Merge branch 'master' into careminster

Conflicts:
	OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
	OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
	OpenSim/Region/CoreModules/World/Estate/EstateManagementModule.cs
	OpenSim/Region/Framework/Interfaces/IEntityTransferModule.cs

3 files changed, 54 insertions, 21 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 04ea289..c16b7d3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1028,6 +1028,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
             Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
 
+            // Friction reduces vehicle motion
+            Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
+            linearMotorCorrectionV -= (currentVelV * frictionFactorW);
+
             // Motor is vehicle coordinates. Rotate it to world coordinates
             Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
 
@@ -1041,9 +1045,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            // Friction reduces vehicle motion
-            Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep) * VehicleOrientation;
-            VehicleVelocity -= (VehicleVelocity * frictionFactorW);
+
 
             VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
                         ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
@@ -1337,11 +1339,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             //    angularMotorContributionV.Y = 0f;
           //  }
 
+            // Reduce any velocity by friction.
+            Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
+            angularMotorContributionV -= (currentAngularV * frictionFactorW);
+
             VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
 
-            // Reduce any velocity by friction.
-            Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep) * VehicleOrientation;
-            VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactorW);
+
 
             VDetailLog("{0},  MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1f16cc8..350a5d1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -347,21 +347,21 @@ public sealed class BSLinksetCompound : BSLinkset
             // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
             OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
 
-            OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
+            OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
 
             // 'centerDisplacement' is the value to subtract from children to give physical offset position
-            OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
+            OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
             if (UseBulletSimRootOffsetHack || disableCOM)
             {
-                centerDisplacement = OMV.Vector3.Zero;
+                centerDisplacementV = OMV.Vector3.Zero;
                 LinksetRoot.ClearDisplacement();
             }
             else
             {
-                LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement);
+                LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
             }
             DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
-                                LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement);
+                                LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV);
 
             // Add the shapes of all the components of the linkset
             int memberIndex = 1;
@@ -372,8 +372,8 @@ public sealed class BSLinksetCompound : BSLinkset
 
                 // Get a reference to the shape of the child and add that shape to the linkset compound shape
                 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
-                OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
-                OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
+                OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV;
+                OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
                 m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
                 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
                                     LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 1008184..f89c52f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -117,11 +117,11 @@ public abstract class BSShape
         StringBuilder buff = new StringBuilder();
         if (physShapeInfo == null)
         {
-            buff.Append(",noPhys");
+            buff.Append("<noPhys");
         }
         else
         {
-            buff.Append(",phy=");
+            buff.Append("<phy=");
             buff.Append(physShapeInfo.ToString());
         }
         buff.Append(",c=");
@@ -810,17 +810,25 @@ public class BSShapeCompound : BSShape
             }
             else
             {
-                if (physicsScene.PE.IsCompound(pShape))
+                BSShapeConvexHull chullDesc;
+                if (BSShapeConvexHull.TryGetHullByPtr(pShape, out chullDesc))
                 {
-                    BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
-                    recursiveCompound.Dereference(physicsScene);
+                    chullDesc.Dereference(physicsScene);
                 }
                 else
                 {
-                    if (physicsScene.PE.IsNativeShape(pShape))
+                    if (physicsScene.PE.IsCompound(pShape))
                     {
-                        BSShapeNative nativeShape = new BSShapeNative(pShape);
-                        nativeShape.Dereference(physicsScene);
+                        BSShapeCompound recursiveCompound = new BSShapeCompound(pShape);
+                        recursiveCompound.Dereference(physicsScene);
+                    }
+                    else
+                    {
+                        if (physicsScene.PE.IsNativeShape(pShape))
+                        {
+                            BSShapeNative nativeShape = new BSShapeNative(pShape);
+                            nativeShape.Dereference(physicsScene);
+                        }
                     }
                 }
             }
@@ -900,6 +908,27 @@ public class BSShapeConvexHull : BSShape
             // TODO: schedule aging and destruction of unused meshes.
         }
     }
+    // Loop through all the known hulls and return the description based on the physical address.
+    public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull)
+    {
+        bool ret = false;
+        BSShapeConvexHull foundDesc = null;
+        lock (ConvexHulls)
+        {
+            foreach (BSShapeConvexHull sh in ConvexHulls.Values)
+            {
+                if (sh.physShapeInfo.ReferenceSame(pShape))
+                {
+                    foundDesc = sh;
+                    ret = true;
+                    break;
+                }
+
+            }
+        }
+        outHull = foundDesc;
+        return ret;
+    }
 }
 
 // ============================================================================================================