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, 16 insertions, 5 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2c3c481..5158011 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -256,10 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
         // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-        WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
+        World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
                                         m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                         m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
-                                        m_DebugLogCallbackHandle);
+                                        m_DebugLogCallbackHandle));
 
         // Initialization to support the transition to a new API which puts most of the logic
         //   into the C# code so it is easier to modify and add to.
@@ -360,7 +360,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown(WorldID);
+        BulletSimAPI.Shutdown2(World.ptr);
 
         // Not logging any more
         PhysicsLogging.Close();
@@ -498,7 +498,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         {
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
-            numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
+            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
                         out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
 
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@@ -1011,6 +1011,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarFriction; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10f,
+            (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarStandingFriction; },
+            (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
         new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
             60f,
             (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@@ -1246,7 +1251,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case PhysParameterEntry.APPLY_TO_NONE:
                 defaultLoc = val;   // setting only the default value
                 break;
-            case PhysParameterEntry.APPLY_TO_ALL:
+            case PhysParameterEntry.APPLY_TO_ALL:

+                m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader);
+                /*
                 defaultLoc = val;  // setting ALL also sets the default value
                 List<uint> objectIDs = lIDs;
                 string xparm = parm.ToLower();
@@ -1257,6 +1264,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                         BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
                     }
                 });
+                 */
                 break;
             default:
                 // setting only one localID
@@ -1268,12 +1276,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // schedule the actual updating of the paramter to when the phys engine is not busy
     protected void TaintedUpdateParameter(string parm, uint localID, float val)
     {
+        m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader);
+        /*
         uint xlocalID = localID;
         string xparm = parm.ToLower();
         float xval = val;
         TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
             BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
         });
+        */
     }
 
     // Get parameter.