BulletSim: improve avatar stair walking up. Add more parameters to control force

of both position change and up force that move avatars over barrier.
Default parameters are for steps up to 0.5m in height.

1 files changed, 17 insertions, 5 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 98eb4ca..309d004 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,7 +96,7 @@ public abstract class BSPhysObject : PhysicsActor
         SetMaterial((int)MaterialAttributes.Material.Wood);
 
         CollisionCollection = new CollisionEventUpdate();
-        CollisionsLastTick = CollisionCollection;
+        CollisionsLastReported = CollisionCollection;
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
@@ -368,11 +368,14 @@ public abstract class BSPhysObject : PhysicsActor
         }
     }
 
-    // The collisions that have been collected this tick
+    // The collisions that have been collected for the next collision reporting (throttled by subscription)
     protected CollisionEventUpdate CollisionCollection;
-    // Remember collisions from last tick for fancy collision based actions
+    // This is the collision collection last reported to the Simulator.
+    public CollisionEventUpdate CollisionsLastReported;
+    // Remember the collisions recorded in the last tick for fancy collision checking
     //     (like a BSCharacter walking up stairs).
     public CollisionEventUpdate CollisionsLastTick;
+    private long CollisionsLastTickStep = -1;
 
     // The simulation step is telling this object about a collision.
     // Return 'true' if a collision was processed and should be sent up.
@@ -399,6 +402,15 @@ public abstract class BSPhysObject : PhysicsActor
         // For movement tests, remember if we are colliding with an object that is moving.
         ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
 
+        // Make a collection of the collisions that happened the last simulation tick.
+        // This is different than the collection created for sending up to the simulator as it is cleared every tick.
+        if (CollisionsLastTickStep != PhysicsScene.SimulationStep)
+        {
+            CollisionsLastTick = new CollisionEventUpdate();
+            CollisionsLastTickStep = PhysicsScene.SimulationStep;
+        }
+        CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+
         // If someone has subscribed for collision events log the collision so it will be reported up
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
@@ -419,7 +431,7 @@ public abstract class BSPhysObject : PhysicsActor
         bool ret = true;
 
         // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
+        bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
 
         // throttle the collisions to the number of milliseconds specified in the subscription
         if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -438,7 +450,7 @@ public abstract class BSPhysObject : PhysicsActor
             base.SendCollisionUpdate(CollisionCollection);
 
             // Remember the collisions from this tick for some collision specific processing.
-            CollisionsLastTick = CollisionCollection;
+            CollisionsLastReported = CollisionCollection;
 
             // The CollisionCollection instance is passed around in the simulator.
             // Make sure we don't have a handle to that one and that a new one is used for next time.