BulletSim: fix density since the simulator/viewer track density in a

funny unit that is 100 times real density (default 1000).
Fix avatar drifting slowly when stationary flying.
Fix for physical prims getting corrected for being under terrain when it was
just its geometric center that was below terrain.
Add PreUpdatePropertyAction allowing plugable modifiction of phys
parameters returned from Bullet.
Fix an exception setting GravityMultiplier on initialization.
Update DLLs and SOs for good measure (no functional change).

1 files changed, 12 insertions, 7 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1f66b56..4ce58c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -399,7 +399,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
-    private bool disableCOM = false;     // DEBUG DEBUG: disable until we get this debugged
+    private bool disableCOM = true;     // DEBUG DEBUG: disable until we get this debugged
     private void RecomputeLinksetCompound()
     {
         try
@@ -430,10 +430,10 @@ public sealed class BSLinksetCompound : BSLinkset
             LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
 
             // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
-            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0,
-                                        -centerDisplacement, 
-                                        LinksetRoot.RawOrientation,
-                                        false /* shouldRecalculateLocalAabb */);
+            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */,
+                                                -centerDisplacement,
+                                                OMV.Quaternion.Identity, // LinksetRoot.RawOrientation,
+                                                false /* shouldRecalculateLocalAabb (is done later after linkset built) */);
 
             DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
                                     LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement);
@@ -463,7 +463,6 @@ public sealed class BSLinksetCompound : BSLinkset
                         //    Use call to CreateGeomNonSpecial().
                         BulletShape saveShape = cPrim.PhysShape;
                         cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
-                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
                         PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
                         BulletShape newShape = cPrim.PhysShape;
                         cPrim.PhysShape = saveShape;
@@ -471,6 +470,8 @@ public sealed class BSLinksetCompound : BSLinkset
                         OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
                         OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
                         PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
+                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
+                                    LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
                     }
                     else
                     {
@@ -484,7 +485,10 @@ public sealed class BSLinksetCompound : BSLinkset
                         }
                         OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
                         OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);

+                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",

+                                    LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
+
                     }
                     memberIndex++;
                 }
@@ -503,6 +507,7 @@ public sealed class BSLinksetCompound : BSLinkset
             Rebuilding = false;
         }
 
+        // See that the Aabb surrounds the new shape
         PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
     }
 }