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).

1 files changed, 28 insertions, 38 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 57d5726..19eb1e6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -39,18 +39,16 @@ public class BSCharacter : BSPhysObject
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
-    private String _avName;
     // private bool _stopped;
     private OMV.Vector3 _size;
     private OMV.Vector3 _scale;
     private PrimitiveBaseShape _pbs;
-    private uint _localID = 0;
     private bool _grabbed;
     private bool _selected;
     private OMV.Vector3 _position;
     private float _mass;
-    public float _density;
-    public float _avatarVolume;
+    private float _avatarDensity;
+    private float _avatarVolume;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
@@ -63,18 +61,12 @@ public class BSCharacter : BSPhysObject
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _isColliding;
-    private long _collidingStep;
-    private bool _collidingGround;
-    private long _collidingGroundStep;
     private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
-    private int _subscribedEventsMs = 0;
-    private int _nextCollisionOkTime = 0;
-
     private OMV.Vector3 _PIDTarget;
     private bool _usePID;
     private float _PIDTau;
@@ -85,9 +77,7 @@ public class BSCharacter : BSPhysObject
 
     public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
     {
-        base.BaseInitialize(parent_scene);
-        _localID = localID;
-        _avName = avName;
+        base.BaseInitialize(parent_scene, localID, avName);
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
         _size = size;
@@ -95,14 +85,15 @@ public class BSCharacter : BSPhysObject
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
+
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
-        _scale = new OMV.Vector3(PhysicsScene.Params.avatarCapsuleRadius, PhysicsScene.Params.avatarCapsuleRadius, size.Z);
-        _density = PhysicsScene.Params.avatarDensity;
+        ComputeAvatarScale(_size);
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
         ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
 
         ShapeData shapeData = new ShapeData();
-        shapeData.ID = _localID;
+        shapeData.ID = LocalID;
         shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
@@ -117,7 +108,7 @@ public class BSCharacter : BSPhysObject
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
-            DetailLog("{0},BSCharacter.create", _localID);
+            DetailLog("{0},BSCharacter.create,taint", LocalID);
             BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
 
             // Set the buoyancy for flying. This will be refactored when all the settings happen in C#
@@ -135,7 +126,7 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, _localID);
+            BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
         });
     }
 
@@ -158,7 +149,7 @@ public class BSCharacter : BSPhysObject
             // When an avatar's size is set, only the height is changed
             //    and that really only depends on the radius.
             _size = value;
-            _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+            ComputeAvatarScale(_size);
 
             // TODO: something has to be done with the avatar's vertical position
 
@@ -175,11 +166,6 @@ public class BSCharacter : BSPhysObject
         set { _pbs = value; 
         } 
     }
-    public override uint LocalID { 
-        set { _localID = value; 
-        }
-        get { return _localID; }
-    }
     public override bool Grabbed { 
         set { _grabbed = value; 
         } 
@@ -223,7 +209,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
         } 
     }
@@ -261,7 +247,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
             ret = true;
         }
@@ -312,7 +298,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
             {
                 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, _localID, _velocity);
+                BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
             });
         } 
     }
@@ -338,7 +324,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation);
+                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
             });
         } 
     }
@@ -375,12 +361,12 @@ public class BSCharacter : BSPhysObject
         set { _throttleUpdates = value; } 
     }
     public override bool IsColliding {
-        get { return (_collidingStep == PhysicsScene.SimulationStep); } 
+        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; } 
@@ -466,6 +452,16 @@ public class BSCharacter : BSPhysObject
     public override void SetMomentum(OMV.Vector3 momentum) { 
     }
 
+    private void ComputeAvatarScale(OMV.Vector3 size)
+    {
+        _scale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        _scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+
+        // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
+        // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+        _scale.Z = (_size.Z) - (_scale.X + _scale.Y);
+    }
+
     // set _avatarVolume and _mass based on capsule size, _density and _scale
     private void ComputeAvatarVolumeAndMass()
     {
@@ -480,7 +476,7 @@ public class BSCharacter : BSPhysObject
                         * Math.Min(_scale.X, _scale.Y)
                         * _scale.Y  // plus the volume of the capsule end caps
                         );
-        _mass = _density * _avatarVolume;
+        _mass = _avatarDensity * _avatarVolume;
     }
 
     // The physics engine says that properties have updated. Update same and inform
@@ -502,11 +498,5 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
                 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
     }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
 }
 }