Merge branch 'bulletsim1'

10 files changed, 149 insertions, 41 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 0cab5d1..20708d9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -94,7 +94,7 @@ public class BSCharacter : PhysicsActor
         _flying = isFlying;
         _orientation = Quaternion.Identity;
         _velocity = Vector3.Zero;
-        _buoyancy = isFlying ? 1f : 0f;
+        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         _scale = new Vector3(1f, 1f, 1f);
         _density = _scene.Params.avatarDensity;
         ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
@@ -110,7 +110,7 @@ public class BSCharacter : PhysicsActor
         shapeData.Buoyancy = _buoyancy;
         shapeData.Static = ShapeData.numericFalse;
         shapeData.Friction = _scene.Params.avatarFriction;
-        shapeData.Restitution = _scene.Params.defaultRestitution;
+        shapeData.Restitution = _scene.Params.avatarRestitution;
 
         // do actual create at taint time
         _scene.TaintedObject(delegate()
@@ -260,13 +260,13 @@ public class BSCharacter : PhysicsActor
         get { return _flying; } 
         set {
             _flying = value;
-            _scene.TaintedObject(delegate()
-            {
-                // simulate flying by changing the effect of gravity
-                BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f);
-            });
+            // simulate flying by changing the effect of gravity
+            this.Buoyancy = ComputeBuoyancyFromFlying(_flying);
         } 
     }
+    private float ComputeBuoyancyFromFlying(bool ifFlying) {
+        return ifFlying ? 1f : 0f;
+    }
     public override bool 
         SetAlwaysRun { 
         get { return _setAlwaysRun; } 
@@ -299,6 +299,7 @@ public class BSCharacter : PhysicsActor
         get { return _kinematic; } 
         set { _kinematic = value; } 
     }
+    // neg=fall quickly, 0=1g, 1=0g, pos=float up
     public override float Buoyancy { 
         get { return _buoyancy; } 
         set { _buoyancy = value; 
@@ -355,7 +356,7 @@ public class BSCharacter : PhysicsActor
         }
         else
         {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
+            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
         }
         //m_lastUpdateSent = false;
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 046726d..eb20eb3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -821,7 +821,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             */
 
             // Get what the body is doing, this includes 'external' influences
-            Vector3 angularVelocity = m_prim.AngularVelocity;
+            Vector3 angularVelocity = m_prim.RotationalVelocity;
    //         Vector3 angularVelocity = Vector3.Zero;
 
             if (m_angularMotorApply > 0)
@@ -910,7 +910,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
 
             // Apply to the body
-            m_prim.AngularVelocity = m_lastAngularVelocity;
+            m_prim.RotationalVelocity = m_lastAngularVelocity;
 
         } //end MoveAngular
         internal void LimitRotation(float timestep)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 898436b..f122df9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -85,7 +85,6 @@ public sealed class BSPrim : PhysicsActor
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
-    private OMV.Vector3 _angularVelocity;
 
     private List<BSPrim> _childrenPrims;
     private BSPrim _parentPrim;
@@ -119,7 +118,6 @@ public sealed class BSPrim : PhysicsActor
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
-        _angularVelocity = OMV.Vector3.Zero;
         _hullKey = 0;
         _meshKey = 0;
         _pbs = pbs;
@@ -146,7 +144,7 @@ public sealed class BSPrim : PhysicsActor
     // called when this prim is being destroyed and we should free all the resources
     public void Destroy()
     {
-        // m_log.DebugFormat("{0}: Destroy", LogHeader);
+        // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
         // Undo any vehicle properties
         _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
         _scene.RemoveVehiclePrim(this);     // just to make sure
@@ -203,7 +201,7 @@ public sealed class BSPrim : PhysicsActor
 
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
-        BSPrim parent = (BSPrim)obj;
+        BSPrim parent = obj as BSPrim;
         // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
         // TODO: decide if this parent checking needs to happen at taint time
         if (_parentPrim == null)
@@ -527,10 +525,6 @@ public sealed class BSPrim : PhysicsActor
             });
         } 
     }
-    public OMV.Vector3 AngularVelocity { 
-        get { return _angularVelocity; } 
-        set { _angularVelocity = value; } 
-    }
     public override bool Kinematic { 
         get { return _kinematic; } 
         set { _kinematic = value; 
@@ -993,7 +987,7 @@ public sealed class BSPrim : PhysicsActor
         }
 
         // 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(_scene.WorldID, _meshKey, indices.GetLength(0), indices, 
                                                         vertices.Count, verticesAsFloats);
 
@@ -1127,7 +1121,7 @@ public sealed class BSPrim : PhysicsActor
         return;
     }
 
-    // Create an object in Bullet
+    // 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
     private void CreateObject()
     {
@@ -1324,7 +1318,8 @@ public sealed class BSPrim : PhysicsActor
                 _velocity = entprop.Velocity;
                 _acceleration = entprop.Acceleration;
                 _rotationalVelocity = entprop.RotationalVelocity;
-                // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+                // 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);
                 base.RequestPhysicsterseUpdate();
             }
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e9a849c..6963af5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -37,14 +37,18 @@ using OpenMetaverse;
 using OpenSim.Region.Framework;
 
 // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
+// Debug linkset 
+// Test with multiple regions in one simulator 
 // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
 // Test sculpties
 // Compute physics FPS reasonably
 // Based on material, set density and friction
-// More efficient memory usage in passing hull information from BSPrim to BulletSim
+// More efficient memory usage when passing hull information from BSPrim to BulletSim
 // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
 //     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
 //     At the moment, physical and phantom causes object to drop through the terrain
+// Physical phantom objects and related typing (collision options )
+// Check out llVolumeDetect. Must do something for that.
 // Should prim.link() and prim.delink() membership checking happen at taint time?
 // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
 // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
@@ -52,6 +56,16 @@ using OpenSim.Region.Framework;
 // Implement LockAngularMotion
 // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
 // Does NeedsMeshing() really need to exclude all the different shapes?
+// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
+// Add PID movement operations. What does ScenePresence.MoveToTarget do?
+// Check terrain size. 128 or 127?
+// Multiple contact points on collision?
+//    See code in ode::near... calls to collision_accounting_events()
+//    (This might not be a problem. ODE collects all the collisions with one object in one tick.)
+// Use collision masks for collision with terrain and phantom objects 
+// Figure out how to not allocate a new Dictionary and List for every collision
+//    in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused?
+// Raycast
 // 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
@@ -164,6 +178,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (m_log.IsDebugEnabled)
         {
             m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
+            // the handle is saved to it doesn't get freed after this call
             m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
             BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
         }
@@ -172,7 +187,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         mesher = meshmerizer;
         // The bounding box for the simulated world
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
+        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
         m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
@@ -220,10 +235,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         parms.terrainFriction = 0.5f;
         parms.terrainHitFraction = 0.8f;
         parms.terrainRestitution = 0f;
-        parms.avatarFriction = 0.0f;
+        parms.avatarFriction = 0.5f;
+        parms.avatarRestitution = 0.0f;
         parms.avatarDensity = 60f;
         parms.avatarCapsuleRadius = 0.37f;
         parms.avatarCapsuleHeight = 1.5f; // 2.140599f
+        parms.avatarContactProcessingThreshold = 0.1f;
+
+        parms.maxPersistantManifoldPoolSize = 0f;
+        parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue;
+        parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse;
+        parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse;
+        parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse;
+        parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse;
+        parms.numberOfSolverIterations = 0f;    // means use default
 
         if (config != null)
         {
@@ -265,14 +290,40 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
                 parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
                 parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
+                parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution);
                 parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
                 parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
                 parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
+                parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold);
+
+                parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize);
+                parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation);
+                    parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs);
+                    parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder);
+                    parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands);
+                    parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching);
+                    parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations);
             }
         }
         m_params[0] = parms;
     }
 
+    // A helper function that handles a true/false parameter and returns the proper float number encoding
+    float ParamBoolean(IConfig config, string parmName, float deflt)
+    {
+        float ret = deflt;
+        if (config.Contains(parmName))
+        {
+            ret = ConfigurationParameters.numericFalse;
+            if (config.GetBoolean(parmName, false))
+            {
+                ret = ConfigurationParameters.numericTrue;
+            }
+        }
+        return ret;
+    }
+
+
     // Called directly from unmanaged code so don't do much
     private void BulletLogger(string msg)
     {
@@ -391,16 +442,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             {
                 EntityProperties entprop = m_updateArray[ii];
                 // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
-                BSCharacter actor;
-                if (m_avatars.TryGetValue(entprop.ID, out actor))
-                {
-                    actor.UpdateProperties(entprop);
-                    continue;
-                }
                 BSPrim prim;
                 if (m_prims.TryGetValue(entprop.ID, out prim))
                 {
                     prim.UpdateProperties(entprop);
+                    continue;
+                }
+                BSCharacter actor;
+                if (m_avatars.TryGetValue(entprop.ID, out actor))
+                {
+                    actor.UpdateProperties(entprop);
                 }
             }
         }
@@ -470,12 +521,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public override void DeleteTerrain() 
     {
-        m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
+        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
     }
 
     public override void Dispose()
     {
-        m_log.DebugFormat("{0}: Dispose()", LogHeader);
+        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
     }
 
     public override Dictionary<uint, float> GetTopColliders()
@@ -699,9 +750,23 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ),
         new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ),
         new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
-        // new PhysParameterEntry("CcdMotionThreshold", "" ),
-        // new PhysParameterEntry("CcdSweptSphereRadius", "" ),
+        new PhysParameterEntry("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ),
+        new PhysParameterEntry("CcdSweptSphereRadius", "Continuious collision detection test radius" ),
         new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ),
+        // Can only change the following at initialization time. Change the INI file and reboot.
+            new PhysParameterEntry("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)"),
+            new PhysParameterEntry("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count"),
+            new PhysParameterEntry("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step"),
+            new PhysParameterEntry("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction"),
+            new PhysParameterEntry("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands"),
+            new PhysParameterEntry("ShouldEnableFrictionCaching", "Enable friction computation caching"),
+            new PhysParameterEntry("NumberOfSolverIterations", "Number of internal iterations (0 means default)"),
+
+        new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ),
+        new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ),
+
+        new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ),
+        new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ),
 
         new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
         new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
@@ -710,7 +775,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ),
         new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ),
         new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ),
-        new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" )
+        new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ),
+            new PhysParameterEntry("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions")
+
     };
 
     #region IPhysicsParameters
@@ -733,6 +800,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         switch (lparm)
         {
             case "detailedstats": m_detailedStatsStep = (int)val; break;
+
             case "meshlod": m_meshLOD = (int)val; break;
             case "sculptlod": m_sculptLOD = (int)val; break;
             case "maxsubstep": m_maxSubSteps = (int)val; break;
@@ -743,7 +811,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "defaultdensity": m_params[0].defaultDensity = val; break;
             case "defaultrestitution": m_params[0].defaultRestitution = val; break;
             case "collisionmargin": m_params[0].collisionMargin = val; break;
-            case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
+            case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break;
 
             case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
             case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
@@ -753,6 +821,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
             case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
             case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break;
+            // the following are used only at initialization time so setting them makes no sense
+                // case "maxPersistantmanifoldpoolSize": m_params[0].maxPersistantManifoldPoolSize = val; break;
+                // case "shoulddisablecontactpooldynamicallocation": m_params[0].shouldDisableContactPoolDynamicAllocation = val; break;
+                // case "shouldforceupdateallaabbs": m_params[0].shouldForceUpdateAllAabbs = val; break;
+                // case "shouldrandomizesolverorder": m_params[0].shouldRandomizeSolverOrder = val; break;
+                // case "shouldsplitsimulationislands": m_params[0].shouldSplitSimulationIslands = val; break;
+                // case "shouldenablefrictioncaching": m_params[0].shouldEnableFrictionCaching = val; break;
+                // case "numberofsolveriterations": m_params[0].numberOfSolverIterations = val; break;
+
+            case "friction": TaintedUpdateParameter(lparm, localID, val); break;
+            case "restitution": TaintedUpdateParameter(lparm, localID, val); break;
+
+            case "friction": TaintedUpdateParameter(lparm, localID, val); break;
+            case "restitution": TaintedUpdateParameter(lparm, localID, val); break;
 
             // set a terrain physical feature and cause terrain to be recalculated
             case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
@@ -764,6 +846,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
             case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break;
             case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break;
+            case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break;
 
             default: ret = false; break;
         }
@@ -856,6 +939,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
             case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
             case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break;
+                case "maxPersistantmanifoldpoolSize": val = m_params[0].maxPersistantManifoldPoolSize; break;
+                case "shoulddisablecontactpooldynamicallocation": val = m_params[0].shouldDisableContactPoolDynamicAllocation; break;
+                case "shouldforceupdateallaabbs": val = m_params[0].shouldForceUpdateAllAabbs; break;
+                case "shouldrandomizesolverorder": val = m_params[0].shouldRandomizeSolverOrder; break;
+                case "shouldsplitsimulationislands": val = m_params[0].shouldSplitSimulationIslands; break;
+                case "shouldenablefrictioncaching": val = m_params[0].shouldEnableFrictionCaching; break;
+                case "numberofsolveriterations": val = m_params[0].numberOfSolverIterations; break;
 
             case "terrainfriction": val = m_params[0].terrainFriction; break;
             case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
@@ -866,6 +956,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "avatarrestitution": val = m_params[0].avatarRestitution; break;
             case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break;
             case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break;
+            case "avatarcontactprocessingthreshold": val = m_params[0].avatarContactProcessingThreshold; break;
             default: ret = false; break;
 
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index d12bd7d..086f0dc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -132,6 +132,15 @@ public struct ConfigurationParameters
     public float avatarRestitution;
     public float avatarCapsuleRadius;
     public float avatarCapsuleHeight;
+        public float avatarContactProcessingThreshold;
+
+        public float maxPersistantManifoldPoolSize;
+        public float shouldDisableContactPoolDynamicAllocation;
+        public float shouldForceUpdateAllAabbs;
+        public float shouldRandomizeSolverOrder;
+        public float shouldSplitSimulationIslands;
+        public float shouldEnableFrictionCaching;
+        public float numberOfSolverIterations;
 
     public const float numericTrue = 1f;
     public const float numericFalse = 0f;
@@ -149,16 +158,16 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
                         int maxUpdates, IntPtr updateArray);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter(uint worldID, uint localID,
-                        [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void Shutdown(uint worldID);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter(uint worldID, uint localID,
+                        [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
 
+// ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 
                         out int updatedEntityCount, 
@@ -240,6 +249,7 @@ public static extern bool HasObject(uint worldID, uint id);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool DestroyObject(uint worldID, uint id);
 
+// ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
 
@@ -249,6 +259,7 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 
+// ===============================================================================
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpBulletStatistics();
 
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 6986046..41be415 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -846,10 +846,12 @@
     TerrainFriction = 0.50
     TerrainHitFriction = 0.8
     TerrainRestitution = 0
-    AvatarFriction = 0
+    AvatarFriction = 0.2
+    AvatarRestitution = 0.0
     AvatarDensity = 60.0
     AvatarCapsuleRadius = 0.37
     AvatarCapsuleHeight = 1.5
+    AvatarContactProcessingThreshold = 0.1;
 
     MaxObjectMass = 10000.01
 
@@ -862,6 +864,14 @@
     CcdMotionThreshold = 0.0
     CcdSweptSphereRadius = 0.0
     ContactProcessingThreshold = 0.1
+    MaxPersistantManifoldPoolSize = 0;
+    ShouldDisableContactPoolDynamicAllocation = True;
+    ShouldForceUpdateAllAabbs = False;
+    ShouldRandomizeSolverOrder = False;
+    ShouldSplitSimulationIslands = False;
+    ShouldEnableFrictionCaching = False;
+    NumberOfSolverIterations = 0;   
+
 
     ; Whether to mesh sculpties
     MeshSculptedPrim = true
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index d1571cf..357f26e 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
new file mode 100755
index 0000000..948d8e3
--- /dev/null
+++ b/bin/lib32/libBulletSim.so
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index ec21dfe..db8530c 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
new file mode 100755
index 0000000..b2fd9d2
--- /dev/null
+++ b/bin/lib64/libBulletSim.so