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).

1 files changed, 26 insertions, 20 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8e1171a..e7bff6e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -89,13 +89,15 @@ public class BSCharacter : BSPhysObject
         _appliedVelocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         _currentFriction = PhysicsScene.Params.avatarStandingFriction;
+        _avatarDensity = PhysicsScene.Params.avatarDensity;
 
         // The dimensions of the avatar capsule are kept in the scale.
         // Physics creates a unit capsule which is scaled by the physics engine.
         ComputeAvatarScale(_size);
-        _avatarDensity = PhysicsScene.Params.avatarDensity;
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
         ShapeData shapeData = new ShapeData();
         shapeData.ID = LocalID;
@@ -103,6 +105,7 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
+        shapeData.Size = Scale;
         shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
@@ -114,8 +117,9 @@ public class BSCharacter : BSPhysObject
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);

-

+            // New body and shape into BSBody and BSShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+
             SetPhysicalProperties();
         });
         return;
@@ -138,7 +142,7 @@ public class BSCharacter : BSPhysObject
 
         ZeroMotion();
 
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);

+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
         BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
 
         ForcePosition = _position;
@@ -151,13 +155,13 @@ public class BSCharacter : BSPhysObject
         {
             BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
             BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
-        }

-

+        }
+
         BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
-        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
         // Do this after the object has been added to the world
@@ -176,7 +180,7 @@ public class BSCharacter : BSPhysObject
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z);
+            return _size;
         }
 
         set {
@@ -184,11 +188,13 @@ public class BSCharacter : BSPhysObject
             _size = value;
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
+            DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
+                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
                 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
-                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
+                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
                 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
             });
 
@@ -578,13 +584,13 @@ public class BSCharacter : BSPhysObject
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale = OMV.Vector3.Zero;
-        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
-        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // Scale wants the diameter so mult radius by two
+        newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f;
+        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f;
 
-        // 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);
-        // From the total height, remove the capsule half spheres that are at each end 
-        newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f);
+        // From the total height, add the capsule half spheres that are at each end 
+        // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y);
+        newScale.Z = (size.Z * 2f);
         Scale = newScale;
     }
 
@@ -593,14 +599,14 @@ public class BSCharacter : BSPhysObject
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * Scale.X
-                        * Scale.Y  // the area of capsule cylinder
+                        * (Scale.X / 2f)
+                        * (Scale.Y / 2f)  // the area of capsule cylinder
                         * Scale.Z  // times height of capsule cylinder
                       + 1.33333333f
                         * Math.PI
-                        * Scale.X
-                        * Math.Min(Scale.X, Scale.Y)
-                        * Scale.Y  // plus the volume of the capsule end caps
+                        * (Scale.X / 2f)
+                        * (Math.Min(Scale.X, Scale.Y) / 2f)
+                        * (Scale.Y / 2f)  // plus the volume of the capsule end caps
                         );
         _mass = _avatarDensity * _avatarVolume;
     }