BulletSim: change collision flags for groundplane to not interact with static objects.

Reorder collision flag setting code for terrain to fit pattern used elsewhere.

4 files changed, 13 insertions, 7 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 43aa63e..834228e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -120,6 +120,7 @@ public static class BSParam
         public static float NumberOfSolverIterations { get; private set; }
     public static bool UseSingleSidedMeshes { get; private set; }
     public static float GlobalContactBreakingThreshold { get; private set; }
+    public static float PhysicsUnmanLoggingFrames { get; private set; }
 
     // Avatar parameters
     public static float AvatarFriction { get; private set; }
@@ -671,6 +672,10 @@ public static class BSParam
             0f,
             (s) => { return GlobalContactBreakingThreshold; },
             (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
+            new ParameterDefn<float>("PhysicsUnmanLoggingFrames", "If non-zero, frames between output of detailed unmanaged physics statistics",
+            0f,
+            (s) => { return PhysicsUnmanLoggingFrames; },
+            (s,v) => { PhysicsUnmanLoggingFrames = v; s.UnmanagedParams[0].physicsLoggingFrames = v; } ),
 
             new ParameterDefn<int>("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
             7 ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index c7deb4e..8888d6d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -112,15 +112,14 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
         m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
+        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
+
         // Return the new terrain to the world of physical objects
         m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
         m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody);
 
-        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask(m_physicsScene);
-
         // Make it so the terrain will not move or be considered for movement.
         m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index c016eed..441d2d3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -138,13 +138,14 @@ public sealed class BSTerrainManager : IDisposable
         m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
                                         BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
 
+        // Everything collides with the ground plane.
+        m_groundPlane.collisionType = CollisionType.Groundplane;
+
         m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
         m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane);
+
         // Ground plane does not move
         m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
-        // Everything collides with the ground plane.
-        m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask(m_physicsScene);
 
         BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
         lock (m_terrains)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index d5060e3..971ff9f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -235,7 +235,8 @@ public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeM
     { CollisionType.Groundplane,
                 new CollisionTypeFilterGroup(CollisionType.Groundplane,
                                 (uint)CollisionFilterGroups.BGroundPlaneGroup,
-                                (uint)CollisionFilterGroups.BAllGroup)
+                                // (uint)CollisionFilterGroups.BAllGroup)
+                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
     },
     { CollisionType.Terrain,
                 new CollisionTypeFilterGroup(CollisionType.Terrain,