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/BSScene.cs | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index aaed7de..eed915d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -254,7 +254,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // The bounding box for the simulated world. The origin is 0,0,0 unless we're
         //    a child in a mega-region.
-        // Turns out that Bullet really doesn't care about the extents of the simulated
+        // Bullet actually doesn't care about the extents of the simulated
         //    area. It tracks active objects no matter where they are.
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
@@ -331,7 +331,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // Called directly from unmanaged code so don't do much
     private void BulletLoggerPhysLog(string msg)
     {
-        PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
+        DetailLog("[BULLETS UNMANAGED]:" + msg);
     }
 
     public override void Dispose()
@@ -494,8 +494,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         m_simulationStep++;
         int numSubSteps = 0;
 
-        // Sometimes needed for debugging to find out what happened before the step
-        // PhysicsLogging.Flush();
+        // DEBUG
+        DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
 
         try
         {
@@ -715,6 +715,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             {
                 try
                 {
+                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
                     tcbe.callback();
                 }
                 catch (Exception e)
@@ -1270,6 +1271,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
+        // Add the Flush() if debugging crashes to get all the messages written out.
+        PhysicsLogging.Flush();         // DEBUG DEBUG DEBUG
     }
     // used to fill in the LocalID when there isn't one
     public const string DetailLogZero = "0000000000";
-- 
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/BSScene.cs | 65 ++++++++++++++++++-------
 1 file changed, 47 insertions(+), 18 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index eed915d..33ac116 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -90,10 +90,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // let my minuions use my logger
     public ILog Logger { get { return m_log; } }
 
-    // If non-zero, the number of simulation steps between calls to the physics
-    //    engine to output detailed physics stats. Debug logging level must be on also.
-    private int m_detailedStatsStep = 0;
-
     public IMesher mesher;
     // Level of Detail values kept as float because that's what the Meshmerizer wants
     public float MeshLOD { get; private set; }
@@ -112,6 +108,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     private float m_fixedTimeStep;
     private long m_simulationStep = 0;
     public long SimulationStep { get { return m_simulationStep; } }
+    private int m_taintsToProcessPerStep;
 
     // A value of the time now so all the collision and update routines do not have to get their own
     // Set to 'now' just before all the prims and actors are called for collisions and updates
@@ -131,6 +128,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
     public bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
+    public bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
 
     public float PID_D { get; private set; }    // derivative
     public float PID_P { get; private set; }    // proportional
@@ -582,15 +580,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        // If enabled, call into the physics engine to dump statistics
-        if (m_detailedStatsStep > 0)
-        {
-            if ((m_simulationStep % m_detailedStatsStep) == 0)
-            {
-                BulletSimAPI.DumpBulletStatistics();
-            }
-        }
-
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
@@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         BSPhysObject collidee = null;
         PhysObjects.TryGetValue(collidingWith, out collidee);
 
-        DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
+        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
 
         if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
         {
@@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
         {
             // swizzle a new list into the list location so we can process what's there
+            int taintCount = m_taintsToProcessPerStep;
+            TaintCallbackEntry oneCallback = new TaintCallbackEntry();
+            while (_taintedObjects.Count > 0 && taintCount-- > 0)
+            {
+                bool gotOne = false;
+                lock (_taintLock)
+                {
+                    if (_taintedObjects.Count > 0)
+                    {
+                        oneCallback = _taintedObjects[0];
+                        _taintedObjects.RemoveAt(0);
+                        gotOne = true;
+                    }
+                }
+                if (gotOne)
+                {
+                    try
+                    {
+                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
+                        oneCallback.callback();
+                    }
+                    catch (Exception e)
+                    {
+                        m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
+                    }
+                }
+            }
+            /*
+            // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
             {
@@ -724,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 }
             }
             oldList.Clear();
+             */
         }
     }
 
@@ -835,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
             (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
             (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
+        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
+            (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
 
         new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             8f,
@@ -877,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
             (s) => { return (float)s.m_maxUpdatesPerFrame; },
             (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
+        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
+            100f,
+            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_taintsToProcessPerStep; },
+            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
         new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
             10000.01f,
             (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
@@ -1086,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintSolverIterations; },
             (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
 
-        new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
+        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
             0f,
-            (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_detailedStatsStep; },
-            (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
+            (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
+            (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
     };
 
     // Convert a boolean to our numeric true and false values
-- 
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/BSScene.cs | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 33ac116..50091cc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,7 +39,6 @@ using log4net;
 using OpenMetaverse;
 
 // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Move all logic out of the C++ code and into the C# code for easier future modifications.
 // Test sculpties (verified that they don't work)
 // Compute physics FPS reasonably
 // Based on material, set density and friction
@@ -493,7 +492,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         int numSubSteps = 0;
 
         // DEBUG
-        DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
+        // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
 
         try
         {
@@ -503,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
-                        DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
+            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
+                        DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
         }
         catch (Exception e)
         {
@@ -855,7 +854,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
             (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
         new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
             (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
             (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
             (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
-- 
cgit v1.1


From 919569f6ecd5fe84d0f5b0981a48b4808a44f7ad Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 10 Oct 2012 09:43:46 -0700
Subject: BulletSim: Change defaults for constraint CFM and ERP to make large
 linksets more rigid. Remove mass calculation for terrain (it should stay a
 static object).

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 50091cc..617bdb4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1099,12 +1099,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
             (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
 	    new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
+            0.001f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintCFM; },
             (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
 	    new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.2f,
+            0.8f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintERP; },
             (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
-- 
cgit v1.1


From a86fedd25ffb02c328b0591d16eda1dab797d8f9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 10 Oct 2012 16:51:50 -0700
Subject: BulletSim: normalize physics FPS to 45.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 617bdb4..25f8f5f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -581,8 +581,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
-        return numSubSteps * m_fixedTimeStep * 1000;
+        // We multiply by 45 to give a recognizable running rate (45 or less).
+        return numSubSteps * m_fixedTimeStep * 1000 * 45;
+        // return timeStep * 1000 * 45;
     }
 
     // Something has collided
@@ -1300,7 +1301,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes to get all the messages written out.
-        PhysicsLogging.Flush();         // DEBUG DEBUG DEBUG
+        // PhysicsLogging.Flush();
     }
     // used to fill in the LocalID when there isn't one
     public const string DetailLogZero = "0000000000";
-- 
cgit v1.1


From 5b82f18d6422d89da53d382eb1ae89e47b4465b7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 10 Oct 2012 16:53:58 -0700
Subject: BulletSim: normalize physics FPS to 45 (for real this time).

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 25f8f5f..2c3c481 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -582,8 +582,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // We multiply by 45 to give a recognizable running rate (45 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 45;
-        // return timeStep * 1000 * 45;
+        return numSubSteps * m_fixedTimeStep * 1000 * 45;
+        // return timeStep * 1000 * 45;
     }
 
     // Something has collided
-- 
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/BSScene.cs | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2c3c481..5158011 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -256,10 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
+                                        m_DebugLogCallbackHandle));
 
         // Initialization to support the transition to a new API which puts most of the logic
         //   into the C# code so it is easier to modify and add to.
@@ -360,7 +360,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -498,7 +498,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         {
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@@ -1011,6 +1011,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarFriction; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
         new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
             60f,
             (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1246,7 +1251,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
+            case PhysParameterEntry.APPLY_TO_ALL:
+                m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader);
+                /*
                 defaultLoc = val;  // setting ALL also sets the default value
                 List<uint> objectIDs = lIDs;
                 string xparm = parm.ToLower();
@@ -1257,6 +1264,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                         BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
                     }
                 });
+                 */
                 break;
             default:
                 // setting only one localID
@@ -1268,12 +1276,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, uint localID, float val)
     {
+        m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader);
+        /*
         uint xlocalID = localID;
         string xparm = parm.ToLower();
         float xval = val;
         TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
             BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
         });
+        */
     }
 
     // Get parameter.
-- 
cgit v1.1


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

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 5158011..7998b08 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -261,10 +261,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_DebugLogCallbackHandle));
 
-        // Initialization to support the transition to a new API which puts most of the logic
-        //   into the C# code so it is easier to modify and add to.
-        World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
-
         Constraints = new BSConstraintCollection(World);
 
         TerrainManager = new BSTerrainManager(this);
@@ -1251,10 +1247,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader);
-                /*
+            case PhysParameterEntry.APPLY_TO_ALL:
                 defaultLoc = val;  // setting ALL also sets the default value
+                /*
                 List<uint> objectIDs = lIDs;
                 string xparm = parm.ToLower();
                 float xval = val;
@@ -1276,15 +1271,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, uint localID, float val)
     {
+        /* Settings in the C++ code are not working at the moment. TODO: fix the settings.
         m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader);
-        /*
         uint xlocalID = localID;
         string xparm = parm.ToLower();
         float xval = val;
         TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
             BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
         });
-        */
+         */
     }
 
     // Get parameter.
-- 
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/BSScene.cs | 114 ++++++++++++++----------
 1 file changed, 67 insertions(+), 47 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 7998b08..c6e8bc4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -795,7 +795,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
-    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
 
     private struct ParameterDefn
     {
@@ -804,7 +805,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         public float defaultValue;  // default value if not specified anywhere else
         public ParamUser userParam; // get the value from the configuration file
         public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
+        public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
         {
             name = n;
@@ -812,7 +814,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             defaultValue = v;
             userParam = u;
             getter = g;
-            setter = s;
+            setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
         }
     }
 
@@ -834,6 +847,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     //
     // The single letter parameters for the delegates are:
     //    s = BSScene
+    //    o = BSPhysObject
     //    p = string parameter name
     //    l = localID of referenced object
     //    v = float value
@@ -943,65 +957,74 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             -9.80665f,
             (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].gravity; },
-            (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
 
 
         new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].deactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0f,     // set to zero to disable
             (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].contactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
 
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
             (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainFriction; },
-            (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainFriction = v;  /* TODO: set on real terrain */} ),
         new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
             0.8f,
             (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainHitFraction; },
-            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
         new ParameterDefn("TerrainRestitution", "Bouncyness" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].terrainRestitution; },
-            (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
+            (s,p,l,v) => { s.m_params[0].terrainRestitution = v;  /* TODO: set on real terrain */ } ),
         new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
@@ -1228,58 +1251,55 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         return ret;
     }
 
-    // check to see if we are updating a parameter for a particular or all of the prims
-    protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
-    {
-        List<uint> operateOn;
-        lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
-        UpdateParameterSet(operateOn, ref loc, parm, localID, val);
-    }
-
     // update all the localIDs specified
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
+    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
+        List<uint> objectIDs = new List<uint>();
         switch (localID)
         {
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
+                // This will cause a call into the physical world if some operation is specified (SetOnObject).
+                objectIDs.Add(TERRAIN_ID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
+            case PhysParameterEntry.APPLY_TO_ALL:
                 defaultLoc = val;  // setting ALL also sets the default value
-                /*
-                List<uint> objectIDs = lIDs;
-                string xparm = parm.ToLower();
-                float xval = val;
-                TaintedObject("BSScene.UpdateParameterSet", delegate() {
-                    foreach (uint lID in objectIDs)
-                    {
-                        BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
-                    }
-                });
-                 */
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             default:
-                // setting only one localID
-                TaintedUpdateParameter(parm, localID, val);
+                // setting only one localID
+                objectIDs.Add(localID);
+                TaintedUpdateParameter(parm, objectIDs, val);
                 break;
         }
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, uint localID, float val)
+    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
-        /* Settings in the C++ code are not working at the moment. TODO: fix the settings.
-        m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader);
-        uint xlocalID = localID;
-        string xparm = parm.ToLower();
-        float xval = val;
-        TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
-            BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
+        float xval = val;
+        List<uint> xlIDs = lIDs;
+        string xparm = parm;
+        TaintedObject("BSScene.UpdateParameterSet", delegate() {
+            ParameterDefn thisParam;
+            if (TryGetParameter(xparm, out thisParam))
+            {
+                if (thisParam.onObject != null)
+                {
+                    foreach (uint lID in xlIDs)
+                    {
+                        BSPhysObject theObject = null;
+                        PhysObjects.TryGetValue(lID, out theObject);
+                        thisParam.onObject(this, theObject, xval);
+                    }
+                }
+            }
         });
-         */
     }
 
     // Get parameter.
-- 
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/BSScene.cs | 26 ++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c6e8bc4..ab2835c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -533,7 +533,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // This is a kludge to get avatar movement updates.
-        //   the simulator expects collisions for avatars even if there are have been no collisions. This updates
+        //   The simulator expects collisions for avatars even if there are have been no collisions. This updates
         //   avatar animations and stuff.
         // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
         foreach (BSPhysObject bsp in m_avatars)
@@ -577,9 +577,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
-        // We multiply by 45 to give a recognizable running rate (45 or less).
-        return numSubSteps * m_fixedTimeStep * 1000 * 45;
-        // return timeStep * 1000 * 45;
+        // We multiply by 55 to give a recognizable running rate (55 or less).
+        return numSubSteps * m_fixedTimeStep * 1000 * 55;
+        // return timeStep * 1000 * 55;
     }
 
     // Something has collided
@@ -795,7 +795,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
     delegate float ParamGet(BSScene scene);
-    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
     delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
 
     private struct ParameterDefn
@@ -805,7 +805,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         public float defaultValue;  // default value if not specified anywhere else
         public ParamUser userParam; // get the value from the configuration file
         public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
+        public ParamSet setter;     // set the current value for this parameter
         public SetOnObject onObject;    // set the value on an object in the physical domain
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
         {
@@ -814,7 +814,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             defaultValue = v;
             userParam = u;
             getter = g;
-            setter = s;
+            setter = s;
             onObject = null;
         }
         public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
@@ -824,7 +824,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             defaultValue = v;
             userParam = u;
             getter = g;
-            setter = s;
+            setter = s;
             onObject = o;
         }
     }
@@ -1266,13 +1266,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 objectIDs.Add(TERRAIN_ID);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
+            case PhysParameterEntry.APPLY_TO_ALL:
                 defaultLoc = val;  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
+                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
             default:
-                // setting only one localID
+                // setting only one localID
                 objectIDs.Add(localID);
                 TaintedUpdateParameter(parm, objectIDs, val);
                 break;
@@ -1282,8 +1282,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
-        float xval = val;
-        List<uint> xlIDs = lIDs;
+        float xval = val;
+        List<uint> xlIDs = lIDs;
         string xparm = parm;
         TaintedObject("BSScene.UpdateParameterSet", delegate() {
             ParameterDefn thisParam;
-- 
cgit v1.1


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

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 30 ++++++++++++++-----------
 1 file changed, 17 insertions(+), 13 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index ab2835c..6621d39 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -532,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
-        // This is a kludge to get avatar movement updates.
-        //   The simulator expects collisions for avatars even if there are have been no collisions. This updates
-        //   avatar animations and stuff.
-        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
-        foreach (BSPhysObject bsp in m_avatars)
-            bsp.SendCollisions();
-
         // The above SendCollision's batch up the collisions on the objects.
         //      Now push the collisions into the simulator.
         if (ObjectsWithCollisions.Count > 0)
         {
             foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!m_avatars.Contains(bsp))   // don't call avatars twice
-                    if (!bsp.SendCollisions())
-                    {
-                        // If the object is done colliding, see that it's removed from the colliding list
-                        ObjectsWithNoMoreCollisions.Add(bsp);
-                    }
+                if (!bsp.SendCollisions())
+                {
+                    // If the object is done colliding, see that it's removed from the colliding list
+                    ObjectsWithNoMoreCollisions.Add(bsp);
+                }
         }
 
+        // This is a kludge to get avatar movement updates.
+        // The simulator expects collisions for avatars even if there are have been no collisions. 
+        //    The event updates avatar animations and stuff.
+        // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
+        foreach (BSPhysObject bsp in m_avatars)
+            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
+                bsp.SendCollisions();
+
         // Objects that are done colliding are removed from the ObjectsWithCollisions list.
         // Not done above because it is inside an iteration of ObjectWithCollisions.
         if (ObjectsWithNoMoreCollisions.Count > 0)
@@ -575,6 +575,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+        // Only enable this in a limited test world with few objects.
+        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // We multiply by 55 to give a recognizable running rate (55 or less).
-- 
cgit v1.1