vector3 LockedLinearAxisHigh;
+    public OMV.Vector3 LockedAngularAxisLow;
+    public OMV.Vector3 LockedAngularAxisHigh;
+
     // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
     //     they need waking up when parameters are changed.
     // Called in taint-time!!
-- 
cgit v1.1


From f0417c5d506e5b562344515f6e68668360456d33 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 6 Aug 2015 19:57:32 -0700
Subject: BulletSim: rearrange code and add some tests to try and resolve the
 initialization race conditions reported in Mantis 6792.

When a region is initializing it seems that the prim initialization code
can be interrupted part way through then taints are processed for
prims that are not completely there.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++++++-----
 1 file changed, 6 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 d20d094..b758408 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -83,11 +83,6 @@ public abstract class BSPhysObject : PhysicsActor
         // The collection of things that push me around
         PhysicalActors = new BSActorCollection(PhysScene);
 
-        // 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);
         PhysShape = new BSShapeNull();
@@ -96,6 +91,12 @@ public abstract class BSPhysObject : PhysicsActor
 
         PrimAssetState = PrimAssetCondition.Unknown;
 
+        // Initialize variables kept in base.
+        // Beware that these cause taints to be queued whch can cause race conditions on startup.
+        GravModifier = 1.0f;
+        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+        HoverActive = false;
+
         // Default material type. Also sets Friction, Restitution and Density.
         SetMaterial((int)MaterialAttributes.Material.Wood);
 
-- 
cgit v1.1


From fe37cb999055c0df27a3fc1e038013575a63e2ea Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 9 Aug 2015 15:36:50 -0700
Subject: BulletSim: rearrange code and add different locking to eliminate
 chances of race conditions and, especially, race conditions when an object is
 removed and quickly re-added to a scene.

This hopefully reduces the occurance of problems when avatars TP within
a region -- the main problem being the loss of collisions.
---
 .../Region/Physics/BulletSPlugin/BSPhysObject.cs   | 28 ++++++++++------------
 1 file changed, 13 insertions(+), 15 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 b758408..90da7a6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -80,12 +80,13 @@ public abstract class BSPhysObject : PhysicsActor
         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(PhysScene);
+        // Oddity if object is destroyed and recreated very quickly it could still have the old body.
+        if (!PhysBody.HasPhysicalBody)
+            PhysBody = new BulletBody(localID);
 
-        // We don't have any physical representation yet.
-        PhysBody = new BulletBody(localID);
-        PhysShape = new BSShapeNull();
+        // Clean out anything that might be in the physical actor list.
+        // Again, a workaround for destroying and recreating an object very quickly.
+        PhysicalActors.Dispose();
 
         UserSetCenterOfMassDisplacement = null;
 
@@ -100,9 +101,6 @@ public abstract class BSPhysObject : PhysicsActor
         // Default material type. Also sets Friction, Restitution and Density.
         SetMaterial((int)MaterialAttributes.Material.Wood);
 
-        CollisionCollection = new CollisionEventUpdate();
-        CollisionsLastReported = CollisionCollection;
-        CollisionsLastTick = new CollisionEventUpdate();
         CollisionsLastTickStep = -1;
 
         SubscribedEventsMs = 0;
@@ -158,9 +156,9 @@ public abstract class BSPhysObject : PhysicsActor
     public OMV.Vector3 Inertia { get; set; }
 
     // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody PhysBody;
+    public BulletBody PhysBody = new BulletBody(0);
     // Reference to the physical shape (btCollisionShape) of this object
-    public BSShape PhysShape;
+    public BSShape PhysShape = new BSShapeNull();
 
     // The physical representation of the prim might require an asset fetch.
     // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
@@ -445,12 +443,12 @@ public abstract class BSPhysObject : PhysicsActor
     }
 
     // The collisions that have been collected for the next collision reporting (throttled by subscription)
-    protected CollisionEventUpdate CollisionCollection;
+    protected CollisionEventUpdate CollisionCollection = new CollisionEventUpdate();
     // This is the collision collection last reported to the Simulator.
-    public CollisionEventUpdate CollisionsLastReported;
+    public CollisionEventUpdate CollisionsLastReported = new CollisionEventUpdate();
     // Remember the collisions recorded in the last tick for fancy collision checking
     //     (like a BSCharacter walking up stairs).
-    public CollisionEventUpdate CollisionsLastTick;
+    public CollisionEventUpdate CollisionsLastTick = new CollisionEventUpdate();
     private long CollisionsLastTickStep = -1;
 
     // The simulation step is telling this object about a collision.
@@ -495,7 +493,7 @@ public abstract class BSPhysObject : PhysicsActor
             {
                 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
             }
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
+            DetailLog("{0},{1}.Collision.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
                             LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
 
             ret = true;
@@ -596,7 +594,7 @@ public abstract class BSPhysObject : PhysicsActor
 
     #region Per Simulation Step actions
 
-    public BSActorCollection PhysicalActors;
+    public BSActorCollection PhysicalActors = new BSActorCollection();
 
     // 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
-- 
cgit v1.1


From 062ec0efbda0e4ca6df5541039569e023d0d0e79 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 23 Aug 2015 21:15:04 -0700
Subject: BulletSim: delay adding a scene presence to the list of presences
 until it is fully configured. Another addition to fixing the collisions
 stopping problem.

---
 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 90da7a6..4669d91 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -72,6 +72,11 @@ public abstract class BSPhysObject : PhysicsActor
     }
     protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
+        InitializePhysObject(parentScene, localID, name, typeName);
+    }
+
+    protected void InitializePhysObject(BSScene parentScene, uint localID, string name, string typeName)
+    {
         IsInitialized = false;
 
         PhysScene = parentScene;
@@ -119,6 +124,8 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public virtual void Destroy()
     {
+        SubscribedEventsMs = 0;
+
         PhysicalActors.Enable(false);
         PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate()
         {
@@ -455,6 +462,7 @@ 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
+    // Both 'CollisionLock' and 'PhysObjects' are locked when this is called by 'SendCollisions'.
     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)
@@ -512,7 +520,7 @@ public abstract class BSPhysObject : PhysicsActor
 
         // If no collisions this call but there were collisions last call, force the collision
         //     event to be happen right now so quick collision_end.
-        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
@@ -545,7 +553,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Subscribe for collision events.
     // Parameter is the millisecond rate the caller wishes collision events to occur.
     public override void SubscribeEvents(int ms) {
-        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
+        DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
         SubscribedEventsMs = ms;
         if (ms > 0)
         {
-- 
cgit v1.1


From 9a490ad2b979552c04ef0bf0d881e8b9643bebba Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 24 Aug 2015 06:39:06 -0700
Subject: Revert "BulletSim: delay adding a scene presence to the list of
 presences" Remove these changes until the region crossing problems can be
 figured out.

This reverts commit 062ec0efbda0e4ca6df5541039569e023d0d0e79.
---
 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++----------
 1 file changed, 2 insertions(+), 10 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 4669d91..90da7a6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -72,11 +72,6 @@ public abstract class BSPhysObject : PhysicsActor
     }
     protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
     {
-        InitializePhysObject(parentScene, localID, name, typeName);
-    }
-
-    protected void InitializePhysObject(BSScene parentScene, uint localID, string name, string typeName)
-    {
         IsInitialized = false;
 
         PhysScene = parentScene;
@@ -124,8 +119,6 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public virtual void Destroy()
     {
-        SubscribedEventsMs = 0;
-
         PhysicalActors.Enable(false);
         PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate()
         {
@@ -462,7 +455,6 @@ 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
-    // Both 'CollisionLock' and 'PhysObjects' are locked when this is called by 'SendCollisions'.
     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)
@@ -520,7 +512,7 @@ public abstract class BSPhysObject : PhysicsActor
 
         // If no collisions this call but there were collisions last call, force the collision
         //     event to be happen right now so quick collision_end.
-        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
@@ -553,7 +545,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Subscribe for collision events.
     // Parameter is the millisecond rate the caller wishes collision events to occur.
     public override void SubscribeEvents(int ms) {
-        DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
+        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
         SubscribedEventsMs = ms;
         if (ms > 0)
         {
-- 
cgit v1.1