From 376441e5507052b36279279f64896542d44ec12a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 15 Aug 2012 16:27:30 -0700
Subject: BulletSim: make it so objects in a linkset do not generate collisions
 with each other.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 ++++++++++
 1 file changed, 10 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9c20004..c157669 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1353,6 +1353,7 @@ public sealed class BSPrim : PhysicsActor
     }
 
     // I've collided with something
+    // Called at taint time from within the Step() function
     CollisionEventUpdate collisionCollection;
     public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
@@ -1366,6 +1367,15 @@ public sealed class BSPrim : PhysicsActor
         }
 
         // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
+        BSPrim collidingWithPrim;
+        if (_scene.Prims.TryGetValue(collidingWith, out collidingWithPrim))
+        {
+            // prims in the same linkset cannot collide with each other
+            if (this.Linkset.LinksetID == collidingWithPrim.Linkset.LinksetID)
+            {
+                return;
+            }
+        }
 
         // if someone is subscribed to collision events....
         if (_subscribedEventsMs != 0) {
-- 
cgit v1.1


From 8eda290262bb7049aa55a7df2bdb1565bad85a99 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 17 Aug 2012 09:37:02 -0700
Subject: BulletSim: comments and parameter changes in dynamics engine.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c157669..b918f84 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -141,8 +141,8 @@ public sealed class BSPrim : PhysicsActor
         _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
         _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
         _restitution = _scene.Params.defaultRestitution;
-        _linkset = new BSLinkset(_scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(this);            // add vehicleness
+        _linkset = new BSLinkset(Scene, this);     // a linkset of one
+        _vehicle = new BSDynamics(Scene, this);            // add vehicleness
         _mass = CalculateMass();
         // do the actual object creation at taint time
         DetailLog("{0},BSPrim.constructor,call", LocalID);
@@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
+                _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep);
                 // Tell the scene about the vehicle so it will get processing each frame.
                 _scene.VehicleInSceneTypeChanged(this, type);
             });
-- 
cgit v1.1


From ccc69d66a135e149dbe9c6b70df0c8efe1265f65 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 17 Aug 2012 10:40:34 -0700
Subject: BulletSim: add parameters and functionality to specify the mesh   
 level of detail for large meshes. Remove parameter and code for DetailLog
 (conditional logging into    regular log file).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b918f84..48cd89b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -42,8 +42,6 @@ public sealed class BSPrim : PhysicsActor
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
-
     private IMesh _mesh;
     private PrimitiveBaseShape _pbs;
     private ShapeData.PhysicsShapeType _shapeType;
@@ -232,7 +230,6 @@ public sealed class BSPrim : PhysicsActor
         BSPrim parent = obj as BSPrim;
         if (parent != null)
         {
-            DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
             BSPrim parentBefore = _linkset.LinksetRoot;
             int childrenBefore = _linkset.NumberOfChildren;
 
@@ -248,8 +245,6 @@ public sealed class BSPrim : PhysicsActor
     public override void delink() {
         // TODO: decide if this parent checking needs to happen at taint time
         // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-        DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 
-                            _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString());
 
         BSPrim parentBefore = _linkset.LinksetRoot;
         int childrenBefore = _linkset.NumberOfChildren;
@@ -1042,7 +1037,14 @@ public sealed class BSPrim : PhysicsActor
     // No locking here because this is done when we know physics is not simulating
     private void CreateGeomMesh()
     {
-        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        // level of detail based on size and type of the object
+        float lod = _scene.MeshLOD;
+        if (_pbs.SculptEntry) 
+            lod = _scene.SculptLOD;
+        float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
+        if (maxAxis > _scene.MeshMegaPrimThreshold) 
+            lod = _scene.MeshMegaPrimLOD;
+
         ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
 
-- 
cgit v1.1


From 03d76e94034bbaa82d1872284d1fadbaa263411d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 17 Aug 2012 13:30:46 -0700
Subject: BulletSim: restore most of the Detail logging statements. Will have
 no effect on non-logging running. Capture region name that is passed to the
 physics engine and use     it for detail logging file name prefix. Fix
 problem with avatars dropping when flying across region boundries.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 46 ++++++++++++++------------
 1 file changed, 24 insertions(+), 22 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 48cd89b..a6bc8e2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -191,7 +191,7 @@ public sealed class BSPrim : PhysicsActor
             {
                 _mass = CalculateMass();   // changing size changes the mass
                 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
-                // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
+                DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
                 RecreateGeomAndObject();
             });
         } 
@@ -275,7 +275,7 @@ public sealed class BSPrim : PhysicsActor
 
     public override void LockAngularMotion(OMV.Vector3 axis)
     { 
-        // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+        DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
         return;
     }
 
@@ -294,7 +294,7 @@ public sealed class BSPrim : PhysicsActor
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             _scene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -331,7 +331,7 @@ public sealed class BSPrim : PhysicsActor
             _force = value;
             _scene.TaintedObject("BSPrim.setForce", delegate()
             {
-                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
+                DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
                 BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
             });
@@ -409,7 +409,7 @@ public sealed class BSPrim : PhysicsActor
             _velocity = value;
             _scene.TaintedObject("BSPrim.setVelocity", delegate()
             {
-                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+                DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
             });
         } 
@@ -417,7 +417,7 @@ public sealed class BSPrim : PhysicsActor
     public override OMV.Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
-            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
+            DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         } 
     }
     public override float CollisionScore { 
@@ -444,7 +444,7 @@ public sealed class BSPrim : PhysicsActor
             _scene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -496,13 +496,15 @@ public sealed class BSPrim : PhysicsActor
         _linkset.Refresh(this);
 
         CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
-        // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
+        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
     }
 
     // prims don't fly
     public override bool Flying { 
         get { return _flying; } 
-        set { _flying = value; } 
+        set {
+            _flying = value;
+        } 
     }
     public override bool SetAlwaysRun { 
         get { return _setAlwaysRun; } 
@@ -553,7 +555,7 @@ public sealed class BSPrim : PhysicsActor
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
             });
         } 
@@ -570,7 +572,7 @@ public sealed class BSPrim : PhysicsActor
             _buoyancy = value;
             _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
             });
         } 
@@ -633,17 +635,17 @@ public sealed class BSPrim : PhysicsActor
                 }
                 m_accumulatedForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
+            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
             BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
         });
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
-        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+        DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
         // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
     }
     public override void SetMomentum(OMV.Vector3 momentum) { 
-        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+        DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
     public override void SubscribeEvents(int ms) { 
         _subscribedEventsMs = ms;
@@ -987,7 +989,7 @@ public sealed class BSPrim : PhysicsActor
                     // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
                     if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
                     {
-                        // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
+                        DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
                         _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
                         // Bullet native objects are scaled by the Bullet engine so pass the size in
                         _scale = _size;
@@ -1001,7 +1003,7 @@ public sealed class BSPrim : PhysicsActor
                 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
                 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
                 {
-                    // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
+                    DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
                     _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
                     _scale = _size;
                     // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1051,12 +1053,12 @@ public sealed class BSPrim : PhysicsActor
         // if this new shape is the same as last time, don't recreate the mesh
         if (_meshKey == newMeshKey) return;
 
-        // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
+        DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
         // Since we're recreating new, get rid of any previously generated shape
         if (_meshKey != 0)
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
-            // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
+            DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
             BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
             _mesh = null;
             _meshKey = 0;
@@ -1086,7 +1088,7 @@ public sealed class BSPrim : PhysicsActor
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
-        // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
         return;
     }
 
@@ -1100,13 +1102,13 @@ public sealed class BSPrim : PhysicsActor
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == _hullKey) return;
 
-        // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
+        DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
         
         // Since we're recreating new, get rid of any previously generated shape
         if (_hullKey != 0)
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
-            // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
+            DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
             BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
             _hullKey = 0;
         }
@@ -1200,7 +1202,7 @@ public sealed class BSPrim : PhysicsActor
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
-        // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
+        DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
         return;
     }
 
-- 
cgit v1.1


From 7243d4f84248092eb5fe4ebe3673501bc84ce250 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 17 Aug 2012 14:45:18 -0700
Subject: BulletSim: Properly regenerate hulls when objects made physical.    
 This fixes the problem of non-base shapes (cubes and spheres)     falling
 through the terrain.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 34 +++++++++++++++++++-------
 1 file changed, 25 insertions(+), 9 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a6bc8e2..d3f1e9c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -481,11 +481,8 @@ public sealed class BSPrim : PhysicsActor
     // No locking here because only called when it is safe
     private void SetObjectDynamic()
     {
-        // RA: remove this for the moment.
-        // The problem is that dynamic objects are hulls so if we are becoming physical
-        //    the shape has to be checked and possibly built.
-        //    Maybe a VerifyCorrectPhysicalShape() routine?
-        // RecreateGeomAndObject();
+        // If it's becoming dynamic, it will need hullness
+        VerifyCorrectPhysicalShape();
 
         // Bullet wants static objects to have a mass of zero
         float mass = IsStatic ? 0f : _mass;
@@ -1214,6 +1211,27 @@ public sealed class BSPrim : PhysicsActor
         return;
     }
 
+    private void VerifyCorrectPhysicalShape()
+    {
+        if (IsStatic)
+        {
+            // if static, we don't need a hull so, if there is one, rebuild without it
+            if (_hullKey != 0)
+            {
+                RecreateGeomAndObject();
+            }
+        }
+        else
+        {
+            // if not static, it will need a hull to efficiently collide with things
+            if (_hullKey == 0)
+            {
+                RecreateGeomAndObject();
+            }
+
+        }
+    }
+
     // Create an object in Bullet if it has not already been created
     // No locking here because this is done when the physics engine is not simulating
     // Returns 'true' if an object was actually created.
@@ -1338,10 +1356,8 @@ public sealed class BSPrim : PhysicsActor
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
-            // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 
-            //         LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-            // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-            //         LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
             base.RequestPhysicsterseUpdate();
         }
-- 
cgit v1.1


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.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 +++++++++++---------------
 1 file changed, 36 insertions(+), 48 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d3f1e9c..036fd4f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -37,7 +37,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
     [Serializable]
-public sealed class BSPrim : PhysicsActor
+public sealed class BSPrim : BSPhysObject
 {
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
@@ -88,23 +88,14 @@ public sealed class BSPrim : PhysicsActor
     private float _buoyancy;
 
     // Membership in a linkset is controlled by this class.
-    private BSLinkset _linkset;
-    public BSLinkset Linkset
-    {
-        get { return _linkset; }
-        set { _linkset = value; }
-    }
+    public override BSLinkset Linkset { get; set; }
 
     private int _subscribedEventsMs = 0;
     private int _nextCollisionOkTime = 0;
     long _collidingStep;
     long _collidingGroundStep;
 
-    private BulletBody m_body;
-    public BulletBody Body { 
-        get { return m_body; }
-        set { m_body = value; }
-    }
+    public override BulletBody Body { get; set; }
 
     private BSDynamics _vehicle;
 
@@ -139,7 +130,7 @@ public sealed class BSPrim : PhysicsActor
         _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
         _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
         _restitution = _scene.Params.defaultRestitution;
-        _linkset = new BSLinkset(Scene, this);     // a linkset of one
+        Linkset = new BSLinkset(Scene, this);     // a linkset of one
         _vehicle = new BSDynamics(Scene, this);            // add vehicleness
         _mass = CalculateMass();
         // do the actual object creation at taint time
@@ -151,23 +142,23 @@ public sealed class BSPrim : PhysicsActor
             // Get the pointer to the physical body for this object.
             // At the moment, we're still letting BulletSim manage the creation and destruction
             //    of the object. Someday we'll move that into the C# code.
-            m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
         });
     }
 
     // called when this prim is being destroyed and we should free all the resources
-    public void Destroy()
+    public override void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
 
         // Undo any links between me and any other object
-        BSPrim parentBefore = _linkset.LinksetRoot;
-        int childrenBefore = _linkset.NumberOfChildren;
+        BSPhysObject parentBefore = Linkset.LinksetRoot;
+        int childrenBefore = Linkset.NumberOfChildren;
 
-        _linkset = _linkset.RemoveMeFromLinkset(this);
+        Linkset = Linkset.RemoveMeFromLinkset(this);
 
         DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
-            LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
 
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
@@ -230,13 +221,13 @@ public sealed class BSPrim : PhysicsActor
         BSPrim parent = obj as BSPrim;
         if (parent != null)
         {
-            BSPrim parentBefore = _linkset.LinksetRoot;
-            int childrenBefore = _linkset.NumberOfChildren;
+            BSPhysObject parentBefore = Linkset.LinksetRoot;
+            int childrenBefore = Linkset.NumberOfChildren;
 
-            _linkset = parent.Linkset.AddMeToLinkset(this);
+            Linkset = parent.Linkset.AddMeToLinkset(this);
 
             DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 
-                LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
+                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
         }
         return; 
     }
@@ -246,13 +237,13 @@ public sealed class BSPrim : PhysicsActor
         // TODO: decide if this parent checking needs to happen at taint time
         // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
 
-        BSPrim parentBefore = _linkset.LinksetRoot;
-        int childrenBefore = _linkset.NumberOfChildren;
+        BSPhysObject parentBefore = Linkset.LinksetRoot;
+        int childrenBefore = Linkset.NumberOfChildren;
         
-        _linkset = _linkset.RemoveMeFromLinkset(this);
+        Linkset = Linkset.RemoveMeFromLinkset(this);
 
         DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 
-            LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
+            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
         return; 
     }
 
@@ -260,7 +251,7 @@ public sealed class BSPrim : PhysicsActor
     // Do it to the properties so the values get set in the physics engine.
     // Push the setting of the values to the viewer.
     // Called at taint time!
-    public void ZeroMotion()
+    public override void ZeroMotion()
     {
         _velocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
@@ -281,7 +272,7 @@ public sealed class BSPrim : PhysicsActor
 
     public override OMV.Vector3 Position { 
         get { 
-            if (!_linkset.IsRoot(this))
+            if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
                 _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
 
@@ -306,23 +297,23 @@ public sealed class BSPrim : PhysicsActor
     { 
         get
         {
-            return _linkset.LinksetMass;
+            return Linkset.LinksetMass;
         }
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public float MassRaw { get { return _mass; } }
+    public override float MassRaw { get { return _mass; }  }
 
     // Is this used?
     public override OMV.Vector3 CenterOfMass
     {
-        get { return _linkset.CenterOfMass; }
+        get { return Linkset.CenterOfMass; }
     }
 
     // Is this used?
     public override OMV.Vector3 GeometricCenter
     {
-        get { return _linkset.GeometricCenter; }
+        get { return Linkset.GeometricCenter; }
     }
 
     public override OMV.Vector3 Force { 
@@ -431,7 +422,7 @@ public sealed class BSPrim : PhysicsActor
     }
     public override OMV.Quaternion Orientation { 
         get {
-            if (!_linkset.IsRoot(this))
+            if (!Linkset.IsRoot(this))
             {
                 // Children move around because tied to parent. Get a fresh value.
                 _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
@@ -490,7 +481,7 @@ public sealed class BSPrim : PhysicsActor
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
 
         // recompute any linkset parameters
-        _linkset.Refresh(this);
+        Linkset.Refresh(this);
 
         CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
         DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
@@ -1299,7 +1290,7 @@ public sealed class BSPrim : PhysicsActor
     const float ACCELERATION_TOLERANCE = 0.01f;
     const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
 
-    public void UpdateProperties(EntityProperties entprop)
+    public override void UpdateProperties(EntityProperties entprop)
     {
         /*
         UpdatedProperties changed = 0;
@@ -1347,7 +1338,7 @@ public sealed class BSPrim : PhysicsActor
         // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
 
         // Updates only for individual prims and for the root object of a linkset.
-        if (_linkset.IsRoot(this))
+        if (Linkset.IsRoot(this))
         {
             // Assign to the local variables so the normal set action does not happen
             _position = entprop.Position;
@@ -1375,7 +1366,7 @@ public sealed class BSPrim : PhysicsActor
     // I've collided with something
     // Called at taint time from within the Step() function
     CollisionEventUpdate collisionCollection;
-    public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
 
@@ -1387,18 +1378,15 @@ public sealed class BSPrim : PhysicsActor
         }
 
         // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
-        BSPrim collidingWithPrim;
-        if (_scene.Prims.TryGetValue(collidingWith, out collidingWithPrim))
+
+        // prims in the same linkset cannot collide with each other
+        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
         {
-            // prims in the same linkset cannot collide with each other
-            if (this.Linkset.LinksetID == collidingWithPrim.Linkset.LinksetID)
-            {
-                return;
-            }
+            return;
         }
 
-        // if someone is subscribed to collision events....
-        if (_subscribedEventsMs != 0) {
+        // if someone has subscribed for collision events....
+        if (SubscribedEvents()) {
             // throttle the collisions to the number of milliseconds specified in the subscription
             int nowTime = _scene.SimulationNowTime;
             if (nowTime >= _nextCollisionOkTime) {
@@ -1412,7 +1400,7 @@ public sealed class BSPrim : PhysicsActor
     }
 
     // The scene is telling us it's time to pass our collected collisions into the simulator
-    public void SendCollisions()
+    public override void SendCollisions()
     {
         if (collisionCollection != null && collisionCollection.Count > 0)
         {
-- 
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.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 036fd4f..6bfce5c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -377,7 +377,7 @@ public sealed class BSPrim : BSPhysObject
 
     // Called each simulation step to advance vehicle characteristics.
     // Called from Scene when doing simulation step so we're in taint processing time.
-    public void StepVehicle(float timeStep)
+    public override void StepVehicle(float timeStep)
     {
         if (IsPhysical)
             _vehicle.Step(timeStep);
-- 
cgit v1.1


From 76dc29dc379036aa44f1ef78782f7ac94760a80f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 31 Aug 2012 13:32:22 -0700
Subject: BulletSim: Modify collision flag calls to return the current flags.
 Track current collision flags in BSPrim. Add BulletSimAPI calls for saving
 and restoring rigidBodies using     construction information structure.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6bfce5c..6fcd416 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -94,6 +94,7 @@ public sealed class BSPrim : BSPhysObject
     private int _nextCollisionOkTime = 0;
     long _collidingStep;
     long _collidingGroundStep;
+    CollisionFlags m_currentCollisionFlags = 0;
 
     public override BulletBody Body { get; set; }
 
@@ -143,6 +144,7 @@ public sealed class BSPrim : BSPhysObject
             // At the moment, we're still letting BulletSim manage the creation and destruction
             //    of the object. Someday we'll move that into the C# code.
             Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
         });
     }
 
@@ -483,8 +485,7 @@ public sealed class BSPrim : BSPhysObject
         // recompute any linkset parameters
         Linkset.Refresh(this);
 
-        CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
-        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
+        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags);
     }
 
     // prims don't fly
@@ -644,7 +645,7 @@ public sealed class BSPrim : BSPhysObject
 
             Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
             {
-                BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
     }
@@ -652,7 +653,7 @@ public sealed class BSPrim : BSPhysObject
         _subscribedEventsMs = 0;
         Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
         {
-            BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     public override bool SubscribedEvents() { 
-- 
cgit v1.1


From 189f51233e48026347a3443628350044e4b6fe8a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 31 Aug 2012 13:39:29 -0700
Subject: BulletSim: PhysicsActorType() now returns the correct value rather
 than 'unknown'.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6fcd416..de182f8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -114,6 +114,7 @@ public sealed class BSPrim : BSPhysObject
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
         _localID = localID;
         _avName = primName;
+        _physicsActorType = (int)ActorTypes.Prim;
         _scene = parent_scene;
         _position = pos;
         _size = size;
@@ -444,8 +445,7 @@ public sealed class BSPrim : BSPhysObject
     }
     public override int PhysicsActorType { 
         get { return _physicsActorType; } 
-        set { _physicsActorType = value; 
-        } 
+        set { _physicsActorType = value; } 
     }
     public override bool IsPhysical { 
         get { return _isPhysical; } 
-- 
cgit v1.1


From 3c097cb7a9634f711fffb56c0a6912487694aa53 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 6 Sep 2012 08:05:53 -0700
Subject: BulletSim: Add some comments (gasp) and log messages.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +++++
 1 file changed, 5 insertions(+)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index de182f8..01f231b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -472,6 +472,10 @@ public sealed class BSPrim : BSPhysObject
 
     // Make gravity work if the object is physical and not selected
     // No locking here because only called when it is safe
+        // There are three flags we're interested in:
+        //     IsStatic: Object does not move, otherwise the object has mass and moves
+        //     isSolid: other objects bounce off of this object
+        //     collisionEvents: whether this object returns collision events
     private void SetObjectDynamic()
     {
         // If it's becoming dynamic, it will need hullness
@@ -481,6 +485,7 @@ public sealed class BSPrim : BSPhysObject
         float mass = IsStatic ? 0f : _mass;
 
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+        m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
 
         // recompute any linkset parameters
         Linkset.Refresh(this);
-- 
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/BSPrim.cs | 96 +++++++++++++++++++++-----
 1 file changed, 77 insertions(+), 19 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 01f231b..6d0af63 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,8 @@ public sealed class BSPrim : BSPhysObject
     long _collidingGroundStep;
     CollisionFlags m_currentCollisionFlags = 0;
 
-    public override BulletBody Body { get; set; }
+    public override BulletBody BSBody { get; set; }
+    public override BulletShape BSShape { get; set; }
 
     private BSDynamics _vehicle;
 
@@ -144,8 +145,9 @@ public sealed class BSPrim : BSPhysObject
             // Get the pointer to the physical body for this object.
             // At the moment, we're still letting BulletSim manage the creation and destruction
             //    of the object. Someday we'll move that into the C# code.
-            Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
-            m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
+            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+            m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
         });
     }
 
@@ -261,10 +263,10 @@ public sealed class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
-        BulletSimAPI.ClearForces2(Body.Ptr);
+        BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+        BulletSimAPI.ClearForces2(BSBody.Ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -327,7 +329,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
-                BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
             });
         } 
     }
@@ -472,10 +474,11 @@ public sealed class BSPrim : BSPhysObject
 
     // Make gravity work if the object is physical and not selected
     // No locking here because only called when it is safe
-        // There are three flags we're interested in:
-        //     IsStatic: Object does not move, otherwise the object has mass and moves
-        //     isSolid: other objects bounce off of this object
-        //     collisionEvents: whether this object returns collision events
+    // There are four flags we're interested in:
+    //     IsStatic: Object does not move, otherwise the object has mass and moves
+    //     isSolid: other objects bounce off of this object
+    //     isVolumeDetect: other objects pass through but can generate collisions
+    //     collisionEvents: whether this object returns collision events
     private void SetObjectDynamic()
     {
         // If it's becoming dynamic, it will need hullness
@@ -485,14 +488,68 @@ public sealed class BSPrim : BSPhysObject
         float mass = IsStatic ? 0f : _mass;
 
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
-        m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
+        /*
+        BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
+
+        // Set up the object physicalness (static or dynamic)
+        MakeDynamic();
+
+        // Make solid or not and arrange for collisions, etc
+        MakeSolid();
 
-        // recompute any linkset parameters
+        m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
+
+        BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
+         */
+
+        // Recompute any linkset parameters.
+        // When going from non-physical to physical, this re-enables the constraints that
+        //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags);
     }
 
+    // "Making dynamic" means changing to and from static.
+    // When static, gravity does not effect the object and it is fixed in space.
+    // When dynamic, the object can fall and be pushed by others.
+    // This is independent of its 'solidness' which controls what passes through
+    //    this object and what interacts with it.
+    private void MakeDynamic()
+    {
+        if (IsStatic)
+        {
+            // Become a Bullet 'static' object type
+            BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            // Stop all movement
+            BulletSimAPI.ClearAllForces2(BSBody.Ptr);
+            // Mass is zero which disables a bunch of physics stuff in Bullet
+            BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
+            // There is no inertia in a static object
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            // The activation state is 'sleeping' so Bullet will not try to act on it
+            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+        }
+        else
+        {
+            // Not a Bullet static object
+            BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            // A dynamic object has mass
+            BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero);
+            // The shape is interesting and has mass and a center of gravity
+            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
+            BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero);
+            // Inertia is based on our new mass
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            // Force activation of the object so Bullet will act on it.
+            BulletSimAPI.Activate2(BSBody.Ptr, true);
+        }
+    }
+
+    private void MakeSolid()
+    {
+    }
+
     // prims don't fly
     public override bool Flying { 
         get { return _flying; } 
@@ -615,7 +672,7 @@ public sealed class BSPrim : BSPhysObject
         }
         else
         {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
         _scene.TaintedObject("BSPrim.AddForce", delegate()
@@ -630,7 +687,8 @@ public sealed class BSPrim : BSPhysObject
                 m_accumulatedForces.Clear();
             }
             DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
-            BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
+            // For unknown reason, "ApplyCentralForce" is really additive.
+            BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
         });
     }
 
@@ -650,7 +708,7 @@ public sealed class BSPrim : BSPhysObject
 
             Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
             {
-                m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
     }
@@ -658,7 +716,7 @@ public sealed class BSPrim : BSPhysObject
         _subscribedEventsMs = 0;
         Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
         {
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     public override bool SubscribedEvents() { 
@@ -1243,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject
         bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
-        Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
 
         return ret;
     }
-- 
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/BSPrim.cs | 196 +++++++++++++++----------
 1 file changed, 118 insertions(+), 78 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6d0af63..481a8db 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -136,11 +136,11 @@ public sealed class BSPrim : BSPhysObject
         Linkset = new BSLinkset(Scene, this);     // a linkset of one
         _vehicle = new BSDynamics(Scene, this);            // add vehicleness
         _mass = CalculateMass();
-        // do the actual object creation at taint time
         DetailLog("{0},BSPrim.constructor,call", LocalID);
+        // do the actual object creation at taint time
         _scene.TaintedObject("BSPrim.create", delegate()
         {
-            RecreateGeomAndObject();
+            CreateGeomAndObject(true);
 
             // Get the pointer to the physical body for this object.
             // At the moment, we're still letting BulletSim manage the creation and destruction
@@ -186,9 +186,10 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setSize", delegate()
             {
                 _mass = CalculateMass();   // changing size changes the mass
-                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
-                DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
-                RecreateGeomAndObject();
+                // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
+                //   scale and margins are set.
+                CreateGeomAndObject(true);
+                DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
             });
         } 
     }
@@ -198,7 +199,7 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setShape", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
-                RecreateGeomAndObject();
+                CreateGeomAndObject(false);
             });
         } 
     }
@@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
         get { 
             if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
@@ -291,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
         } 
     }
@@ -302,7 +303,8 @@ public sealed class BSPrim : BSPhysObject
     { 
         get
         {
-            return Linkset.LinksetMass;
+            // return Linkset.LinksetMass;
+            return _mass;
         }
     }
 
@@ -328,7 +330,6 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setForce", delegate()
             {
                 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
             });
         } 
@@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
+                BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity);
             });
         } 
     }
@@ -430,7 +431,7 @@ public sealed class BSPrim : BSPhysObject
             if (!Linkset.IsRoot(this))
             {
                 // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
+                _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr);
             }
             return _orientation;
         } 
@@ -441,7 +442,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
         } 
     }
@@ -483,31 +484,37 @@ public sealed class BSPrim : BSPhysObject
     {
         // If it's becoming dynamic, it will need hullness
         VerifyCorrectPhysicalShape();
+        UpdatePhysicalParameters();
+    }
 
+    private void UpdatePhysicalParameters()
+    {
+        /*
         // Bullet wants static objects to have a mass of zero
         float mass = IsStatic ? 0f : _mass;
 
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
-        /*
+         */
         BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
 
-        // Set up the object physicalness (static or dynamic)
-        MakeDynamic();
+        // Set up the object physicalness (does gravity and collisions move this object)
+        MakeDynamic(IsStatic);
 
-        // Make solid or not and arrange for collisions, etc
-        MakeSolid();
+        // Make solid or not (do things bounce off or pass through this object)
+        MakeSolid(IsSolid);
 
-        m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
+        // Arrange for collisions events if the simulator wants them
+        EnableCollisions(SubscribedEvents());
 
         BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
-         */
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", 
+                        LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -515,12 +522,12 @@ public sealed class BSPrim : BSPhysObject
     // When dynamic, the object can fall and be pushed by others.
     // This is independent of its 'solidness' which controls what passes through
     //    this object and what interacts with it.
-    private void MakeDynamic()
+    private void MakeDynamic(bool makeStatic)
     {
-        if (IsStatic)
+        if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             BulletSimAPI.ClearAllForces2(BSBody.Ptr);
             // Mass is zero which disables a bunch of physics stuff in Bullet
@@ -533,12 +540,11 @@ public sealed class BSPrim : BSPhysObject
         else
         {
             // Not a Bullet static object
-            BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // A dynamic object has mass
-            BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero);
-            // The shape is interesting and has mass and a center of gravity
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
-            BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero);
+            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass);
+            BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
             // Inertia is based on our new mass
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
             // Force activation of the object so Bullet will act on it.
@@ -546,8 +552,31 @@ public sealed class BSPrim : BSPhysObject
         }
     }
 
-    private void MakeSolid()
+    // "Making solid" means that other object will not pass through this object.
+    private void MakeSolid(bool makeSolid)
     {
+        if (makeSolid)
+        {
+            // Easy in Bullet -- just remove the object flag that controls collision response
+            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+        else
+        {
+            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+    }
+
+    // Turn on or off the flag controlling whether collision events are returned to the simulator.
+    private void EnableCollisions(bool wantsCollisionEvents)
+    {
+        if (wantsCollisionEvents)
+        {
+            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
+        else
+        {
+            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+        }
     }
 
     // prims don't fly
@@ -607,7 +636,7 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity);
             });
         } 
     }
@@ -624,7 +653,10 @@ public sealed class BSPrim : BSPhysObject
             _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
+                // Buoyancy is faked by changing the gravity applied to the object
+                float grav = Scene.Params.gravity * (1f - _buoyancy);
+                BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
+                // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
             });
         } 
     }
@@ -686,8 +718,8 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedForces.Clear();
             }
-            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
-            // For unknown reason, "ApplyCentralForce" is really additive.
+            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
+            // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
             BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
         });
     }
@@ -1030,29 +1062,36 @@ public sealed class BSPrim : BSPhysObject
     // Returns 'true' if the geometry was rebuilt
     private bool CreateGeom(bool forceRebuild)
     {
-        // the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
         bool ret = false;
-        if (!_scene.NeedsMeshing(_pbs))
+        bool haveShape = false;
+
+        // If the prim attributes are simple, this could be a simple Bullet native shape
+        if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim)
+                || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
+                    && _pbs.ProfileHollow == 0
+                    && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
+                    && _pbs.PathBegin == 0 && _pbs.PathEnd == 0
+                    && _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0
+                    && _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100
+                    && _pbs.PathShearX == 0 && _pbs.PathShearY == 0) )
         {
             if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
             {
-                // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
-                // {
-                    // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
-                    if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
-                    {
-                        DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
-                        _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
-                        // Bullet native objects are scaled by the Bullet engine so pass the size in
-                        _scale = _size;
-                        // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
-                        ret = true;
-                    }
-                // }
+                haveShape = true;
+                if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
+                {
+                    DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
+                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
+                    // Bullet native objects are scaled by the Bullet engine so pass the size in
+                    _scale = _size;
+                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
+                    ret = true;
+                }
             }
             else
             {
                 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
+                haveShape = true;
                 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
                 {
                     DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
@@ -1063,16 +1102,16 @@ public sealed class BSPrim : BSPhysObject
                 }
             }
         }
-        else
+        // If a simple shape isn't happening, create a mesh and possibly a hull
+        if (!haveShape)
         {
             if (IsPhysical)
             {
                 if (forceRebuild || _hullKey == 0)
                 {
                     // physical objects require a hull for interaction.
-                    // This will create the mesh if it doesn't already exist
-                    CreateGeomHull();
-                    ret = true;
+                    // This also creates the mesh if it doesn't already exist
+                    ret = CreateGeomHull();
                 }
             }
             else
@@ -1080,8 +1119,7 @@ public sealed class BSPrim : BSPhysObject
                 if (forceRebuild || _meshKey == 0)
                 {
                     // Static (non-physical) objects only need a mesh for bumping into
-                    CreateGeomMesh();
-                    ret = true;
+                    ret = CreateGeomMesh();
                 }
             }
         }
@@ -1089,7 +1127,8 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // No locking here because this is done when we know physics is not simulating
-    private void CreateGeomMesh()
+    // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
+    private bool CreateGeomMesh()
     {
         // level of detail based on size and type of the object
         float lod = _scene.MeshLOD;
@@ -1103,7 +1142,7 @@ public sealed class BSPrim : BSPhysObject
         // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
 
         // if this new shape is the same as last time, don't recreate the mesh
-        if (_meshKey == newMeshKey) return;
+        if (_meshKey == newMeshKey) return false;
 
         DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
         // Since we're recreating new, get rid of any previously generated shape
@@ -1140,19 +1179,19 @@ public sealed class BSPrim : BSPhysObject
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
-        return;
+        return true;
     }
 
     // No locking here because this is done when we know physics is not simulating
-    private void CreateGeomHull()
+    // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
+    private bool CreateGeomHull()
     {
         float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
         ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
 
         // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == _hullKey) return;
+        if (newHullKey == _hullKey) return false;
 
         DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
         
@@ -1255,7 +1294,7 @@ public sealed class BSPrim : BSPhysObject
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
         DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
-        return;
+        return true;
     }
 
     // Callback from convex hull creater with a newly created hull.
@@ -1268,20 +1307,12 @@ public sealed class BSPrim : BSPhysObject
 
     private void VerifyCorrectPhysicalShape()
     {
-        if (IsStatic)
-        {
-            // if static, we don't need a hull so, if there is one, rebuild without it
-            if (_hullKey != 0)
-            {
-                RecreateGeomAndObject();
-            }
-        }
-        else
+        if (!IsStatic)
         {
             // if not static, it will need a hull to efficiently collide with things
             if (_hullKey == 0)
             {
-                RecreateGeomAndObject();
+                CreateGeomAndObject(false);
             }
 
         }
@@ -1300,8 +1331,9 @@ public sealed class BSPrim : BSPhysObject
         // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
         bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
 
-        // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
+        // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
         BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+        BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
 
         return ret;
     }
@@ -1325,15 +1357,20 @@ public sealed class BSPrim : BSPhysObject
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
     }
 
-
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // No locking here because this is done when the physics engine is not simulating
-    private void RecreateGeomAndObject()
+    private void CreateGeomAndObject(bool forceRebuild)
     {
-        // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID);
-        if (CreateGeom(true))
+        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild);
+        // Create the geometry that will make up the object
+        if (CreateGeom(forceRebuild))
+        {
+            // Create the object and place it into the world
             CreateObject();
+            // Make sure the properties are set on the new object
+            UpdatePhysicalParameters();
+        }
         return;
     }
 
@@ -1430,9 +1467,10 @@ public sealed class BSPrim : BSPhysObject
     // I've collided with something
     // Called at taint time from within the Step() function
     CollisionEventUpdate collisionCollection;
-    public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
+        bool ret = false;
 
         // The following lines make IsColliding() and IsCollidingGround() work
         _collidingStep = _scene.SimulationStep;
@@ -1446,7 +1484,7 @@ public sealed class BSPrim : BSPhysObject
         // prims in the same linkset cannot collide with each other
         if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
         {
-            return;
+            return ret;
         }
 
         // if someone has subscribed for collision events....
@@ -1459,8 +1497,10 @@ public sealed class BSPrim : BSPhysObject
                 if (collisionCollection == null)
                     collisionCollection = new CollisionEventUpdate();
                 collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+                ret = true;
             }
         }
+        return ret;
     }
 
     // The scene is telling us it's time to pass our collected collisions into the simulator
-- 
cgit v1.1


From 7c347f4c5c966848669b979b367e1bc3912621d5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 13 Sep 2012 10:11:39 -0700
Subject: BulletSim: Add calls to linkset class when object going static or
 dynamic. Reset center of mass on an object when going dynamic.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 481a8db..04b7be5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -530,10 +530,14 @@ public sealed class BSPrim : BSPhysObject
             m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             BulletSimAPI.ClearAllForces2(BSBody.Ptr);
+            // Center of mass is at the center of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
             BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            // There can be special things needed for implementing linksets
+            Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
             BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
         }
@@ -543,10 +547,12 @@ public sealed class BSPrim : BSPhysObject
             m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass);
+            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
             BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
             // Inertia is based on our new mass
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            // There can be special things needed for implementing linksets
+            Linkset.MakeDynamic(this);
             // Force activation of the object so Bullet will act on it.
             BulletSimAPI.Activate2(BSBody.Ptr, true);
         }
@@ -1055,11 +1061,12 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-    // Create the geometry information in Bullet for later use
-    // The objects needs a hull if it's physical otherwise a mesh is enough
-    // No locking here because this is done when we know physics is not simulating
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used
-    // Returns 'true' if the geometry was rebuilt
+    // Create the geometry information in Bullet for later use.
+    // The objects needs a hull if it's physical otherwise a mesh is enough.
+    // No locking here because this is done when we know physics is not simulating.
+    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    // Returns 'true' if the geometry was rebuilt.
+    // Called at taint-time!
     private bool CreateGeom(bool forceRebuild)
     {
         bool ret = false;
@@ -1128,6 +1135,7 @@ public sealed class BSPrim : BSPhysObject
 
     // No locking here because this is done when we know physics is not simulating
     // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
+    // Called at taint-time!
     private bool CreateGeomMesh()
     {
         // level of detail based on size and type of the object
-- 
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/BSPrim.cs | 28 ++++++++++++++++++++------
 1 file changed, 22 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 04b7be5..6827be0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -545,14 +545,31 @@ public sealed class BSPrim : BSPhysObject
         {
             // Not a Bullet static object
             m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+
+            // Set various physical properties so internal things will get computed correctly as they are set
+            BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution);
+            // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
+            BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
             BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
             // Inertia is based on our new mass
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+
+            // Various values for simulation limits
+            BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold);
+
             // There can be special things needed for implementing linksets
             Linkset.MakeDynamic(this);
+
             // Force activation of the object so Bullet will act on it.
             BulletSimAPI.Activate2(BSBody.Ptr, true);
         }
@@ -1475,16 +1492,15 @@ public sealed class BSPrim : BSPhysObject
     // I've collided with something
     // Called at taint time from within the Step() function
     CollisionEventUpdate collisionCollection;
-    public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
         bool ret = false;
 
         // The following lines make IsColliding() and IsCollidingGround() work
-        _collidingStep = _scene.SimulationStep;
-        if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
+        _collidingStep = Scene.SimulationStep;
+        if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
         {
-            _collidingGroundStep = _scene.SimulationStep;
+            _collidingGroundStep = Scene.SimulationStep;
         }
 
         // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
@@ -1498,7 +1514,7 @@ public sealed class BSPrim : BSPhysObject
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             // throttle the collisions to the number of milliseconds specified in the subscription
-            int nowTime = _scene.SimulationNowTime;
+            int nowTime = Scene.SimulationNowTime;
             if (nowTime >= _nextCollisionOkTime) {
                 _nextCollisionOkTime = nowTime + _subscribedEventsMs;
 
-- 
cgit v1.1


From dcb94b8a242dff0f3a33f084565af49d6582f663 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 14 Sep 2012 11:11:43 -0700
Subject: BulletSim: remove timeStep parameter from calls for vehicle parameter
 setting. There is no reason these should be using the simulation time
 interval for parameter calculation.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6827be0..d97231c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -346,7 +346,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep);
+                _vehicle.ProcessTypeChange(type);
                 // Tell the scene about the vehicle so it will get processing each frame.
                 _scene.VehicleInSceneTypeChanged(this, type);
             });
@@ -356,14 +356,14 @@ public sealed class BSPrim : BSPhysObject
     {
         _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
+            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) 
     {
         _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
+            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
-- 
cgit v1.1


From c77be802d2879c0504438905359c1b865a92d3a1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 15 Sep 2012 15:23:54 -0700
Subject: BulletSim: some debugging prints in BSPrim for tracking changes in
 linkset children.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d97231c..26a581f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1476,12 +1476,14 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
+            // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
+
             base.RequestPhysicsterseUpdate();
         }
             /*
         else
         {
-            // For debugging, we also report the movement of children
+            // For debugging, we can also report the movement of children
             DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
                     entprop.Acceleration, entprop.RotationalVelocity);
-- 
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'.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 232 ++++++++-----------------
 1 file changed, 72 insertions(+), 160 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 26a581f..29f27e8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -49,8 +49,6 @@ public sealed class BSPrim : BSPhysObject
     private ulong _hullKey;
     private List<ConvexResult> _hulls;
 
-    private BSScene _scene;
-    public BSScene Scene { get { return _scene; } }
     private String _avName;
     private uint _localID = 0;
 
@@ -87,18 +85,6 @@ public sealed class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
-    // Membership in a linkset is controlled by this class.
-    public override BSLinkset Linkset { get; set; }
-
-    private int _subscribedEventsMs = 0;
-    private int _nextCollisionOkTime = 0;
-    long _collidingStep;
-    long _collidingGroundStep;
-    CollisionFlags m_currentCollisionFlags = 0;
-
-    public override BulletBody BSBody { get; set; }
-    public override BulletShape BSShape { get; set; }
-
     private BSDynamics _vehicle;
 
     private OMV.Vector3 _PIDTarget;
@@ -113,10 +99,10 @@ public sealed class BSPrim : BSPhysObject
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
     {
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
+        base.BaseInitialize(parent_scene);
         _localID = localID;
         _avName = primName;
         _physicsActorType = (int)ActorTypes.Prim;
-        _scene = parent_scene;
         _position = pos;
         _size = size;
         _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
@@ -129,25 +115,23 @@ public sealed class BSPrim : BSPhysObject
         _pbs = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
-        _subscribedEventsMs = 0;
-        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
-        _restitution = _scene.Params.defaultRestitution;
-        Linkset = new BSLinkset(Scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(Scene, this);            // add vehicleness
+        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
+        _density = PhysicsScene.Params.defaultDensity;    // TODO: compute based on object material
+        _restitution = PhysicsScene.Params.defaultRestitution;
+        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
         _mass = CalculateMass();
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
-        _scene.TaintedObject("BSPrim.create", delegate()
+        PhysicsScene.TaintedObject("BSPrim.create", delegate()
         {
             CreateGeomAndObject(true);
 
             // Get the pointer to the physical body for this object.
             // At the moment, we're still letting BulletSim manage the creation and destruction
             //    of the object. Someday we'll move that into the C# code.
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
             BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
-            m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
         });
     }
 
@@ -168,11 +152,11 @@ public sealed class BSPrim : BSPhysObject
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
 
-        _scene.TaintedObject("BSPrim.destroy", delegate()
+        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
-            BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
+            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
         });
     }
     
@@ -183,7 +167,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _size; } 
         set {
             _size = value;
-            _scene.TaintedObject("BSPrim.setSize", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
             {
                 _mass = CalculateMass();   // changing size changes the mass
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
@@ -196,7 +180,7 @@ public sealed class BSPrim : BSPhysObject
     public override PrimitiveBaseShape Shape { 
         set {
             _pbs = value;
-            _scene.TaintedObject("BSPrim.setShape", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
                 CreateGeomAndObject(false);
@@ -214,7 +198,7 @@ public sealed class BSPrim : BSPhysObject
     public override bool Selected { 
         set {
             _isSelected = value;
-            _scene.TaintedObject("BSPrim.setSelected", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
                 SetObjectDynamic();
             });
@@ -283,13 +267,13 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
             return _position; 
         } 
         set {
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
-            _scene.TaintedObject("BSPrim.setPosition", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
@@ -327,7 +311,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _force; } 
         set {
             _force = value;
-            _scene.TaintedObject("BSPrim.setForce", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
@@ -342,40 +326,40 @@ public sealed class BSPrim : BSPhysObject
         set {
             Vehicle type = (Vehicle)value;
             BSPrim vehiclePrim = this;
-            _scene.TaintedObject("setVehicleType", delegate()
+            PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
                 // Tell the scene about the vehicle so it will get processing each frame.
-                _scene.VehicleInSceneTypeChanged(this, type);
+                PhysicsScene.VehicleInSceneTypeChanged(this, type);
             });
         } 
     }
     public override void VehicleFloatParam(int param, float value) 
     {
-        _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) 
     {
-        _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
     {
-        _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
         });
     }
     public override void VehicleFlags(int param, bool remove) 
     {
-        _scene.TaintedObject("BSPrim.VehicleFlags", delegate()
+        PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
             _vehicle.ProcessVehicleFlags(param, remove);
         });
@@ -393,8 +377,9 @@ public sealed class BSPrim : BSPhysObject
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
         _isVolumeDetect = newValue;
-        _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+        PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
         {
+            DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
             SetObjectDynamic();
         });
         return; 
@@ -404,7 +389,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _velocity; } 
         set {
             _velocity = value;
-            _scene.TaintedObject("BSPrim.setVelocity", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity);
@@ -438,9 +423,9 @@ public sealed class BSPrim : BSPhysObject
         set {
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
-            _scene.TaintedObject("BSPrim.setOrientation", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
@@ -454,8 +439,9 @@ public sealed class BSPrim : BSPhysObject
         get { return _isPhysical; } 
         set {
             _isPhysical = value;
-            _scene.TaintedObject("BSPrim.setIsPhysical", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
             {
+                DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                 SetObjectDynamic();
             });
         } 
@@ -493,9 +479,9 @@ public sealed class BSPrim : BSPhysObject
         // Bullet wants static objects to have a mass of zero
         float mass = IsStatic ? 0f : _mass;
 
-        BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+        BulletSimAPI.SetObjectProperties(Scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
          */
-        BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -506,15 +492,15 @@ public sealed class BSPrim : BSPhysObject
         // Arrange for collisions events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
-        BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", 
-                        LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3},collide={4},cf={5}", 
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -527,7 +513,7 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             BulletSimAPI.ClearAllForces2(BSBody.Ptr);
             // Center of mass is at the center of the object
@@ -539,16 +525,17 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
         }
         else
         {
             // Not a Bullet static object
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal things will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution);
+            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
+            BulletSimAPI.SetFriction2(BSBody.Ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(BSBody.Ptr, PhysicsScene.Params.defaultRestitution);
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
             BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
@@ -562,10 +549,10 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(BSBody.Ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There can be special things needed for implementing linksets
             Linkset.MakeDynamic(this);
@@ -581,11 +568,11 @@ public sealed class BSPrim : BSPhysObject
         if (makeSolid)
         {
             // Easy in Bullet -- just remove the object flag that controls collision response
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
     }
 
@@ -594,11 +581,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -618,11 +605,11 @@ public sealed class BSPrim : BSPhysObject
         set { _throttleUpdates = value; } 
     }
     public override bool IsColliding {
-        get { return (_collidingStep == _scene.SimulationStep); } 
+        get { return (CollidingStep == PhysicsScene.SimulationStep); } 
         set { _isColliding = value; } 
     }
     public override bool CollidingGround {
-        get { return (_collidingGroundStep == _scene.SimulationStep); } 
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } 
         set { _collidingGround = value; } 
     }
     public override bool CollidingObj { 
@@ -656,7 +643,7 @@ public sealed class BSPrim : BSPhysObject
         set {
             _rotationalVelocity = value;
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity);
@@ -673,13 +660,13 @@ public sealed class BSPrim : BSPhysObject
         get { return _buoyancy; } 
         set {
             _buoyancy = value;
-            _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
+            PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
                 DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 // Buoyancy is faked by changing the gravity applied to the object
-                float grav = Scene.Params.gravity * (1f - _buoyancy);
+                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
+                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy);
             });
         } 
     }
@@ -730,7 +717,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        _scene.TaintedObject("BSPrim.AddForce", delegate()
+        PhysicsScene.TaintedObject("BSPrim.AddForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
@@ -754,30 +741,6 @@ public sealed class BSPrim : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) { 
         DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
-    public override void SubscribeEvents(int ms) { 
-        _subscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
-
-            Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
-            {
-                m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-    }
-    public override void UnSubscribeEvents() { 
-        _subscribedEventsMs = 0;
-        Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
-        {
-            m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    public override bool SubscribedEvents() { 
-        return (_subscribedEventsMs > 0);
-    }
-
     #region Mass Calculation
 
     private float CalculateMass()
@@ -1071,8 +1034,8 @@ public sealed class BSPrim : BSPhysObject
         if (returnMass <= 0)
             returnMass = 0.0001f;
 
-        if (returnMass > _scene.MaximumObjectMass)
-            returnMass = _scene.MaximumObjectMass;
+        if (returnMass > PhysicsScene.MaximumObjectMass)
+            returnMass = PhysicsScene.MaximumObjectMass;
 
         return returnMass;
     }// end CalculateMass
@@ -1090,7 +1053,7 @@ public sealed class BSPrim : BSPhysObject
         bool haveShape = false;
 
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim)
+        if ((_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                 || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
                     && _pbs.ProfileHollow == 0
                     && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
@@ -1156,12 +1119,12 @@ public sealed class BSPrim : BSPhysObject
     private bool CreateGeomMesh()
     {
         // level of detail based on size and type of the object
-        float lod = _scene.MeshLOD;
+        float lod = PhysicsScene.MeshLOD;
         if (_pbs.SculptEntry) 
-            lod = _scene.SculptLOD;
+            lod = PhysicsScene.SculptLOD;
         float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
-        if (maxAxis > _scene.MeshMegaPrimThreshold) 
-            lod = _scene.MeshMegaPrimLOD;
+        if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) 
+            lod = PhysicsScene.MeshMegaPrimLOD;
 
         ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
@@ -1175,14 +1138,14 @@ public sealed class BSPrim : BSPhysObject
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
             DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
-            BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
+            BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
             _mesh = null;
             _meshKey = 0;
         }
 
         _meshKey = newMeshKey;
         // always pass false for physicalness as this creates some sort of bounding box which we don't need
-        _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
+        _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
 
         int[] indices = _mesh.getIndexListAsInt();
         List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1198,7 +1161,7 @@ public sealed class BSPrim : BSPhysObject
 
         // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 
         //                  LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
-        BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, 
+        BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, 
                                                         vertices.Count, verticesAsFloats);
 
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
@@ -1211,7 +1174,7 @@ public sealed class BSPrim : BSPhysObject
     // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
     private bool CreateGeomHull()
     {
-        float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
+        float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
         ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
         // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
 
@@ -1225,7 +1188,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
             DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
-            BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
+            BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey);
             _hullKey = 0;
         }
 
@@ -1314,7 +1277,7 @@ public sealed class BSPrim : BSPhysObject
 
         // create the hull definition in Bullet
         // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
-        BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls);
+        BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
         _scale = new OMV.Vector3(1f, 1f, 1f);
@@ -1354,10 +1317,10 @@ public sealed class BSPrim : BSPhysObject
         ShapeData shape;
         FillShapeInfo(out shape);
         // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
-        bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
+        bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
-        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
+        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
         BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
 
         return ret;
@@ -1490,61 +1453,10 @@ public sealed class BSPrim : BSPhysObject
         }
              */
     }
-
-    // I've collided with something
-    // Called at taint time from within the Step() function
-    CollisionEventUpdate collisionCollection;
-    public override 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 = Scene.SimulationStep;
-        if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
-        {
-            _collidingGroundStep = Scene.SimulationStep;
-        }
-
-        // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
-
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-        {
-            return ret;
-        }
-
-        // if someone has subscribed for collision events....
-        if (SubscribedEvents()) {
-            // throttle the collisions to the number of milliseconds specified in the subscription
-            int nowTime = Scene.SimulationNowTime;
-            if (nowTime >= _nextCollisionOkTime) {
-                _nextCollisionOkTime = nowTime + _subscribedEventsMs;
-
-                if (collisionCollection == null)
-                    collisionCollection = new CollisionEventUpdate();
-                collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-                ret = true;
-            }
-        }
-        return ret;
-    }
-
-    // The scene is telling us it's time to pass our collected collisions into the simulator
-    public override void SendCollisions()
-    {
-        if (collisionCollection != null && collisionCollection.Count > 0)
-        {
-            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 = null;
-        }
-    }
-
     // Invoke the detailed logger and output something if it's enabled.
     private void DetailLog(string msg, params Object[] args)
     {
-        Scene.PhysicsLogging.Write(msg, args);
+        PhysicsScene.PhysicsLogging.Write(msg, args);
     }
 }
 }
-- 
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).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 +++++++++-----------------
 1 file changed, 13 insertions(+), 27 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 29f27e8..4f10d46 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -49,9 +49,6 @@ public sealed class BSPrim : BSPhysObject
     private ulong _hullKey;
     private List<ConvexResult> _hulls;
 
-    private String _avName;
-    private uint _localID = 0;
-
     // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
     // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
@@ -99,9 +96,7 @@ public sealed class BSPrim : BSPhysObject
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
     {
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
-        base.BaseInitialize(parent_scene);
-        _localID = localID;
-        _avName = primName;
+        base.BaseInitialize(parent_scene, localID, primName);
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
@@ -187,10 +182,6 @@ public sealed class BSPrim : BSPhysObject
             });
         } 
     }
-    public override uint LocalID { 
-        set { _localID = value; }
-        get { return _localID; }
-    }
     public override bool Grabbed { 
         set { _grabbed = value; 
         } 
@@ -267,7 +258,7 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
             return _position; 
         } 
         set {
@@ -425,7 +416,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
             });
@@ -666,7 +657,7 @@ public sealed class BSPrim : BSPhysObject
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy);
+                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
             });
         } 
     }
@@ -1127,7 +1118,7 @@ public sealed class BSPrim : BSPhysObject
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
+        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _meshKey, newMeshKey);
 
         // if this new shape is the same as last time, don't recreate the mesh
         if (_meshKey == newMeshKey) return false;
@@ -1136,7 +1127,7 @@ public sealed class BSPrim : BSPhysObject
         // Since we're recreating new, get rid of any previously generated shape
         if (_meshKey != 0)
         {
-            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
+            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, LocalID, _meshKey);
             DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
             BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
             _mesh = null;
@@ -1145,7 +1136,7 @@ public sealed class BSPrim : BSPhysObject
 
         _meshKey = newMeshKey;
         // always pass false for physicalness as this creates some sort of bounding box which we don't need
-        _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false);
+        _mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false);
 
         int[] indices = _mesh.getIndexListAsInt();
         List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1160,7 +1151,7 @@ public sealed class BSPrim : BSPhysObject
         }
 
         // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 
-        //                  LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
+        //                  LogHeader, LocalID, _meshKey, indices.Length, vertices.Count);
         BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, 
                                                         vertices.Count, verticesAsFloats);
 
@@ -1176,7 +1167,7 @@ public sealed class BSPrim : BSPhysObject
     {
         float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
         ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
+        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _hullKey, newHullKey);
 
         // if the hull hasn't changed, don't rebuild it
         if (newHullKey == _hullKey) return false;
@@ -1276,7 +1267,7 @@ public sealed class BSPrim : BSPhysObject
         }
 
         // create the hull definition in Bullet
-        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount);
+        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount);
         BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
         _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
         // meshes are already scaled by the meshmerizer
@@ -1316,7 +1307,7 @@ public sealed class BSPrim : BSPhysObject
         // the mesh or hull must have already been created in Bullet
         ShapeData shape;
         FillShapeInfo(out shape);
-        // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
+        // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type);
         bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
@@ -1329,7 +1320,7 @@ public sealed class BSPrim : BSPhysObject
     // Copy prim's info into the BulletSim shape description structure
     public void FillShapeInfo(out ShapeData shape)
     {
-        shape.ID = _localID;
+        shape.ID = LocalID;
         shape.Type = _shapeType;
         shape.Position = _position;
         shape.Rotation = _orientation;
@@ -1350,7 +1341,7 @@ public sealed class BSPrim : BSPhysObject
     // No locking here because this is done when the physics engine is not simulating
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild);
+        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
         // Create the geometry that will make up the object
         if (CreateGeom(forceRebuild))
         {
@@ -1453,10 +1444,5 @@ public sealed class BSPrim : BSPhysObject
         }
              */
     }
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
 }
 }
-- 
cgit v1.1


From a27e4ce6cbfb0a2e852624fd4d81121ca829f85c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 19 Sep 2012 08:21:29 -0700
Subject: BulletSim: add class and infrastructure for shape and object    
 tracking in the C# code. Needed for the changing body type     (to and from
 GhostObjects) for volumeDetect.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 47 ++++++++++++++++++++++----
 1 file changed, 41 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4f10d46..4d17e6c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -474,12 +474,13 @@ public sealed class BSPrim : BSPhysObject
          */
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
-        // Set up the object physicalness (does gravity and collisions move this object)
-        MakeDynamic(IsStatic);
-
         // Make solid or not (do things bounce off or pass through this object)
+        // This is done first because it can change the collisionObject type.
         MakeSolid(IsSolid);
 
+        // Set up the object physicalness (does gravity and collisions move this object)
+        MakeDynamic(IsStatic);
+
         // Arrange for collisions events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
@@ -554,17 +555,51 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // "Making solid" means that other object will not pass through this object.
+    // To make transparent, we create a Bullet ghost object.
+    // Note: This expects to be called from the UpdatePhysicalParameters() routine as
+    //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr);
+        /*
         if (makeSolid)
         {
-            // Easy in Bullet -- just remove the object flag that controls collision response
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
+            {
+                // Solid things are made out of rigid bodies. Remove this old body from the world
+                //    and use this shape in a new rigid body.
+                BulletBody oldBody = BSBody;
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+                BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
+                BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
+                BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+            }
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
+            {
+                // Non-solid things are made out of ghost objects. Remove this old body from the world
+                //    and use this shape in a new rigid body.
+                BulletBody oldBody = BSBody;
+                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+                BSBody = new BulletBody(LocalID, 
+                        BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
+                if (BSBody.Ptr == IntPtr.Zero)
+                {
+                    m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID);
+                    BSBody = oldBody;
+                }
+                else
+                {
+                    BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                }
+            }
         }
+         */
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
-- 
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.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 121 ++++++++++++++++---------
 1 file changed, 78 insertions(+), 43 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d17e6c..4d2c70c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,7 @@ public sealed class BSPrim : BSPhysObject
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
     {
         // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
-        base.BaseInitialize(parent_scene, localID, primName);
+        base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
@@ -115,17 +115,17 @@ public sealed class BSPrim : BSPhysObject
         _restitution = PhysicsScene.Params.defaultRestitution;
         _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
         _mass = CalculateMass();
+
+        // No body or shape yet
+        BSBody = new BulletBody(LocalID, IntPtr.Zero);
+        BSShape = new BulletShape(IntPtr.Zero);
+
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
         PhysicsScene.TaintedObject("BSPrim.create", delegate()
         {
             CreateGeomAndObject(true);
 
-            // Get the pointer to the physical body for this object.
-            // At the moment, we're still letting BulletSim manage the creation and destruction
-            //    of the object. Someday we'll move that into the C# code.
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
-            BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
             CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
         });
     }
@@ -168,17 +168,24 @@ public sealed class BSPrim : BSPhysObject
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
                 //   scale and margins are set.
                 CreateGeomAndObject(true);
-                DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
+                DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
             });
         } 
     }
+    // Scale is what we set in the physics engine. It is different than 'size' in that
+    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
+    public OMV.Vector3 Scale
+    {
+        get { return _scale; }
+        set { _scale = value; }
+    }
     public override PrimitiveBaseShape Shape { 
         set {
             _pbs = value;
             PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
             {
                 _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(false);
+                CreateGeomAndObject(true);
             });
         } 
     }
@@ -191,7 +198,7 @@ public sealed class BSPrim : BSPhysObject
             _isSelected = value;
             PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
-                SetObjectDynamic();
+                SetObjectDynamic(false);
             });
         } 
     }
@@ -371,7 +378,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
         {
             DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
-            SetObjectDynamic();
+            SetObjectDynamic(true);
         });
         return; 
     }
@@ -433,7 +440,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
             {
                 DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
-                SetObjectDynamic();
+                SetObjectDynamic(true);
             });
         } 
     }
@@ -445,7 +452,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    private bool IsSolid
+    public bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -457,21 +464,23 @@ public sealed class BSPrim : BSPhysObject
     //     isSolid: other objects bounce off of this object
     //     isVolumeDetect: other objects pass through but can generate collisions
     //     collisionEvents: whether this object returns collision events
-    private void SetObjectDynamic()
+    private void SetObjectDynamic(bool forceRebuild)
     {
+#if CSHARP_BODY_MANAGEMENT
+        // Recreate the physical object if necessary
+        CreateGeomAndObject(forceRebuild);
+#else
         // If it's becoming dynamic, it will need hullness
         VerifyCorrectPhysicalShape();
         UpdatePhysicalParameters();
+#endif  // CSHARP_BODY_MANAGEMENT
     }
 
     private void UpdatePhysicalParameters()
     {
-        /*
-        // Bullet wants static objects to have a mass of zero
-        float mass = IsStatic ? 0f : _mass;
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
-        BulletSimAPI.SetObjectProperties(Scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
-         */
+        // Mangling all the physical properties requires the object to be out of the physical world
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
 
         // Make solid or not (do things bounce off or pass through this object)
@@ -517,8 +526,8 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
-            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
         }
         else
         {
@@ -560,8 +569,8 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
+#if !CSHARP_BODY_MANAGEMENT
         CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr);
-        /*
         if (makeSolid)
         {
             if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
@@ -569,11 +578,16 @@ public sealed class BSPrim : BSPhysObject
                 // Solid things are made out of rigid bodies. Remove this old body from the world
                 //    and use this shape in a new rigid body.
                 BulletBody oldBody = BSBody;
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
-                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+                // Zero out the pointer to the shape in the old body so the shape will not get freed
+                BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
+                // Get rid of the old body and remove it from BulletSim's object list
+                BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+
+                // Create the new body with the shape
                 BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
-                BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+                BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+                DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
             }
         }
         else
@@ -583,23 +597,20 @@ public sealed class BSPrim : BSPhysObject
                 // Non-solid things are made out of ghost objects. Remove this old body from the world
                 //    and use this shape in a new rigid body.
                 BulletBody oldBody = BSBody;
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
-                BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
+
+                // Zero out the pointer to the shape in the old body so the shape will not get freed
+                BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
+                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
+                // Get rid of the old body and remove it from BulletSim's object list
+                BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+
                 BSBody = new BulletBody(LocalID, 
                         BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
-                if (BSBody.Ptr == IntPtr.Zero)
-                {
-                    m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID);
-                    BSBody = oldBody;
-                }
-                else
-                {
-                    BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr);
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
-                }
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+                DetailLog("{0},BSPrim.MakeGhostBody,body={1},shape={2}", LocalID, BSBody, BSShape);
             }
         }
-         */
+#endif
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -1067,6 +1078,7 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
+#if !CSHARP_BODY_MANAGEMENT
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
     // No locking here because this is done when we know physics is not simulating.
@@ -1095,6 +1107,7 @@ public sealed class BSPrim : BSPhysObject
                 {
                     DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
                     _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
+                    _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_SPHERE;
                     // Bullet native objects are scaled by the Bullet engine so pass the size in
                     _scale = _size;
                     // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1109,6 +1122,7 @@ public sealed class BSPrim : BSPhysObject
                 {
                     DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
                     _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
+                    _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_BOX;
                     _scale = _size;
                     // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
                     ret = true;
@@ -1136,6 +1150,7 @@ public sealed class BSPrim : BSPhysObject
                 }
             }
         }
+
         return ret;
     }
 
@@ -1345,12 +1360,9 @@ public sealed class BSPrim : BSPhysObject
         // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type);
         bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
 
-        // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
-        BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
-        BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
-
         return ret;
     }
+#endif  // !CSHARP_BODY_MANAGEMENT
 
     // Copy prim's info into the BulletSim shape description structure
     public void FillShapeInfo(out ShapeData shape)
@@ -1369,22 +1381,45 @@ public sealed class BSPrim : BSPhysObject
         shape.Restitution = _restitution;
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
+        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
+        shape.Size = _size;
     }
-
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // No locking here because this is done when the physics engine is not simulating
     private void CreateGeomAndObject(bool forceRebuild)
     {
+#if CSHARP_BODY_MANAGEMENT
+        ShapeData shapeData;
+        FillShapeInfo(out shapeData);
+
+        // Create the correct physical representation for this type of object.
+        // Updates BSBody and BSShape with the new information.
+        if (PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs))
+        {
+            // Make sure the properties are set on the new object
+            UpdatePhysicalParameters();
+        }
+#else
         // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
         // Create the geometry that will make up the object
         if (CreateGeom(forceRebuild))
         {
             // Create the object and place it into the world
             CreateObject();
+
+            // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
+            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
+            BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr), _shapeType);
+            BSShape.shapeKey = _meshKey;
+            DetailLog("{0},BSPrim.CreateGeomAndObject,body={1},shape={2}", LocalID, BSBody, BSShape);
+
             // Make sure the properties are set on the new object
             UpdatePhysicalParameters();
         }
+
+
+#endif // CSHARP_BODY_MANAGEMENT
         return;
     }
 
-- 
cgit v1.1


From 42802669dd8e2d574f9bbd25fbaa86b255fbe25b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Sep 2012 10:40:14 -0700
Subject: BulletSim: fix regression that caused cylindar shapes to have a box
 collision shape

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d2c70c..b764379 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1091,7 +1091,14 @@ public sealed class BSPrim : BSPhysObject
         bool haveShape = false;
 
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if ((_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
+        if (
+            // if the basic shape is a cube or a sphere...
+            ((_pbs.ProfileShape == ProfileShape.Square && _pbs.PathCurve == (byte)Extrusion.Straight)
+            || (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
+                    /* && _pbs.Scale.X == _pbs.Scale.Y && _pbs.Scale.Y == _pbs.Scale.Z */ ))
+            // ... and we are not doing sculpty meshes...
+            &&  (_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
+                // ... or this is a 'simple' shape...
                 || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
                     && _pbs.ProfileHollow == 0
                     && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
@@ -1099,6 +1106,7 @@ public sealed class BSPrim : BSPhysObject
                     && _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0
                     && _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100
                     && _pbs.PathShearX == 0 && _pbs.PathShearY == 0) )
+            // ... then this might be representable as a native Bullet collision shape
         {
             if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
             {
-- 
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/BSPrim.cs | 159 ++++++++++++++++---------
 1 file changed, 100 insertions(+), 59 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b764379..5be2b1b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -24,6 +24,11 @@
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
+
+// Uncomment this it enable code to do all shape an body memory management
+//    in the C# code.
+#define CSHARP_BODY_MANAGEMENT
+
 using System;
 using System.Reflection;
 using System.Collections.Generic;
@@ -36,6 +41,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
+
     [Serializable]
 public sealed class BSPrim : BSPhysObject
 {
@@ -126,7 +132,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
         });
     }
 
@@ -246,10 +252,10 @@ public sealed class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
-        BulletSimAPI.ClearForces2(BSBody.Ptr);
+        BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+        BulletSimAPI.ClearForces2(BSBody.ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -262,7 +268,7 @@ public sealed class BSPrim : BSPhysObject
         get { 
             if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
+                _position = BulletSimAPI.GetPosition2(BSBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
@@ -274,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         } 
     }
@@ -312,7 +318,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
+                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         } 
     }
@@ -374,12 +380,15 @@ public sealed class BSPrim : BSPhysObject
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
-        _isVolumeDetect = newValue;
-        PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+        if (_isVolumeDetect != newValue)
         {
-            DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
-            SetObjectDynamic(true);
-        });
+            _isVolumeDetect = newValue;
+            PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
+            {
+                DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
+                SetObjectDynamic(true);
+            });
+        }
         return; 
     }
 
@@ -390,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity);
+                BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
             });
         } 
     }
@@ -414,7 +423,7 @@ public sealed class BSPrim : BSPhysObject
             if (!Linkset.IsRoot(this))
             {
                 // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr);
+                _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
             }
             return _orientation;
         } 
@@ -425,7 +434,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         } 
     }
@@ -436,12 +445,15 @@ public sealed class BSPrim : BSPhysObject
     public override bool IsPhysical { 
         get { return _isPhysical; } 
         set {
-            _isPhysical = value;
-            PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
+            if (_isPhysical != value)
             {
-                DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
-                SetObjectDynamic(true);
-            });
+                _isPhysical = value;
+                PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
+                {
+                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    SetObjectDynamic(true);
+                });
+            }
         } 
     }
 
@@ -458,7 +470,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // Make gravity work if the object is physical and not selected
-    // No locking here because only called when it is safe
+    // No locking here because only called when it is safe (called at taint-time).
     // There are four flags we're interested in:
     //     IsStatic: Object does not move, otherwise the object has mass and moves
     //     isSolid: other objects bounce off of this object
@@ -481,11 +493,13 @@ public sealed class BSPrim : BSPhysObject
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
         // Mangling all the physical properties requires the object to be out of the physical world
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
+#if !CSHARP_BODY_MANAGEMENT
         // Make solid or not (do things bounce off or pass through this object)
         // This is done first because it can change the collisionObject type.
         MakeSolid(IsSolid);
+#endif //  !CSHARP_BODY_MANAGEMENT
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -493,15 +507,23 @@ public sealed class BSPrim : BSPhysObject
         // Arrange for collisions events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr);
+#if CSHARP_BODY_MANAGEMENT
+        // Make solid or not (do things bounce off or pass through this object).
+        MakeSolid(IsSolid);
+#endif //  CSHARP_BODY_MANAGEMENT
+
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+
+        // Rebuild its shape
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3},collide={4},cf={5}", 
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -514,52 +536,52 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
-            BulletSimAPI.ClearAllForces2(BSBody.Ptr);
+            BulletSimAPI.ClearAllForces2(BSBody.ptr);
             // Center of mass is at the center of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation);
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
+            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
             // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.Ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.Ptr, PhysicsScene.Params.defaultRestitution);
+            BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
 
             // A dynamic object has mass
-            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
+            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
-            BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
+            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             // Inertia is based on our new mass
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.Ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There can be special things needed for implementing linksets
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
-            BulletSimAPI.Activate2(BSBody.Ptr, true);
+            BulletSimAPI.Activate2(BSBody.ptr, true);
         }
     }
 
@@ -569,8 +591,28 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-#if !CSHARP_BODY_MANAGEMENT
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr);
+#if CSHARP_BODY_MANAGEMENT
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
+        if (makeSolid)
+        {
+            // Verify the previous code created the correct shape for this type of thing.
+            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+        else
+        {
+            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
+            {
+                m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
+            }
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+        }
+#else
+        // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject().
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
         if (makeSolid)
         {
             if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
@@ -618,11 +660,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -683,7 +725,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
             });
         } 
     }
@@ -702,7 +744,7 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
+                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
                 // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
             });
         } 
@@ -767,7 +809,7 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
-            BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
+            BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         });
     }
 
@@ -1394,7 +1436,7 @@ public sealed class BSPrim : BSPhysObject
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
-    // No locking here because this is done when the physics engine is not simulating
+    // No locking here because this is done when the physics engine is not simulating (taint-time).
     private void CreateGeomAndObject(bool forceRebuild)
     {
 #if CSHARP_BODY_MANAGEMENT
@@ -1403,11 +1445,10 @@ public sealed class BSPrim : BSPhysObject
 
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
-        if (PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs))
-        {
-            // Make sure the properties are set on the new object
-            UpdatePhysicalParameters();
-        }
+        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
+            
+        // Make sure the properties are set on the new object
+        UpdatePhysicalParameters();
 #else
         // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
         // Create the geometry that will make up the object
-- 
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/BSPrim.cs | 28 ++++++++++++++++++++------
 1 file changed, 22 insertions(+), 6 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5be2b1b..1c6d476 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -271,7 +271,7 @@ public sealed class BSPrim : BSPhysObject
                 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
+            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
             return _position; 
         } 
         set {
@@ -432,7 +432,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID);
+                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
@@ -492,7 +492,8 @@ public sealed class BSPrim : BSPhysObject
     {
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
-        // Mangling all the physical properties requires the object to be out of the physical world
+        // Mangling all the physical properties requires the object to be out of the physical world.
+        // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
 #if !CSHARP_BODY_MANAGEMENT
@@ -517,6 +518,14 @@ public sealed class BSPrim : BSPhysObject
         // Rebuild its shape
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
+        // Collision filter can be set only when the object is in the world
+        if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
+        {
+            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}",
+                        LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X"));
+        }
+
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
@@ -548,8 +557,11 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION);
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+
+            BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
@@ -582,6 +594,9 @@ public sealed class BSPrim : BSPhysObject
 
             // Force activation of the object so Bullet will act on it.
             BulletSimAPI.Activate2(BSBody.ptr, true);
+
+            BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
 
@@ -609,6 +624,8 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
 #else
         // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject().
@@ -745,7 +762,6 @@ public sealed class BSPrim : BSPhysObject
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
-                // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
             });
         } 
     }
-- 
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/BSPrim.cs | 62 +++++++++++++-------------
 1 file changed, 30 insertions(+), 32 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1c6d476..68a153e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
                 //   scale and margins are set.
                 CreateGeomAndObject(true);
-                DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
+                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
             });
         } 
     }
@@ -204,6 +204,7 @@ public sealed class BSPrim : BSPhysObject
             _isSelected = value;
             PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
+                // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
                 SetObjectDynamic(false);
             });
         } 
@@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         } 
@@ -317,7 +318,7 @@ public sealed class BSPrim : BSPhysObject
             _force = value;
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
-                DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
+                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
         } 
@@ -385,7 +386,7 @@ public sealed class BSPrim : BSPhysObject
             _isVolumeDetect = newValue;
             PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
             {
-                DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
+                // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
                 SetObjectDynamic(true);
             });
         }
@@ -398,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
             _velocity = value;
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
             });
         } 
@@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 Torque { 
         get { return _torque; } 
         set { _torque = value; 
-            DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
+            // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         } 
     }
     public override float CollisionScore { 
@@ -433,7 +434,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
         } 
@@ -450,7 +451,7 @@ public sealed class BSPrim : BSPhysObject
                 _isPhysical = value;
                 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
                 {
-                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
                 });
             }
@@ -470,12 +471,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // Make gravity work if the object is physical and not selected
-    // No locking here because only called when it is safe (called at taint-time).
-    // There are four flags we're interested in:
-    //     IsStatic: Object does not move, otherwise the object has mass and moves
-    //     isSolid: other objects bounce off of this object
-    //     isVolumeDetect: other objects pass through but can generate collisions
-    //     collisionEvents: whether this object returns collision events
+    // Called at taint-time!!
     private void SetObjectDynamic(bool forceRebuild)
     {
 #if CSHARP_BODY_MANAGEMENT
@@ -488,11 +484,17 @@ public sealed class BSPrim : BSPhysObject
 #endif  // CSHARP_BODY_MANAGEMENT
     }
 
+    // Convert the simulator's physical properties into settings on BulletSim objects.
+    // There are four flags we're interested in:
+    //     IsStatic: Object does not move, otherwise the object has mass and moves
+    //     isSolid: other objects bounce off of this object
+    //     isVolumeDetect: other objects pass through but can generate collisions
+    //     collisionEvents: whether this object returns collision events
     private void UpdatePhysicalParameters()
     {
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
-        // Mangling all the physical properties requires the object to be out of the physical world.
+        // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
@@ -505,7 +507,7 @@ public sealed class BSPrim : BSPhysObject
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
-        // Arrange for collisions events if the simulator wants them
+        // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
 #if CSHARP_BODY_MANAGEMENT
@@ -522,8 +524,6 @@ public sealed class BSPrim : BSPhysObject
         if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
         {
             BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}",
-                        LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X"));
         }
 
         // Recompute any linkset parameters.
@@ -557,8 +557,8 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'sleeping' so Bullet will not try to act on it
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
 
             BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -571,16 +571,14 @@ public sealed class BSPrim : BSPhysObject
             // Set various physical properties so internal dynamic properties will get computed correctly as they are set
             BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
             BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
+
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
+            BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
-            // Inertia is based on our new mass
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
             // Various values for simulation limits
@@ -645,7 +643,7 @@ public sealed class BSPrim : BSPhysObject
 
                 // Create the new body with the shape
                 BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
-                BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
                 DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
             }
         }
@@ -741,7 +739,7 @@ public sealed class BSPrim : BSPhysObject
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
             });
         } 
@@ -758,7 +756,7 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
             {
-                DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
                 // Buoyancy is faked by changing the gravity applied to the object
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
@@ -823,18 +821,18 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedForces.Clear();
             }
-            DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
+            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
             BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         });
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
-        DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
         // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
     }
     public override void SetMomentum(OMV.Vector3 momentum) { 
-        DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
     #region Mass Calculation
 
@@ -1452,7 +1450,7 @@ public sealed class BSPrim : BSPhysObject
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
-    // No locking here because this is done when the physics engine is not simulating (taint-time).
+    // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
 #if CSHARP_BODY_MANAGEMENT
-- 
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/BSPrim.cs | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 68a153e..17ba85a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -507,6 +507,9 @@ public sealed class BSPrim : BSPhysObject
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
+        // Do any vehicle stuff
+        _vehicle.Refresh();
+
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
@@ -556,9 +559,8 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
-            // The activation state is 'sleeping' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // The activation state is 'disabled' so Bullet will not try to act on it
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
 
             BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -577,7 +579,8 @@ public sealed class BSPrim : BSPhysObject
 
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
+            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
+            // OMV.Vector3 inertia = OMV.Vector3.Zero;
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
@@ -587,10 +590,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
             BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
-            // There can be special things needed for implementing linksets
+            // There can be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
+            // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
             BulletSimAPI.Activate2(BSBody.ptr, true);
 
             BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
@@ -1457,9 +1462,16 @@ public sealed class BSPrim : BSPhysObject
         ShapeData shapeData;
         FillShapeInfo(out shapeData);
 
+        // Undo me from any possible linkset so, if body is rebuilt, the link will get restored.
+        // NOTE that the new linkset is not set. This saves the handle to the linkset
+        //     so we can add ourselves back when shape mangling is complete.
+        Linkset.RemoveMeFromLinkset(this);
+
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
+
+        Linkset = Linkset.AddMeToLinkset(this);
             
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
-- 
cgit v1.1


From 5781d4d52d0e4c761737fd9b1382365589a4717e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Sep 2012 09:19:42 -0700
Subject: BulletSim: remove the unused body management code from BSPrim. There
 is no going back now.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 374 -------------------------
 1 file changed, 374 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 17ba85a..e65e42b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -27,8 +27,6 @@
 
 // Uncomment this it enable code to do all shape an body memory management
 //    in the C# code.
-#define CSHARP_BODY_MANAGEMENT
-
 using System;
 using System.Reflection;
 using System.Collections.Generic;
@@ -474,14 +472,8 @@ public sealed class BSPrim : BSPhysObject
     // Called at taint-time!!
     private void SetObjectDynamic(bool forceRebuild)
     {
-#if CSHARP_BODY_MANAGEMENT
         // Recreate the physical object if necessary
         CreateGeomAndObject(forceRebuild);
-#else
-        // If it's becoming dynamic, it will need hullness
-        VerifyCorrectPhysicalShape();
-        UpdatePhysicalParameters();
-#endif  // CSHARP_BODY_MANAGEMENT
     }
 
     // Convert the simulator's physical properties into settings on BulletSim objects.
@@ -498,11 +490,6 @@ public sealed class BSPrim : BSPhysObject
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
-#if !CSHARP_BODY_MANAGEMENT
-        // Make solid or not (do things bounce off or pass through this object)
-        // This is done first because it can change the collisionObject type.
-        MakeSolid(IsSolid);
-#endif //  !CSHARP_BODY_MANAGEMENT
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -513,10 +500,8 @@ public sealed class BSPrim : BSPhysObject
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
 
-#if CSHARP_BODY_MANAGEMENT
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
-#endif //  CSHARP_BODY_MANAGEMENT
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
@@ -609,7 +594,6 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-#if CSHARP_BODY_MANAGEMENT
         CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
         if (makeSolid)
         {
@@ -630,49 +614,6 @@ public sealed class BSPrim : BSPhysObject
             BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
             BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
-#else
-        // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject().
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
-        if (makeSolid)
-        {
-            if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
-            {
-                // Solid things are made out of rigid bodies. Remove this old body from the world
-                //    and use this shape in a new rigid body.
-                BulletBody oldBody = BSBody;
-                // Zero out the pointer to the shape in the old body so the shape will not get freed
-                BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
-                // Get rid of the old body and remove it from BulletSim's object list
-                BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
-
-                // Create the new body with the shape
-                BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-                DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
-            }
-        }
-        else
-        {
-            if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
-            {
-                // Non-solid things are made out of ghost objects. Remove this old body from the world
-                //    and use this shape in a new rigid body.
-                BulletBody oldBody = BSBody;
-
-                // Zero out the pointer to the shape in the old body so the shape will not get freed
-                BSShape.Ptr = BulletSimAPI.GetCollisionShape2(oldBody.Ptr);
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.Ptr, oldBody.Ptr, IntPtr.Zero);
-                // Get rid of the old body and remove it from BulletSim's object list
-                BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
-
-                BSBody = new BulletBody(LocalID, 
-                        BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-                DetailLog("{0},BSPrim.MakeGhostBody,body={1},shape={2}", LocalID, BSBody, BSShape);
-            }
-        }
-#endif
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -1139,300 +1080,6 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-#if !CSHARP_BODY_MANAGEMENT
-    // Create the geometry information in Bullet for later use.
-    // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
-    // Returns 'true' if the geometry was rebuilt.
-    // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild)
-    {
-        bool ret = false;
-        bool haveShape = false;
-
-        // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (
-            // if the basic shape is a cube or a sphere...
-            ((_pbs.ProfileShape == ProfileShape.Square && _pbs.PathCurve == (byte)Extrusion.Straight)
-            || (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1
-                    /* && _pbs.Scale.X == _pbs.Scale.Y && _pbs.Scale.Y == _pbs.Scale.Z */ ))
-            // ... and we are not doing sculpty meshes...
-            &&  (_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
-                // ... or this is a 'simple' shape...
-                || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
-                    && _pbs.ProfileHollow == 0
-                    && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
-                    && _pbs.PathBegin == 0 && _pbs.PathEnd == 0
-                    && _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0
-                    && _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100
-                    && _pbs.PathShearX == 0 && _pbs.PathShearY == 0) )
-            // ... then this might be representable as a native Bullet collision shape
-        {
-            if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
-            {
-                haveShape = true;
-                if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
-                {
-                    DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
-                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
-                    _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_SPHERE;
-                    // Bullet native objects are scaled by the Bullet engine so pass the size in
-                    _scale = _size;
-                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
-                    ret = true;
-                }
-            }
-            else
-            {
-                // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
-                haveShape = true;
-                if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
-                {
-                    DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
-                    _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
-                    _meshKey = (ulong)ShapeData.FixedShapeKey.KEY_BOX;
-                    _scale = _size;
-                    // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
-                    ret = true;
-                }
-            }
-        }
-        // If a simple shape isn't happening, create a mesh and possibly a hull
-        if (!haveShape)
-        {
-            if (IsPhysical)
-            {
-                if (forceRebuild || _hullKey == 0)
-                {
-                    // physical objects require a hull for interaction.
-                    // This also creates the mesh if it doesn't already exist
-                    ret = CreateGeomHull();
-                }
-            }
-            else
-            {
-                if (forceRebuild || _meshKey == 0)
-                {
-                    // Static (non-physical) objects only need a mesh for bumping into
-                    ret = CreateGeomMesh();
-                }
-            }
-        }
-
-        return ret;
-    }
-
-    // No locking here because this is done when we know physics is not simulating
-    // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
-    // Called at taint-time!
-    private bool CreateGeomMesh()
-    {
-        // level of detail based on size and type of the object
-        float lod = PhysicsScene.MeshLOD;
-        if (_pbs.SculptEntry) 
-            lod = PhysicsScene.SculptLOD;
-        float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z));
-        if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) 
-            lod = PhysicsScene.MeshMegaPrimLOD;
-
-        ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _meshKey, newMeshKey);
-
-        // if this new shape is the same as last time, don't recreate the mesh
-        if (_meshKey == newMeshKey) return false;
-
-        DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
-        // Since we're recreating new, get rid of any previously generated shape
-        if (_meshKey != 0)
-        {
-            // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, LocalID, _meshKey);
-            DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
-            BulletSimAPI.DestroyMesh(PhysicsScene.WorldID, _meshKey);
-            _mesh = null;
-            _meshKey = 0;
-        }
-
-        _meshKey = newMeshKey;
-        // always pass false for physicalness as this creates some sort of bounding box which we don't need
-        _mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false);
-
-        int[] indices = _mesh.getIndexListAsInt();
-        List<OMV.Vector3> vertices = _mesh.getVertexList();
-
-        float[] verticesAsFloats = new float[vertices.Count * 3];
-        int vi = 0;
-        foreach (OMV.Vector3 vv in vertices)
-        {
-            verticesAsFloats[vi++] = vv.X;
-            verticesAsFloats[vi++] = vv.Y;
-            verticesAsFloats[vi++] = vv.Z;
-        }
-
-        // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", 
-        //                  LogHeader, LocalID, _meshKey, indices.Length, vertices.Count);
-        BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, 
-                                                        vertices.Count, verticesAsFloats);
-
-        _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
-        // meshes are already scaled by the meshmerizer
-        _scale = new OMV.Vector3(1f, 1f, 1f);
-        return true;
-    }
-
-    // No locking here because this is done when we know physics is not simulating
-    // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
-    private bool CreateGeomHull()
-    {
-        float lod = _pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD;
-        ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
-        // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, LocalID, _hullKey, newHullKey);
-
-        // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == _hullKey) return false;
-
-        DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
-        
-        // Since we're recreating new, get rid of any previously generated shape
-        if (_hullKey != 0)
-        {
-            // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
-            DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
-            BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey);
-            _hullKey = 0;
-        }
-
-        _hullKey = newHullKey;
-
-        // Make sure the underlying mesh exists and is correct
-        CreateGeomMesh();
-
-        int[] indices = _mesh.getIndexListAsInt();
-        List<OMV.Vector3> vertices = _mesh.getVertexList();
-
-        //format conversion from IMesh format to DecompDesc format
-        List<int> convIndices = new List<int>();
-        List<float3> convVertices = new List<float3>();
-        for (int ii = 0; ii < indices.GetLength(0); ii++)
-        {
-            convIndices.Add(indices[ii]);
-        }
-        foreach (OMV.Vector3 vv in vertices)
-        {
-            convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
-        }
-
-        // setup and do convex hull conversion
-        _hulls = new List<ConvexResult>();
-        DecompDesc dcomp = new DecompDesc();
-        dcomp.mIndices = convIndices;
-        dcomp.mVertices = convVertices;
-        ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
-        // create the hull into the _hulls variable
-        convexBuilder.process(dcomp);
-
-        // Convert the vertices and indices for passing to unmanaged.
-        // The hull information is passed as a large floating point array. 
-        // The format is:
-        //  convHulls[0] = number of hulls
-        //  convHulls[1] = number of vertices in first hull
-        //  convHulls[2] = hull centroid X coordinate
-        //  convHulls[3] = hull centroid Y coordinate
-        //  convHulls[4] = hull centroid Z coordinate
-        //  convHulls[5] = first hull vertex X
-        //  convHulls[6] = first hull vertex Y
-        //  convHulls[7] = first hull vertex Z
-        //  convHulls[8] = second hull vertex X
-        //  ...
-        //  convHulls[n] = number of vertices in second hull
-        //  convHulls[n+1] = second hull centroid X coordinate
-        //  ...
-        //
-        // TODO: is is very inefficient. Someday change the convex hull generator to return
-        //   data structures that do not need to be converted in order to pass to Bullet.
-        //   And maybe put the values directly into pinned memory rather than marshaling.
-        int hullCount = _hulls.Count;
-        int totalVertices = 1;          // include one for the count of the hulls
-        foreach (ConvexResult cr in _hulls)
-        {
-            totalVertices += 4;                         // add four for the vertex count and centroid
-            totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
-        }
-        float[] convHulls = new float[totalVertices];
-
-        convHulls[0] = (float)hullCount;
-        int jj = 1;
-        foreach (ConvexResult cr in _hulls)
-        {
-            // copy vertices for index access
-            float3[] verts = new float3[cr.HullVertices.Count];
-            int kk = 0;
-            foreach (float3 ff in cr.HullVertices)
-            {
-                verts[kk++] = ff;
-            }
-
-            // add to the array one hull's worth of data
-            convHulls[jj++] = cr.HullIndices.Count;
-            convHulls[jj++] = 0f;   // centroid x,y,z
-            convHulls[jj++] = 0f;
-            convHulls[jj++] = 0f;
-            foreach (int ind in cr.HullIndices)
-            {
-                convHulls[jj++] = verts[ind].x;
-                convHulls[jj++] = verts[ind].y;
-                convHulls[jj++] = verts[ind].z;
-            }
-        }
-
-        // create the hull definition in Bullet
-        // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount);
-        BulletSimAPI.CreateHull(PhysicsScene.WorldID, _hullKey, hullCount, convHulls);
-        _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
-        // meshes are already scaled by the meshmerizer
-        _scale = new OMV.Vector3(1f, 1f, 1f);
-        DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
-        return true;
-    }
-
-    // Callback from convex hull creater with a newly created hull.
-    // Just add it to the collection of hulls for this shape.
-    private void HullReturn(ConvexResult result)
-    {
-        _hulls.Add(result);
-        return;
-    }
-
-    private void VerifyCorrectPhysicalShape()
-    {
-        if (!IsStatic)
-        {
-            // if not static, it will need a hull to efficiently collide with things
-            if (_hullKey == 0)
-            {
-                CreateGeomAndObject(false);
-            }
-
-        }
-    }
-
-    // Create an object in Bullet if it has not already been created
-    // No locking here because this is done when the physics engine is not simulating
-    // Returns 'true' if an object was actually created.
-    private bool CreateObject()
-    {
-        // this routine is called when objects are rebuilt. 
-
-        // the mesh or hull must have already been created in Bullet
-        ShapeData shape;
-        FillShapeInfo(out shape);
-        // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type);
-        bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape);
-
-        return ret;
-    }
-#endif  // !CSHARP_BODY_MANAGEMENT
-
     // Copy prim's info into the BulletSim shape description structure
     public void FillShapeInfo(out ShapeData shape)
     {
@@ -1458,7 +1105,6 @@ public sealed class BSPrim : BSPhysObject
     // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
-#if CSHARP_BODY_MANAGEMENT
         ShapeData shapeData;
         FillShapeInfo(out shapeData);
 
@@ -1475,26 +1121,6 @@ public sealed class BSPrim : BSPhysObject
             
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
-#else
-        // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild);
-        // Create the geometry that will make up the object
-        if (CreateGeom(forceRebuild))
-        {
-            // Create the object and place it into the world
-            CreateObject();
-
-            // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
-            BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID));
-            BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr), _shapeType);
-            BSShape.shapeKey = _meshKey;
-            DetailLog("{0},BSPrim.CreateGeomAndObject,body={1},shape={2}", LocalID, BSBody, BSShape);
-
-            // Make sure the properties are set on the new object
-            UpdatePhysicalParameters();
-        }
-
-
-#endif // CSHARP_BODY_MANAGEMENT
         return;
     }
 
-- 
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/BSPrim.cs | 212 ++++++++++++-------------
 1 file changed, 106 insertions(+), 106 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e65e42b..8688485 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -158,12 +158,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
         });
     }
-    
-    public override bool Stopped { 
-        get { return _stopped; } 
+
+    public override bool Stopped {
+        get { return _stopped; }
     }
-    public override OMV.Vector3 Size { 
-        get { return _size; } 
+    public override OMV.Vector3 Size {
+        get { return _size; }
         set {
             _size = value;
             PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
@@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject
                 CreateGeomAndObject(true);
                 // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
             });
-        } 
+        }
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
@@ -183,7 +183,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _scale; }
         set { _scale = value; }
     }
-    public override PrimitiveBaseShape Shape { 
+    public override PrimitiveBaseShape Shape {
         set {
             _pbs = value;
             PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
@@ -191,13 +191,13 @@ public sealed class BSPrim : BSPhysObject
                 _mass = CalculateMass();   // changing the shape changes the mass
                 CreateGeomAndObject(true);
             });
-        } 
+        }
     }
-    public override bool Grabbed { 
-        set { _grabbed = value; 
-        } 
+    public override bool Grabbed {
+        set { _grabbed = value;
+        }
     }
-    public override bool Selected { 
+    public override bool Selected {
         set {
             _isSelected = value;
             PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
@@ -205,7 +205,7 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
                 SetObjectDynamic(false);
             });
-        } 
+        }
     }
     public override void CrossingFailure() { return; }
 
@@ -219,10 +219,10 @@ public sealed class BSPrim : BSPhysObject
 
             Linkset = parent.Linkset.AddMeToLinkset(this);
 
-            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 
+            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
                 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
         }
-        return; 
+        return;
     }
 
     // delink me from my linkset
@@ -232,12 +232,12 @@ public sealed class BSPrim : BSPhysObject
 
         BSPhysObject parentBefore = Linkset.LinksetRoot;
         int childrenBefore = Linkset.NumberOfChildren;
-        
+
         Linkset = Linkset.RemoveMeFromLinkset(this);
 
-        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", 
+        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
             LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        return; 
+        return;
     }
 
     // Set motion values to zero.
@@ -258,21 +258,21 @@ public sealed class BSPrim : BSPhysObject
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
-    { 
+    {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
         return;
     }
 
-    public override OMV.Vector3 Position { 
-        get { 
+    public override OMV.Vector3 Position {
+        get {
             if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
                 _position = BulletSimAPI.GetPosition2(BSBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-            return _position; 
-        } 
+            return _position;
+        }
         set {
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
@@ -281,13 +281,13 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
-        } 
+        }
     }
 
     // Return the effective mass of the object.
     // If there are multiple items in the linkset, add them together for the root
     public override float Mass
-    { 
+    {
         get
         {
             // return Linkset.LinksetMass;
@@ -310,8 +310,8 @@ public sealed class BSPrim : BSPhysObject
         get { return Linkset.GeometricCenter; }
     }
 
-    public override OMV.Vector3 Force { 
-        get { return _force; } 
+    public override OMV.Vector3 Force {
+        get { return _force; }
         set {
             _force = value;
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
@@ -319,13 +319,13 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
                 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
             });
-        } 
+        }
     }
 
-    public override int VehicleType { 
+    public override int VehicleType {
         get {
             return (int)_vehicle.Type;   // if we are a vehicle, return that type
-        } 
+        }
         set {
             Vehicle type = (Vehicle)value;
             BSPrim vehiclePrim = this;
@@ -337,30 +337,30 @@ public sealed class BSPrim : BSPhysObject
                 // Tell the scene about the vehicle so it will get processing each frame.
                 PhysicsScene.VehicleInSceneTypeChanged(this, type);
             });
-        } 
+        }
     }
-    public override void VehicleFloatParam(int param, float value) 
+    public override void VehicleFloatParam(int param, float value)
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
         });
     }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value) 
+    public override void VehicleVectorParam(int param, OMV.Vector3 value)
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
         });
     }
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 
+    public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
         });
     }
-    public override void VehicleFlags(int param, bool remove) 
+    public override void VehicleFlags(int param, bool remove)
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
@@ -388,11 +388,11 @@ public sealed class BSPrim : BSPhysObject
                 SetObjectDynamic(true);
             });
         }
-        return; 
+        return;
     }
 
-    public override OMV.Vector3 Velocity { 
-        get { return _velocity; } 
+    public override OMV.Vector3 Velocity {
+        get { return _velocity; }
         set {
             _velocity = value;
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
@@ -400,24 +400,24 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
                 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
             });
-        } 
+        }
     }
-    public override OMV.Vector3 Torque { 
-        get { return _torque; } 
-        set { _torque = value; 
+    public override OMV.Vector3 Torque {
+        get { return _torque; }
+        set { _torque = value;
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
-        } 
+        }
     }
-    public override float CollisionScore { 
-        get { return _collisionScore; } 
-        set { _collisionScore = value; 
-        } 
+    public override float CollisionScore {
+        get { return _collisionScore; }
+        set { _collisionScore = value;
+        }
     }
-    public override OMV.Vector3 Acceleration { 
+    public override OMV.Vector3 Acceleration {
         get { return _acceleration; }
         set { _acceleration = value; }
     }
-    public override OMV.Quaternion Orientation { 
+    public override OMV.Quaternion Orientation {
         get {
             if (!Linkset.IsRoot(this))
             {
@@ -425,7 +425,7 @@ public sealed class BSPrim : BSPhysObject
                 _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
             }
             return _orientation;
-        } 
+        }
         set {
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
@@ -435,14 +435,14 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
             });
-        } 
+        }
     }
-    public override int PhysicsActorType { 
-        get { return _physicsActorType; } 
-        set { _physicsActorType = value; } 
+    public override int PhysicsActorType {
+        get { return _physicsActorType; }
+        set { _physicsActorType = value; }
     }
-    public override bool IsPhysical { 
-        get { return _isPhysical; } 
+    public override bool IsPhysical {
+        get { return _isPhysical; }
         set {
             if (_isPhysical != value)
             {
@@ -453,7 +453,7 @@ public sealed class BSPrim : BSPhysObject
                     SetObjectDynamic(true);
                 });
             }
-        } 
+        }
     }
 
     // An object is static (does not move) if selected or not physical
@@ -519,7 +519,7 @@ public sealed class BSPrim : BSPhysObject
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
     }
 
@@ -630,31 +630,31 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // prims don't fly
-    public override bool Flying { 
-        get { return _flying; } 
+    public override bool Flying {
+        get { return _flying; }
         set {
             _flying = value;
-        } 
+        }
     }
-    public override bool SetAlwaysRun { 
-        get { return _setAlwaysRun; } 
-        set { _setAlwaysRun = value; } 
+    public override bool SetAlwaysRun {
+        get { return _setAlwaysRun; }
+        set { _setAlwaysRun = value; }
     }
-    public override bool ThrottleUpdates { 
-        get { return _throttleUpdates; } 
-        set { _throttleUpdates = value; } 
+    public override bool ThrottleUpdates {
+        get { return _throttleUpdates; }
+        set { _throttleUpdates = value; }
     }
     public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); } 
-        set { _isColliding = value; } 
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set { _isColliding = value; }
     }
     public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } 
-        set { _collidingGround = value; } 
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set { _collidingGround = value; }
     }
-    public override bool CollidingObj { 
-        get { return _collidingObj; } 
-        set { _collidingObj = value; } 
+    public override bool CollidingObj {
+        get { return _collidingObj; }
+        set { _collidingObj = value; }
     }
     public bool IsPhantom {
         get {
@@ -664,10 +664,10 @@ public sealed class BSPrim : BSPhysObject
             return false;
         }
     }
-    public override bool FloatOnWater { 
-        set { _floatOnWater = value; } 
+    public override bool FloatOnWater {
+        set { _floatOnWater = value; }
     }
-    public override OMV.Vector3 RotationalVelocity { 
+    public override OMV.Vector3 RotationalVelocity {
         get {
             /*
             OMV.Vector3 pv = OMV.Vector3.Zero;
@@ -679,7 +679,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
             return _rotationalVelocity;
-        } 
+        }
         set {
             _rotationalVelocity = value;
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
@@ -688,16 +688,16 @@ public sealed class BSPrim : BSPhysObject
                 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
             });
-        } 
+        }
     }
-    public override bool Kinematic { 
-        get { return _kinematic; } 
-        set { _kinematic = value; 
+    public override bool Kinematic {
+        get { return _kinematic; }
+        set { _kinematic = value;
             // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
-        } 
+        }
     }
-    public override float Buoyancy { 
-        get { return _buoyancy; } 
+    public override float Buoyancy {
+        get { return _buoyancy; }
         set {
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
@@ -707,32 +707,32 @@ public sealed class BSPrim : BSPhysObject
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
             });
-        } 
+        }
     }
 
     // Used for MoveTo
-    public override OMV.Vector3 PIDTarget { 
-        set { _PIDTarget = value; } 
+    public override OMV.Vector3 PIDTarget {
+        set { _PIDTarget = value; }
     }
-    public override bool PIDActive { 
-        set { _usePID = value; } 
+    public override bool PIDActive {
+        set { _usePID = value; }
     }
-    public override float PIDTau { 
-        set { _PIDTau = value; } 
+    public override float PIDTau {
+        set { _PIDTau = value; }
     }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive { 
+    public override bool PIDHoverActive {
         set { _useHoverPID = value; }
     }
-    public override float PIDHoverHeight { 
+    public override float PIDHoverHeight {
         set { _PIDHoverHeight = value; }
     }
-    public override PIDHoverType PIDHoverType { 
+    public override PIDHoverType PIDHoverType {
         set { _PIDHoverType = value; }
     }
-    public override float PIDHoverTau { 
+    public override float PIDHoverTau {
         set { _PIDHoverTao = value; }
     }
 
@@ -773,11 +773,11 @@ public sealed class BSPrim : BSPhysObject
         });
     }
 
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
         // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
         // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
     }
-    public override void SetMomentum(OMV.Vector3 momentum) { 
+    public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
     #region Mass Calculation
@@ -789,8 +789,8 @@ public sealed class BSPrim : BSPhysObject
 
         float returnMass = 0;
         float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
-        float hollowVolume = hollowAmount * hollowAmount; 
-        
+        float hollowVolume = hollowAmount * hollowAmount;
+
         switch (_pbs.ProfileShape)
         {
             case ProfileShape.Square:
@@ -826,16 +826,16 @@ public sealed class BSPrim : BSPhysObject
 
                 else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
                     {
-                    //a tube 
+                    //a tube
 
                     volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
                     tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
                     volume -= volume*tmp*tmp;
-                    
+
                     if (hollowAmount > 0.0)
                         {
                         hollowVolume *= hollowAmount;
-                        
+   
                         switch (_pbs.HollowShape)
                             {
                             case HollowShape.Square:
@@ -894,7 +894,7 @@ public sealed class BSPrim : BSPhysObject
                     volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
                     tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
-                    
+
                     if (hollowAmount > 0.0)
                         {
 
@@ -1118,7 +1118,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
 
         Linkset = Linkset.AddMeToLinkset(this);
-            
+
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
         return;
@@ -1210,7 +1210,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // For debugging, we can also report the movement of children
             DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
+                    LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
-- 
cgit v1.1


From 74dea4cfd52be75b4dd6277260c3ada80b939fbb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Sep 2012 19:57:35 -0700
Subject: BulletSim: rename some constraint variables to be consistant with
 other name use. Added callbacks for shape and body changes in
 GetBodyAndShape() so the linkset     constraints can be picked up and
 restored. A better design might be to have     a "prim shape changed" event.
 Think about that. Added constraint types to general constraint class.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8688485..c879143 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1111,13 +1111,21 @@ public sealed class BSPrim : BSPhysObject
         // Undo me from any possible linkset so, if body is rebuilt, the link will get restored.
         // NOTE that the new linkset is not set. This saves the handle to the linkset
         //     so we can add ourselves back when shape mangling is complete.
-        Linkset.RemoveMeFromLinkset(this);
+        bool needToRestoreLinkset = false;
 
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
-        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
+        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, 
+                        null, delegate(BulletBody dBody)
+        {
+            // Called if the current prim body is about to be destroyed.
+            // The problem is the constraints for Linksets which need to be updated for the new body.
+            Linkset.RemoveBodyDependencies(this);
+            needToRestoreLinkset = true;
+        });
 
-        Linkset = Linkset.AddMeToLinkset(this);
+        if (needToRestoreLinkset)
+            Linkset.RestoreBodyDependencies(this);
 
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
-- 
cgit v1.1


From 6f89975526359b81c43c23d9a549660d12212c59 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Sep 2012 22:00:02 -0700
Subject: BulletSim: add separate runtime and taint-time linkset children lists
 to keep the creation of constraints separate from runtime.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c879143..87ffe3e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1120,8 +1120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // Called if the current prim body is about to be destroyed.
             // The problem is the constraints for Linksets which need to be updated for the new body.
-            Linkset.RemoveBodyDependencies(this);
-            needToRestoreLinkset = true;
+            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
         });
 
         if (needToRestoreLinkset)
-- 
cgit v1.1


From 76e9cc41bd612035850e105a6fe34f483aab25e7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 28 Sep 2012 12:34:50 -0700
Subject: BulletSim: remember to release the physical body and shape when a
 prim is destroyed. This fixes many problems with physical linksets.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 87ffe3e..a0e627e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -154,8 +154,9 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
-            // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
+            // If there are physical body and shape, release my use of same.
+            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
         });
     }
 
@@ -251,9 +252,6 @@ public sealed class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
         BulletSimAPI.ClearForces2(BSBody.ptr);
     }
 
@@ -1108,9 +1106,8 @@ public sealed class BSPrim : BSPhysObject
         ShapeData shapeData;
         FillShapeInfo(out shapeData);
 
-        // Undo me from any possible linkset so, if body is rebuilt, the link will get restored.
-        // NOTE that the new linkset is not set. This saves the handle to the linkset
-        //     so we can add ourselves back when shape mangling is complete.
+        // If this prim is part of a linkset, we must remove and restore the physical
+        //    links of the body is rebuilt.
         bool needToRestoreLinkset = false;
 
         // Create the correct physical representation for this type of object.
@@ -1119,12 +1116,15 @@ public sealed class BSPrim : BSPhysObject
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-            // The problem is the constraints for Linksets which need to be updated for the new body.
+            // Remove all the physical dependencies on the old body.
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
         });
 
         if (needToRestoreLinkset)
+        {
+            // If physical body dependencies were removed, restore them
             Linkset.RestoreBodyDependencies(this);
+        }
 
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
-- 
cgit v1.1


From 5221f2421e2a9b7dcc1a1e0e8cccaf1c9c94d2e2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 1 Oct 2012 08:27:26 -0700
Subject: BulletSim: remove warnings for unused variables.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 17 +++++------------
 1 file changed, 5 insertions(+), 12 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a0e627e..e54bf75 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,19 +46,13 @@ public sealed class BSPrim : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private IMesh _mesh;
     private PrimitiveBaseShape _pbs;
-    private ShapeData.PhysicsShapeType _shapeType;
-    private ulong _meshKey;
-    private ulong _hullKey;
-    private List<ConvexResult> _hulls;
 
     // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
     // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
     private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
 
-    private bool _stopped;
     private bool _grabbed;
     private bool _isSelected;
     private bool _isVolumeDetect;
@@ -109,8 +103,6 @@ public sealed class BSPrim : BSPhysObject
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
-        _hullKey = 0;
-        _meshKey = 0;
         _pbs = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
@@ -160,8 +152,9 @@ public sealed class BSPrim : BSPhysObject
         });
     }
 
+    // No one uses this property.
     public override bool Stopped {
-        get { return _stopped; }
+        get { return false; }
     }
     public override OMV.Vector3 Size {
         get { return _size; }
@@ -1082,15 +1075,15 @@ public sealed class BSPrim : BSPhysObject
     public void FillShapeInfo(out ShapeData shape)
     {
         shape.ID = LocalID;
-        shape.Type = _shapeType;
+        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
         shape.Position = _position;
         shape.Rotation = _orientation;
         shape.Velocity = _velocity;
         shape.Scale = _scale;
         shape.Mass = _isPhysical ? _mass : 0f;
         shape.Buoyancy = _buoyancy;
-        shape.HullKey = _hullKey;
-        shape.MeshKey = _meshKey;
+        shape.HullKey = 0;
+        shape.MeshKey = 0;
         shape.Friction = _friction;
         shape.Restitution = _restitution;
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
-- 
cgit v1.1


From 33617e09a185be68ceeaaba0fe9b7b2e6068124d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 1 Oct 2012 11:54:35 -0700
Subject: BulletSim: impliment FloatOnWater OS function.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 77 ++++++++++++++++++++++++--
 1 file changed, 72 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e54bf75..e37a4a0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -267,6 +267,7 @@ public sealed class BSPrim : BSPhysObject
         set {
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
+            PositionSanityCheck();
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@@ -275,6 +276,63 @@ public sealed class BSPrim : BSPhysObject
         }
     }
 
+    // Check that the current position is sane and, if not, modify the position to make it so.
+    // Check for being below terrain and being out of bounds.
+    // Returns 'true' of the position was made sane by some action.
+    private bool PositionSanityCheck()
+    {
+        bool ret = false;
+      
+        // If totally below the ground, move the prim up
+        // TODO: figure out the right solution for this... only for dynamic objects?
+        /*
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        if (Position.Z < terrainHeight)
+        {
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            _position.Z = terrainHeight + 2.0f;
+            ret = true;
+        }
+         */
+        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
+        {
+            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            if (Position.Z < waterHeight)
+            {
+                _position.Z = waterHeight;
+                ret = true;
+            }
+        }
+
+        // TODO: check for out of bounds
+        return ret;
+    }
+
+    // A version of the sanity check that also makes sure a new position value is
+    //    pushed back to the physics engine. This routine would be used by anyone
+    //    who is not already pushing the value.
+    private bool PositionSanityCheck2(bool atTaintTime)
+    {
+        bool ret = false;
+        if (PositionSanityCheck())
+        {
+            // The new position value must be pushed into the physics engine but we can't
+            //    just assign to "Position" because of potential call loops.
+            BSScene.TaintCallback sanityOperation = delegate()
+            {
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+            };
+            if (atTaintTime)
+                sanityOperation();
+            else
+                PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
+
+            ret = true;
+        }
+        return ret;
+    }
+
     // Return the effective mass of the object.
     // If there are multiple items in the linkset, add them together for the root
     public override float Mass
@@ -481,11 +539,10 @@ public sealed class BSPrim : BSPhysObject
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
         BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
-
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
-        // Do any vehicle stuff
+        // Update vehicle specific parameters
         _vehicle.Refresh();
 
         // Arrange for collision events if the simulator wants them
@@ -556,7 +613,6 @@ public sealed class BSPrim : BSPhysObject
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
-            // OMV.Vector3 inertia = OMV.Vector3.Zero;
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
@@ -566,7 +622,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
             BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
-            // There can be special things needed for implementing linksets.
+            // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
@@ -656,7 +712,16 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool FloatOnWater {
-        set { _floatOnWater = value; }
+        set { 
+            _floatOnWater = value;
+            PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
+            {
+                if (_floatOnWater)
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                else
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+            });
+        }
     }
     public override OMV.Vector3 RotationalVelocity {
         get {
@@ -1198,6 +1263,8 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
+            PositionSanityCheck2(true);
+
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
-- 
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/BSPrim.cs | 39 ++++++++++++++++++++++----
 1 file changed, 34 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e37a4a0..f7b68ba 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -275,6 +275,17 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForcePosition {
+        get {
+            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            return _position;
+        }
+        set {
+            _position = value;
+            PositionSanityCheck();
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -377,14 +388,15 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             Vehicle type = (Vehicle)value;
-            BSPrim vehiclePrim = this;
+
+            // Tell the scene about the vehicle so it will get processing each frame.
+            PhysicsScene.VehicleInSceneTypeChanged(this, type);
+
             PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
-                // Tell the scene about the vehicle so it will get processing each frame.
-                PhysicsScene.VehicleInSceneTypeChanged(this, type);
+                this._vehicle.ProcessTypeChange(type);
             });
         }
     }
@@ -422,7 +434,9 @@ public sealed class BSPrim : BSPhysObject
     public override void StepVehicle(float timeStep)
     {
         if (IsPhysical)
+        {
             _vehicle.Step(timeStep);
+        }
     }
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
@@ -486,6 +500,20 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    // Go directly to Bullet to get/set the value. 
+    public override OMV.Quaternion ForceOrientation
+    {
+        get
+        {
+            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            return _orientation;
+        }
+        set
+        {
+            _orientation = value;
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+        }
+    }
     public override int PhysicsActorType {
         get { return _physicsActorType; }
         set { _physicsActorType = value; }
@@ -1170,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject
 
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
-        PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, 
+        // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-- 
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/BSPrim.cs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f7b68ba..98a18a1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject
             _isSelected = value;
             PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
             {
-                // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
                 SetObjectDynamic(false);
             });
         }
@@ -620,8 +620,10 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
-            // The activation state is 'disabled' so Bullet will not try to act on it
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // The activation state is 'disabled' so Bullet will not try to act on it.
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // Start it out sleeping and physical actions could wake it up.
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
             BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -1204,6 +1206,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
+            // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
         });
 
-- 
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/BSPrim.cs | 33 ++++++++++++++++++++++----
 1 file changed, 29 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 98a18a1..d408be0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject
             return _position;
         }
         set {
+            // If you must push the position into the physics engine, use ForcePosition.
+            if (_position == value)
+            {
+                return;
+            }
             _position = value;
             // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PositionSanityCheck();
@@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
-
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForceVelocity {
+        get { return _velocity; }
+        set {
+            _velocity = value;
+            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+        }
+    }
     public override OMV.Vector3 Torque {
         get { return _torque; }
         set { _torque = value;
@@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject
             return _orientation;
         }
         set {
+            if (_orientation == value)
+                return;
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
@@ -621,9 +634,9 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
             BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -640,6 +653,9 @@ public sealed class BSPrim : BSPhysObject
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
+            // For good measure, make sure the transform is set through to the motion state
+            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+
             // A dynamic object has mass
             IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
             OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
@@ -776,6 +792,15 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+    public override OMV.Vector3 ForceRotationalVelocity {
+        get {
+            return _rotationalVelocity;
+        }
+        set {
+            _rotationalVelocity = value;
+            BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+        }
+    }
     public override bool Kinematic {
         get { return _kinematic; }
         set { _kinematic = value;
@@ -1307,7 +1332,7 @@ public sealed class BSPrim : BSPhysObject
             /*
         else
         {
-            // For debugging, we can also report the movement of children
+            // For debugging, report the movement of children
             DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
                     entprop.Acceleration, entprop.RotationalVelocity);
-- 
cgit v1.1


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

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d408be0..b26f049 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -327,7 +327,7 @@ public sealed class BSPrim : BSPhysObject
     // A version of the sanity check that also makes sure a new position value is
     //    pushed back to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool atTaintTime)
+    private bool PositionSanityCheck2(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -339,7 +339,7 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             };
-            if (atTaintTime)
+            if (inTaintTime)
                 sanityOperation();
             else
                 PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
@@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
 
-        // Update vehicle specific parameters
+        // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
         _vehicle.Refresh();
 
         // Arrange for collision events if the simulator wants them
@@ -606,7 +606,7 @@ public sealed class BSPrim : BSPhysObject
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
-        Linkset.Refresh(this);
+        Linkset.Refresh(this, true);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -1322,6 +1322,8 @@ public sealed class BSPrim : BSPhysObject
 
             PositionSanityCheck2(true);
 
+            Linkset.UpdateProperties(this);
+
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
-- 
cgit v1.1


From 3a458e2a36253f6514720213deaa19372b06cc52 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 10 Oct 2012 13:56:16 -0700
Subject: BulletSim: Use full linkset mass when computing vehicle gravity
 force. Add taint-time specification to new AddForce().

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b26f049..692713d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -855,6 +855,9 @@ public sealed class BSPrim : BSPhysObject
 
     private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        AddForce(force, pushforce, false);
+    }
+    public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
         if (force.IsFinite())
         {
@@ -867,11 +870,12 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject("BSPrim.AddForce", delegate()
+        BSScene.TaintCallback addForceOperation = delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
             {
+                // Sum the accumulated additional forces for one big force to apply once.
                 foreach (OMV.Vector3 v in m_accumulatedForces)
                 {
                     fSum += v;
@@ -881,7 +885,11 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
             BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
-        });
+        };
+        if (inTaintTime)
+            addForceOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
     }
 
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-- 
cgit v1.1


From b24190ec98f31f1e4672d1174163426b9b44e25d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 11 Oct 2012 12:54:27 -0700
Subject: BulletSim: remove some unused API2 calls because they were removed
 from Bullet 2.81

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 692713d..6a4365c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -673,8 +673,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
-            BulletSimAPI.Activate2(BSBody.ptr, true);
+            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+            // BulletSimAPI.Activate2(BSBody.ptr, true);
 
             BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
             BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
-- 
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/BSPrim.cs | 66 +++++++++++++++++---------
 1 file changed, 44 insertions(+), 22 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..3421e30 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -172,11 +172,8 @@ public sealed class BSPrim : BSPhysObject
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
+    public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape {
         set {
             _pbs = value;
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
+    //    pushed to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -336,8 +333,8 @@ public sealed class BSPrim : BSPhysObject
             //    just assign to "Position" because of potential call loops.
             BSScene.TaintCallback sanityOperation = delegate()
             {
-                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                ForcePosition = _position;
             };
             if (inTaintTime)
                 sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    public override bool IsStatic
     {
         get { return _isSelected || !IsPhysical; }
     }
 
     // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public bool IsSolid
+    public override bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
+
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
             BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -812,14 +822,21 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            {
+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -1269,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject
     const float VELOCITY_TOLERANCE = 0.001f;
     const float POSITION_TOLERANCE = 0.05f;
     const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
+
     public override void UpdateProperties(EntityProperties entprop)
     {
         /*
@@ -1326,11 +1343,13 @@ public sealed class BSPrim : BSPhysObject
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
             _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
+            _rotationalVelocity = entprop.RotationalVelocity;
+
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
 
-            PositionSanityCheck2(true);
-
-            Linkset.UpdateProperties(this);
+            PositionSanityCheck(true);
 
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
+        // The linkset implimentation might want to know about this.
+
+        Linkset.UpdateProperties(this);
     }
 }
 }
-- 
cgit v1.1


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

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 3421e30..b9e1908 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -333,7 +333,7 @@ public sealed class BSPrim : BSPhysObject
             //    just assign to "Position" because of potential call loops.
             BSScene.TaintCallback sanityOperation = delegate()
             {
-                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
             };
             if (inTaintTime)
@@ -822,7 +822,7 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
+            {
                 ForceBuoyancy = _buoyancy;
             });
         }
@@ -1286,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject
     const float VELOCITY_TOLERANCE = 0.001f;
     const float POSITION_TOLERANCE = 0.05f;
     const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
+
     public override void UpdateProperties(EntityProperties entprop)
     {
         /*
@@ -1343,10 +1343,10 @@ public sealed class BSPrim : BSPhysObject
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
             _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
-
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
+            _rotationalVelocity = entprop.RotationalVelocity;
+
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
             CurrentEntityProperties = entprop;
 
             PositionSanityCheck(true);
-- 
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/BSPrim.cs | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b9e1908..8013e68 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -48,10 +48,10 @@ public sealed class BSPrim : BSPhysObject
 
     private PrimitiveBaseShape _pbs;
 
-    // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
-    // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
+    // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
+    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
-    private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
+    // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
 
     private bool _grabbed;
     private bool _isSelected;
@@ -98,7 +98,7 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        _scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
@@ -166,7 +166,7 @@ public sealed class BSPrim : BSPhysObject
                 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
                 //   scale and margins are set.
                 CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
+                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical);
             });
         }
     }
@@ -1224,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
         shape.Position = _position;
         shape.Rotation = _orientation;
         shape.Velocity = _velocity;
-        shape.Scale = _scale;
+        shape.Size = _size;
+        shape.Scale = Scale;
         shape.Mass = _isPhysical ? _mass : 0f;
         shape.Buoyancy = _buoyancy;
         shape.HullKey = 0;
@@ -1234,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
         shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
         shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
         shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Size = _size;
     }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
-- 
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/BSPrim.cs | 96 +++++++++++++-------------
 1 file changed, 48 insertions(+), 48 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8013e68..aeeb4dd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -46,8 +46,6 @@ public sealed class BSPrim : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
-    private PrimitiveBaseShape _pbs;
-
     // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
     // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
@@ -103,7 +101,7 @@ public sealed class BSPrim : BSPhysObject
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
-        _pbs = pbs;
+        BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
         _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
@@ -160,14 +158,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _size; }
         set {
             _size = value;
-            PhysicsScene.TaintedObject("BSPrim.setSize", delegate()
-            {
-                _mass = CalculateMass();   // changing size changes the mass
-                // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
-                //   scale and margins are set.
-                CreateGeomAndObject(true);
-                // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical);
-            });
+            ForceBodyShapeRebuild(false);
         }
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
@@ -176,14 +167,23 @@ public sealed class BSPrim : BSPhysObject
 
     public override PrimitiveBaseShape Shape {
         set {
-            _pbs = value;
-            PhysicsScene.TaintedObject("BSPrim.setShape", delegate()
-            {
-                _mass = CalculateMass();   // changing the shape changes the mass
-                CreateGeomAndObject(true);
-            });
+            BaseShape = value;
+            ForceBodyShapeRebuild(false);
         }
     }
+    public override bool ForceBodyShapeRebuild(bool inTaintTime)
+    {
+        BSScene.TaintCallback rebuildOperation = delegate()
+        {
+            _mass = CalculateMass();   // changing the shape changes the mass
+            CreateGeomAndObject(true);
+        };
+        if (inTaintTime)
+            rebuildOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        return true;
+    }
     public override bool Grabbed {
         set { _grabbed = value;
         }
@@ -924,19 +924,19 @@ public sealed class BSPrim : BSPhysObject
         float tmp;
 
         float returnMass = 0;
-        float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f;
+        float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
         float hollowVolume = hollowAmount * hollowAmount;
 
-        switch (_pbs.ProfileShape)
+        switch (BaseShape.ProfileShape)
         {
             case ProfileShape.Square:
                 // default box
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -960,19 +960,19 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     //a tube
 
-                    volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
                     volume -= volume*tmp*tmp;
 
                     if (hollowAmount > 0.0)
                         {
                         hollowVolume *= hollowAmount;
    
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
                             case HollowShape.Same:
@@ -997,13 +997,13 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.Circle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.78539816339f; // elipse base
 
                     if (hollowAmount > 0.0)
                         {
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -1025,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
                         }
                     }
 
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
-                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
 
                     if (hollowAmount > 0.0)
@@ -1037,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject
                         // calculate the hollow volume by it's shape compared to the prim shape
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Circle:
@@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
                 break;
 
             case ProfileShape.HalfCircle:
-                if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                 {
                 volume *= 0.52359877559829887307710723054658f;
                 }
@@ -1069,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject
 
             case ProfileShape.EquilateralTriangle:
 
-                if (_pbs.PathCurve == (byte)Extrusion.Straight)
+                if (BaseShape.PathCurve == (byte)Extrusion.Straight)
                     {
                     volume *= 0.32475953f;
 
@@ -1077,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject
                         {
 
                         // calculate the hollow volume by it's shape compared to the prim shape
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1102,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject
                         volume *= (1.0f - hollowVolume);
                         }
                     }
-                else if (_pbs.PathCurve == (byte)Extrusion.Curve1)
+                else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
                     {
                     volume *= 0.32475953f;
-                    volume *= 0.01f * (float)(200 - _pbs.PathScaleX);
-                    tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY);
+                    volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
+                    tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
                     volume *= (1.0f - tmp * tmp);
 
                     if (hollowAmount > 0.0)
@@ -1114,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject
 
                         hollowVolume *= hollowAmount;
 
-                        switch (_pbs.HollowShape)
+                        switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Same:
                             case HollowShape.Triangle:
@@ -1154,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject
         float profileBegin;
         float profileEnd;
 
-        if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible)
+        if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
             {
-            taperX1 = _pbs.PathScaleX * 0.01f;
+            taperX1 = BaseShape.PathScaleX * 0.01f;
             if (taperX1 > 1.0f)
                 taperX1 = 2.0f - taperX1;
             taperX = 1.0f - taperX1;
 
-            taperY1 = _pbs.PathScaleY * 0.01f;
+            taperY1 = BaseShape.PathScaleY * 0.01f;
             if (taperY1 > 1.0f)
                 taperY1 = 2.0f - taperY1;
             taperY = 1.0f - taperY1;
             }
         else
             {
-            taperX = _pbs.PathTaperX * 0.01f;
+            taperX = BaseShape.PathTaperX * 0.01f;
             if (taperX < 0.0f)
                 taperX = -taperX;
             taperX1 = 1.0f - taperX;
 
-            taperY = _pbs.PathTaperY * 0.01f;
+            taperY = BaseShape.PathTaperY * 0.01f;
             if (taperY < 0.0f)
                 taperY = -taperY;
             taperY1 = 1.0f - taperY;
@@ -1183,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject
 
         volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
 
-        pathBegin = (float)_pbs.PathBegin * 2.0e-5f;
-        pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f;
+        pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
+        pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
         volume *= (pathEnd - pathBegin);
 
         // this is crude aproximation
-        profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f;
-        profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f;
+        profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
+        profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
         returnMass = _density * volume;
@@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, 
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-- 
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/BSPrim.cs | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index aeeb4dd..7b211fa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -295,7 +295,7 @@ public sealed class BSPrim : BSPhysObject
     private bool PositionSanityCheck()
     {
         bool ret = false;
-      
+
         // If totally below the ground, move the prim up
         // TODO: figure out the right solution for this... only for dynamic objects?
         /*
@@ -510,7 +510,7 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
-    // Go directly to Bullet to get/set the value. 
+    // Go directly to Bullet to get/set the value.
     public override OMV.Quaternion ForceOrientation
     {
         get
@@ -768,7 +768,7 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool FloatOnWater {
-        set { 
+        set {
             _floatOnWater = value;
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
@@ -971,7 +971,7 @@ public sealed class BSPrim : BSPhysObject
                     if (hollowAmount > 0.0)
                         {
                         hollowVolume *= hollowAmount;
-   
+
                         switch (BaseShape.HollowShape)
                             {
                             case HollowShape.Square:
@@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
                         null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-- 
cgit v1.1


From 7272a4cae835f2d3d2a696241c6e6eb5f4b5af54 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 09:12:06 -0700
Subject: BulletSim: fix problem of not rebuilding shape by clearing last
 rebuild failed flag in BSPrim.ForceBodyShapeRebuild()

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7b211fa..3c5e6e5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -173,6 +173,7 @@ public sealed class BSPrim : BSPhysObject
     }
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
+        LastAssetBuildFailed = false;
         BSScene.TaintCallback rebuildOperation = delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
-- 
cgit v1.1


From 14eeb8b31b865f7b1927703028b03b6f61693cb6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 16:33:21 -0700
Subject: BulletSim: fix bug that caused error (and a crash on 32 bit Linux)
 when mesh assets weren't already in the cache. Comment cleanups.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 3c5e6e5..8401c69 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -399,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                this._vehicle.ProcessTypeChange(type);
+                _vehicle.ProcessTypeChange(type);
             });
         }
     }
@@ -1246,12 +1246,13 @@ public sealed class BSPrim : BSPhysObject
         FillShapeInfo(out shapeData);
 
         // If this prim is part of a linkset, we must remove and restore the physical
-        //    links of the body is rebuilt.
+        //    links if the body is rebuilt.
         bool needToRestoreLinkset = false;
 
         // Create the correct physical representation for this type of object.
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+        // Returns 'true' if either the body or the shape was changed.
         PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
                         null, delegate(BulletBody dBody)
         {
@@ -1355,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
-            // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
+            BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
 
             base.RequestPhysicsterseUpdate();
         }
@@ -1368,8 +1369,8 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
-        // The linkset implimentation might want to know about this.
 
+        // The linkset implimentation might want to know about this.
         Linkset.UpdateProperties(this);
     }
 }
-- 
cgit v1.1


From 36bfd3667c44f7cd4e66e880c45c34903ed34842 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 22:22:48 -0700
Subject: BulletSim: remove chatty debug message.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8401c69..38ab3de 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1356,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
 
-            BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
+            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
 
             base.RequestPhysicsterseUpdate();
         }
-- 
cgit v1.1


From 804b332d45c3989958f5ec08e1509ba373fb84b1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 25 Oct 2012 08:04:20 -0700
Subject: BulletSim: Add banking and other new code to vechile dynamics. Add
 third party license and contributor in for for Aurora-Sim project for physics
 code.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 38ab3de..39d20dc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,6 +311,7 @@ public sealed class BSPrim : BSPhysObject
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
             float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            // TODO: a floating motor so object will bob in the water
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -902,7 +903,8 @@ public sealed class BSPrim : BSPhysObject
             }
             // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
             // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
-            BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
+            if (fSum != OMV.Vector3.Zero)
+                BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         };
         if (inTaintTime)
             addForceOperation();
-- 
cgit v1.1


From 8fa83cf43045401ee02321e0fb1191402db5bb05 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 26 Oct 2012 13:49:57 -0700
Subject: BulletSim: Add activations after vehicle properties change. Problem
 was the vehicle was going to sleep while waiting for commands. Make
 AddAngularForce work the same way as AddForce -- accumulates values and
 pushes them once into Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +++++++++++++++++++++-----
 1 file changed, 62 insertions(+), 12 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 39d20dc..44937df 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -242,8 +242,8 @@ public sealed class BSPrim : BSPhysObject
         _acceleration = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
 
-        // Zero some other properties directly into the physics engine
-        BulletSimAPI.ClearForces2(BSBody.ptr);
+        // Zero some other properties in the physics engine
+        BulletSimAPI.ClearAllForces2(BSBody.ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -275,6 +275,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                ActivateIfPhysical(false);
             });
         }
     }
@@ -287,6 +288,7 @@ public sealed class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck();
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            ActivateIfPhysical(false);
         }
     }
 
@@ -401,6 +403,7 @@ public sealed class BSPrim : BSPhysObject
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
+                ActivateIfPhysical(false);
             });
         }
     }
@@ -409,6 +412,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value)
@@ -416,6 +420,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
@@ -423,6 +428,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleFlags(int param, bool remove)
@@ -540,6 +546,8 @@ public sealed class BSPrim : BSPhysObject
                 {
                     // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
+                    // whether phys-to-static or static-to-phys, the object is not moving.
+                    ZeroMotion();
                 });
             }
         }
@@ -623,7 +631,7 @@ public sealed class BSPrim : BSPhysObject
             // Become a Bullet 'static' object type
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            ZeroMotion();
             // Center of mass is at the center of the object
             BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
@@ -634,7 +642,7 @@ public sealed class BSPrim : BSPhysObject
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
                 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
@@ -656,14 +664,14 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // Since this can be called multiple times, only zero forces when becoming physical
+            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // For good measure, make sure the transform is set through to the motion state
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
+            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
@@ -671,7 +679,7 @@ public sealed class BSPrim : BSPhysObject
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
                 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
 
             // Various values for simulation limits
@@ -721,6 +729,15 @@ public sealed class BSPrim : BSPhysObject
         }
     }
 
+    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+    //     they need waking up when parameters are changed.
+    // Called in taint-time!!
+    private void ActivateIfPhysical(bool forceIt)
+    {
+        if (IsPhysical)
+            BulletSimAPI.Activate2(BSBody.ptr, forceIt);
+    }
+
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
     private void EnableCollisions(bool wantsCollisionEvents)
     {
@@ -901,8 +918,7 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
-            // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
+            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
                 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
         };
@@ -912,9 +928,43 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
     }
 
+    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
-        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
+        AddAngularForce(force, pushforce, false);
+    }
+    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    {
+        if (force.IsFinite())
+        {
+            // _force += force;
+            lock (m_accumulatedAngularForces)
+                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+            return;
+        }
+        BSScene.TaintCallback addAngularForceOperation = delegate()
+        {
+            OMV.Vector3 fSum = OMV.Vector3.Zero;
+            lock (m_accumulatedAngularForces)
+            {
+                // Sum the accumulated additional forces for one big force to apply once.
+                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
+                {
+                    fSum += v;
+                }
+                m_accumulatedAngularForces.Clear();
+            }
+            // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
+            if (fSum != OMV.Vector3.Zero)
+                BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+        };
+        if (inTaintTime)
+            addAngularForceOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation);
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
-- 
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/BSPrim.cs | 39 +++++++++++++++++---------
 1 file changed, 26 insertions(+), 13 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 44937df..ad09a61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            // return Linkset.LinksetMass;
-            return _mass;
+            return Linkset.LinksetMass;
+            // return _mass;
         }
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { get { return _mass; }  }
+    public override float MassRaw { 
+        get { return _mass; }
+    }
+    // Set the physical mass to the passed mass.
+    // Note that this does not change _mass!
+    public override void UpdatePhysicalMassProperties(float physMass)
+    {
+        if (IsStatic)
+        {
+            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+        }
+        else
+        {
+            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
+            BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
+            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
+        }
+    }
 
     // Is this used?
     public override OMV.Vector3 CenterOfMass
@@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
-        Linkset.Refresh(this, true);
+        Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject
             // Center of mass is at the center of the object
             BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
-            // There is no inertia in a static object
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
@@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass);
-            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(MassRaw);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject
 
         returnMass = _density * volume;
 
-        /*
-         * This change means each object keeps its own mass and the Mass property
-         * will return the sum if we're part of a linkset.
+        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)
         {
             foreach (BSPrim prim in _childrenPrims)
-- 
cgit v1.1


From 52be581f71b3c8da6113e4f4b193694683e6f8cc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Oct 2012 09:12:07 -0700
Subject: BulletSim: remove center-of-mass setting for linksets because it
 causes the constraint calculation to pull the objects together.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ad09a61..7851a40 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -634,7 +634,7 @@ public sealed class BSPrim : BSPhysObject
         //     had been automatically disabled when the mass was set to zero.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
                         LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
     }
 
-- 
cgit v1.1


From 28e2cd3fa21835b124552dec024745f5784f6b3a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Oct 2012 09:26:58 -0700
Subject: BulletSim: vehicle tweeking. Add AddTorque() method to BSPrim. Remove
 some manual motor actions in computing angular force (will eventually be
 replaced with motor class). Remove some experimental changes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 45 +++++++++++++++++++++-----
 1 file changed, 37 insertions(+), 8 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7851a40..9ced61fa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -378,7 +378,9 @@ public sealed class BSPrim : BSPhysObject
         {
             OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
             BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // center of mass is at the zero of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
         }
     }
@@ -462,9 +464,16 @@ public sealed class BSPrim : BSPhysObject
     // Called from Scene when doing simulation step so we're in taint processing time.
     public override void StepVehicle(float timeStep)
     {
-        if (IsPhysical)
+        if (IsPhysical && _vehicle.IsActive)
         {
             _vehicle.Step(timeStep);
+            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
+            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
+            {
+                // This resets the interpolation values and recomputes the tensor variables
+                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            });
+             */
         }
     }
 
@@ -502,7 +511,9 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Torque {
         get { return _torque; }
-        set { _torque = value;
+        set {
+            _torque = value;
+            AddAngularForce(_torque, false, false);
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
@@ -831,7 +842,7 @@ public sealed class BSPrim : BSPhysObject
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
             });
         }
@@ -972,14 +983,31 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedAngularForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
+            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
+            {
                 BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+                _torque = fSum;
+            }
         };
         if (inTaintTime)
             addAngularForceOperation();
         else
-            PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation);
+            PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation);
+    }
+    // A torque impulse.
+    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
+        {
+            DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
+            BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
+        };
+        if (inTaintTime)
+            applyTorqueImpulseOperation();
+        else
+            PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation);
     }
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
@@ -1418,8 +1446,9 @@ public sealed class BSPrim : BSPhysObject
 
             PositionSanityCheck(true);
 
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
+                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
             // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
 
-- 
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/BSPrim.cs | 128 ++++++++++++-------------
 1 file changed, 64 insertions(+), 64 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9ced61fa..8dd48ca 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -111,8 +111,8 @@ public sealed class BSPrim : BSPhysObject
         _mass = CalculateMass();
 
         // No body or shape yet
-        BSBody = new BulletBody(LocalID, IntPtr.Zero);
-        BSShape = new BulletShape(IntPtr.Zero);
+        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
+        PhysShape = new BulletShape(IntPtr.Zero);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
         });
     }
 
@@ -145,8 +145,8 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
         });
     }
 
@@ -243,7 +243,7 @@ public sealed class BSPrim : BSPhysObject
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties in the physics engine
-        BulletSimAPI.ClearAllForces2(BSBody.ptr);
+        BulletSimAPI.ClearAllForces2(PhysBody.ptr);
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -256,7 +256,7 @@ public sealed class BSPrim : BSPhysObject
         get {
             if (!Linkset.IsRoot(this))
                 // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+                _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -274,20 +274,20 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
                 ActivateIfPhysical(false);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             ActivateIfPhysical(false);
         }
     }
@@ -371,15 +371,15 @@ public sealed class BSPrim : BSPhysObject
     {
         if (IsStatic)
         {
-            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero);
+            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
         }
         else
         {
-            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
-            BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
+            OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
             // center of mass is at the zero of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
             // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
             DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
         }
@@ -404,7 +404,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -498,7 +498,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
     }
@@ -506,7 +506,7 @@ public sealed class BSPrim : BSPhysObject
         get { return _velocity; }
         set {
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
         }
     }
     public override OMV.Vector3 Torque {
@@ -531,7 +531,7 @@ public sealed class BSPrim : BSPhysObject
             if (!Linkset.IsRoot(this))
             {
                 // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+                _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             }
             return _orientation;
         }
@@ -544,7 +544,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
         }
     }
@@ -553,13 +553,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -615,7 +615,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -629,15 +629,15 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
+        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
         {
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
+            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
         }
 
         // Recompute any linkset parameters.
@@ -646,7 +646,7 @@ public sealed class BSPrim : BSPhysObject
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -659,44 +659,44 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion();
             // Center of mass is at the center of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
             // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
-            BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
             // BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(MassRaw);
@@ -704,26 +704,26 @@ public sealed class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
             // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
 
@@ -733,7 +733,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -741,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -749,9 +749,9 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
     }
 
@@ -761,7 +761,7 @@ public sealed class BSPrim : BSPhysObject
     private void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical)
-            BulletSimAPI.Activate2(BSBody.ptr, forceIt);
+            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -769,11 +769,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -818,9 +818,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -843,7 +843,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
     }
@@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
         }
     }
     public override bool Kinematic {
@@ -879,7 +879,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -946,7 +946,7 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
+                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
         };
         if (inTaintTime)
             addForceOperation();
@@ -986,7 +986,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
             {
-                BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
+                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
         };
@@ -1002,7 +1002,7 @@ public sealed class BSPrim : BSPhysObject
         BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
         {
             DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
+            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
         };
         if (inTaintTime)
             applyTorqueImpulseOperation();
-- 
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/BSPrim.cs | 30 +++++---------------------
 1 file changed, 5 insertions(+), 25 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8dd48ca..8ce960d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -171,6 +171,10 @@ public sealed class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
+    // Whatever the linkset wants is what I want.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape; } }
+
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
@@ -1310,34 +1314,11 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-    // Copy prim's info into the BulletSim shape description structure
-    public void FillShapeInfo(out ShapeData shape)
-    {
-        shape.ID = LocalID;
-        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
-        shape.Position = _position;
-        shape.Rotation = _orientation;
-        shape.Velocity = _velocity;
-        shape.Size = _size;
-        shape.Scale = Scale;
-        shape.Mass = _isPhysical ? _mass : 0f;
-        shape.Buoyancy = _buoyancy;
-        shape.HullKey = 0;
-        shape.MeshKey = 0;
-        shape.Friction = _friction;
-        shape.Restitution = _restitution;
-        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
-        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-    }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        ShapeData shapeData;
-        FillShapeInfo(out shapeData);
-
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
         bool needToRestoreLinkset = false;
@@ -1346,8 +1327,7 @@ public sealed class BSPrim : BSPhysObject
         // Updates BSBody and BSShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
         // Returns 'true' if either the body or the shape was changed.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
-                        null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
-- 
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/BSPrim.cs | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8ce960d..1754be6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -256,6 +256,11 @@ public sealed class BSPrim : BSPhysObject
         return;
     }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
             if (!Linkset.IsRoot(this))
@@ -366,7 +371,7 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { 
+    public override float RawMass { 
         get { return _mass; }
     }
     // Set the physical mass to the passed mass.
@@ -530,6 +535,11 @@ public sealed class BSPrim : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get {
             if (!Linkset.IsRoot(this))
@@ -703,7 +713,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(MassRaw);
+            UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
-- 
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/BSPrim.cs | 52 ++++++++------------------
 1 file changed, 16 insertions(+), 36 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1754be6..af403aa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -173,20 +173,16 @@ public sealed class BSPrim : BSPhysObject
     }
     // Whatever the linkset wants is what I want.
     public override ShapeData.PhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape; } }
+        { get { return Linkset.PreferredPhysicalShape(this); } }
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
-        BSScene.TaintCallback rebuildOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        };
-        if (inTaintTime)
-            rebuildOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        });
         return true;
     }
     public override bool Grabbed {
@@ -263,9 +259,9 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
+            // child prims move around based on their parent. Need to get the latest location
             if (!Linkset.IsRoot(this))
-                // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+                _position = Linkset.Position(this);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -344,16 +340,11 @@ public sealed class BSPrim : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            BSScene.TaintCallback sanityOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
-            };
-            if (inTaintTime)
-                sanityOperation();
-            else
-                PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
-
+            });
             ret = true;
         }
         return ret;
@@ -542,10 +533,10 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
+            // Children move around because tied to parent. Get a fresh value.
             if (!Linkset.IsRoot(this))
             {
-                // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+                _orientation = Linkset.Orientation(this);
             }
             return _orientation;
         }
@@ -946,7 +937,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        BSScene.TaintCallback addForceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
@@ -961,11 +952,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
                 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        };
-        if (inTaintTime)
-            addForceOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
+        });
     }
 
     private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
@@ -985,7 +972,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        BSScene.TaintCallback addAngularForceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedAngularForces)
@@ -1003,26 +990,19 @@ public sealed class BSPrim : BSPhysObject
                 BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
-        };
-        if (inTaintTime)
-            addAngularForceOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation);
+        });
     }
     // A torque impulse.
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
-        BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
             BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
-        };
-        if (inTaintTime)
-            applyTorqueImpulseOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation);
+        });
     }
+
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
-- 
cgit v1.1


From 79f7c466a116bf368423d4e18163f34fd8d66ce1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 3 Nov 2012 21:08:39 -0700
Subject: BulletSim: fix compound linkset crash by not freeing shape of child
 prims. Remove all compilation warnings (mostly 'protected' in sealed
 classes.) Add the dynamicAabbEnable parameter to creation of compound shapes.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index af403aa..aaa0d93 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -703,6 +703,9 @@ public sealed class BSPrim : BSPhysObject
             // For good measure, make sure the transform is set through to the motion state
             BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
 
+            // Center of mass is at the center of the object
+            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass);
 
-- 
cgit v1.1