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, 36 insertions, 15 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d189f1d..7d0f84a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -93,7 +93,7 @@ public class BSShapeCollection : IDisposable
     //    sure the body is of the right type.
     // Return 'true' if either the body or the shape changed.
     // Called at taint-time!!
-    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 
                     ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
@@ -351,19 +351,30 @@ public class BSShapeCollection : IDisposable
 
     // Create the geometry information in Bullet for later use.
     // The objects needs a hull if it's physical otherwise a mesh is enough.
-    // No locking here because this is done when we know physics is not simulating.
-    // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
+    // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
+    //     shared geometries will be used. If the parameters of the existing shape are the same
+    //     as this request, the shape is not rebuilt.
+    // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, 
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, 
                             PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
 
+        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, 
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            haveShape = true;
+        }
         // If the prim attributes are simple, this could be a simple Bullet native shape
-        if (nativeShapePossible
+        if (!haveShape
+                && pbs != null
+                && nativeShapePossible
                 && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
                     || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
                         && pbs.ProfileHollow == 0
@@ -406,7 +417,7 @@ public class BSShapeCollection : IDisposable
         // If a simple shape is not happening, create a mesh and possibly a hull.
         // Note that if it's a native shape, the check for physical/non-physical is not
         //     made. Native shapes are best used in either case.
-        if (!haveShape)
+        if (!haveShape && pbs != null)
         {
             if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
             {
@@ -425,8 +436,9 @@ public class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Creates a native shape and assignes it to prim.BSShape
-    private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
+    // Creates a native shape and assignes it to prim.BSShape.
+    // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
+    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
@@ -440,10 +452,19 @@ public class BSShapeCollection : IDisposable
         // release any previous shape
         DereferenceShape(prim.BSShape, true, shapeCallback);
 
-        // Native shapes are always built independently.
-        newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
-        newShape.shapeKey = (System.UInt64)shapeKey;
-        newShape.isNativeShape = true;
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            newShape.shapeKey = (System.UInt64)shapeKey;
+            newShape.isNativeShape = true;
+        }
+        else
+        {
+            // Native shapes are always built independently.
+            newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
+            newShape.shapeKey = (System.UInt64)shapeKey;
+            newShape.isNativeShape = true;
+        }
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
         // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
@@ -456,7 +477,7 @@ public class BSShapeCollection : IDisposable
     // Dereferences previous shape in BSShape and adds a reference for this new shape.
     // Returns 'true' of a mesh was actually built. Otherwise .
     // Called at taint-time!
-    private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
@@ -526,7 +547,7 @@ public class BSShapeCollection : IDisposable
 
     // See that hull shape exists in the physical world and update prim.BSShape.
     // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
                                 ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
@@ -694,7 +715,7 @@ public class BSShapeCollection : IDisposable
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, 
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 
                             ShapeData shapeData, BodyDestructionCallback bodyCallback)
     {
         bool ret = false;