BulletSim: Update BSCharacter to use API2 interface.

Add capsule shape to BSShapeCollection().
Remember last updated values so inter frame diffs can be computed.
Parameterize avatarStandingFriction and reduce to 10 from 999.
    The latter high value made avatars very hard to push.
Set CCD parameters for prims and characters of specified.

1 files changed, 44 insertions, 22 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 6a4365c..3421e30 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -172,11 +172,8 @@ public sealed class BSPrim : BSPhysObject
     }
     // Scale is what we set in the physics engine. It is different than 'size' in that
     //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public OMV.Vector3 Scale
-    {
-        get { return _scale; }
-        set { _scale = value; }
-    }
+    public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape {
         set {
             _pbs = value;
@@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
+    //    pushed to the physics engine. This routine would be used by anyone
     //    who is not already pushing the value.
-    private bool PositionSanityCheck2(bool inTaintTime)
+    private bool PositionSanityCheck(bool inTaintTime)
     {
         bool ret = false;
         if (PositionSanityCheck())
@@ -336,8 +333,8 @@ public sealed class BSPrim : BSPhysObject
             //    just assign to "Position" because of potential call loops.
             BSScene.TaintCallback sanityOperation = delegate()
             {
-                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);

+                ForcePosition = _position;
             };
             if (inTaintTime)
                 sanityOperation();
@@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // An object is static (does not move) if selected or not physical
-    private bool IsStatic
+    public override bool IsStatic
     {
         get { return _isSelected || !IsPhysical; }
     }
 
     // An object is solid if it's not phantom and if it's not doing VolumeDetect
-    public bool IsSolid
+    public override bool IsSolid
     {
         get { return !IsPhantom && !_isVolumeDetect; }
     }
@@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
             // There is no inertia in a static object
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
             BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
 
+            // Set collision detection parameters
+            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            {
+                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            }
+
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
             BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@@ -812,14 +822,21 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                // Buoyancy is faked by changing the gravity applied to the object
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            {

+                ForceBuoyancy = _buoyancy;
             });
         }
     }
+    public override float ForceBuoyancy {
+        get { return _buoyancy; }
+        set {
+            _buoyancy = value;
+            // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+            // Buoyancy is faked by changing the gravity applied to the object
+            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+        }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -1269,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject
     const float VELOCITY_TOLERANCE = 0.001f;
     const float POSITION_TOLERANCE = 0.05f;
     const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
+    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;

+

     public override void UpdateProperties(EntityProperties entprop)
     {
         /*
@@ -1326,11 +1343,13 @@ public sealed class BSPrim : BSPhysObject
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
             _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
+            _rotationalVelocity = entprop.RotationalVelocity;

+

+            // remember the current and last set values

+            LastEntityProperties = CurrentEntityProperties;

+            CurrentEntityProperties = entprop;
 
-            PositionSanityCheck2(true);
-
-            Linkset.UpdateProperties(this);
+            PositionSanityCheck(true);
 
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
@@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
+        // The linkset implimentation might want to know about this.
+
+        Linkset.UpdateProperties(this);
     }
 }
 }