Merge branch 'SledjChisl'

1 files changed, 186 insertions, 137 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 83fc3a6..6b32bf8 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -40,7 +40,6 @@ public sealed class BSCharacter : BSPhysObject
     private static readonly string LogHeader = "[BULLETS CHAR]";
 
     // private bool _stopped;
-    private OMV.Vector3 _size;
     private bool _grabbed;
     private bool _selected;
     private float _mass;
@@ -53,19 +52,21 @@ public sealed class BSCharacter : BSPhysObject
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
+    private OMV.Vector3 _size;
+    private float _footOffset = 0;
+
     private BSActorAvatarMove m_moveActor;
     private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
 
     private OMV.Vector3 _PIDTarget;
     private float _PIDTau;
 
-//        public override OMV.Vector3 RawVelocity 
-//        { get { return base.RawVelocity; } 
-//            set { 
+//        public override OMV.Vector3 RawVelocity
+//        { get { return base.RawVelocity; }
+//            set {
 //                if (value != base.RawVelocity)
 //                    Util.PrintCallStack();
 //                Console.WriteLine("Set rawvel to {0}", value);
@@ -76,12 +77,12 @@ public sealed class BSCharacter : BSPhysObject
     public override bool IsIncomplete { get { return false; } }
 
     public BSCharacter(
-            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
+            uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, float footOffset, bool isFlying)
 
             : base(parent_scene, localID, avName, "BSCharacter")
     {
         _physicsActorType = (int)ActorTypes.Agent;
-        RawPosition = pos;        
+        RawPosition = pos;
 
         _flying = isFlying;
         RawOrientation = OMV.Quaternion.Identity;
@@ -89,22 +90,15 @@ public sealed class BSCharacter : BSPhysObject
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
         Friction = BSParam.AvatarStandingFriction;
         Density = BSParam.AvatarDensity;
+        _isPhysical = true;
 
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-        // The dimensions of the physical capsule are kept in the scale.
-        // Physics creates a unit capsule which is scaled by the physics engine.
-        Scale = ComputeAvatarScale(_size);
-        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        ComputeAvatarVolumeAndMass();
+        // Adjustments for zero X and Y made in Size()
+        // This also computes avatar scale, volume, and mass
+        SetAvatarSize(size, footOffset, true /* initializing */);
 
         DetailLog(
             "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
-            LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
+            LocalID, Size, Scale, Density, _avatarVolume, RawMass, pos, vel);
 
         // do actual creation in taint time
         PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
@@ -208,45 +202,68 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Size {
         get
         {
-            // Avatar capsule size is kept in the scale parameter.
             return _size;
         }
 
         set {
-            // This is how much the avatar size is changing. Positive means getting bigger.
-            // The avatar altitude must be adjusted for this change.
-            float heightChange = value.Z - _size.Z;
+            setAvatarSize(value, _footOffset);
+        }
+    }
+
+    // OpenSim 0.9 introduces a common avatar size computation
+    public override void setAvatarSize(OMV.Vector3 size, float feetOffset)
+    {
+        SetAvatarSize(size, feetOffset, false /* initializing */);
+    }
 
-            _size = value;
+    // Internal version that, if initializing, doesn't do all the updating of the physics engine
+    public void SetAvatarSize(OMV.Vector3 size, float feetOffset, bool initializing)
+    {
+        OMV.Vector3 newSize = size;
+        if (newSize.IsFinite())
+        {
             // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
             //     replace with the default values.
-            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
+            if (newSize.X == 0f) newSize.X = BSParam.AvatarCapsuleDepth;
+            if (newSize.Y == 0f) newSize.Y = BSParam.AvatarCapsuleWidth;
 
-            Scale = ComputeAvatarScale(_size);
-            ComputeAvatarVolumeAndMass();
-            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, Density, _avatarVolume, RawMass);
+            if (newSize.X < 0.01f) newSize.X = 0.01f;
+            if (newSize.Y < 0.01f) newSize.Y = 0.01f;
+            if (newSize.Z < 0.01f) newSize.Z = BSParam.AvatarCapsuleHeight;
+        }
+        else
+        {
+            newSize = new OMV.Vector3(BSParam.AvatarCapsuleDepth, BSParam.AvatarCapsuleWidth, BSParam.AvatarCapsuleHeight);
+        }
 
-            PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
-            {
-                if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
-                {
-                    PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
-                    UpdatePhysicalMassProperties(RawMass, true);
+        // This is how much the avatar size is changing. Positive means getting bigger.
+        // The avatar altitude must be adjusted for this change.
+        float heightChange = newSize.Z - Size.Z;
 
-                    // Adjust the avatar's position to account for the increase/decrease in size
-                    ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+        _size = newSize;
 
-                    // Make sure this change appears as a property update event
-                    PhysScene.PE.PushUpdate(PhysBody);
-                }
-            });
+        Scale = ComputeAvatarScale(Size);
+        ComputeAvatarVolumeAndMass();
+        DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
+                        LocalID, _size, Scale, Density, _avatarVolume, RawMass);
 
-        }
+        PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
+        {
+            if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
+            {
+                PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
+                UpdatePhysicalMassProperties(RawMass, true);
+
+                // Adjust the avatar's position to account for the increase/decrease in size
+                ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
+
+                // Make sure this change appears as a property update event
+                PhysScene.PE.PushUpdate(PhysBody);
+            }
+        });
     }
 
-    public override PrimitiveBaseShape Shape
+        public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
     }
@@ -273,7 +290,7 @@ public sealed class BSCharacter : BSPhysObject
     {
         RawVelocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
+        RawRotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
         PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
@@ -285,7 +302,7 @@ public sealed class BSCharacter : BSPhysObject
 
     public override void ZeroAngularMotion(bool inTaintTime)
     {
-        _rotationalVelocity = OMV.Vector3.Zero;
+        RawRotationalVelocity = OMV.Vector3.Zero;
 
         PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
         {
@@ -300,7 +317,7 @@ public sealed class BSCharacter : BSPhysObject
     }
 
 
-    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
+    public override void LockAngularMotion(byte axislocks) { return; }
 
     public override OMV.Vector3 Position {
         get {
@@ -333,7 +350,6 @@ public sealed class BSCharacter : BSPhysObject
         }
     }
 
-
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain or on water.
     // Returns 'true' of the position was made sane by some action.
@@ -433,6 +449,7 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
 
+    // PhysicsActor.TargetVelocity
     // Sets the target in the motor. This starts the changing of the avatar's velocity.
     public override OMV.Vector3 TargetVelocity
     {
@@ -443,43 +460,51 @@ public sealed class BSCharacter : BSPhysObject
         set
         {
             DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-            m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
-            if (_setAlwaysRun && !_flying)
-                targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
+            if (!_flying)
+            {
+                if (_setAlwaysRun)
+                    targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
+                else
+                    if (BSParam.AvatarWalkVelocityFactor != 1f)
+                        targetVel *= new OMV.Vector3(BSParam.AvatarWalkVelocityFactor, BSParam.AvatarWalkVelocityFactor, 1f);
+            }
+            base.m_targetVelocity = targetVel;
 
             if (m_moveActor != null)
-                m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
+                m_moveActor.SetVelocityAndTarget(RawVelocity, base.m_targetVelocity, false /* inTaintTime */);
         }
     }
     // Directly setting velocity means this is what the user really wants now.
     public override OMV.Vector3 Velocity {
         get { return RawVelocity; }
         set {
-            RawVelocity = value;
-                OMV.Vector3 vel = RawVelocity;
-
-            DetailLog("{0}: set Velocity = {1}", LocalID, value);
-
-            PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
+            if (m_moveActor != null)
             {
-                if (m_moveActor != null)
-                    m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
+                // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
+                m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
+            }
+            base.Velocity = value;
+        }
+    }
 
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
-                ForceVelocity = vel;
-            });
+    // SetMomentum just sets the velocity without a target. We need to stop the movement actor if a character.
+    public override void SetMomentum(OMV.Vector3 momentum)
+    {
+        if (m_moveActor != null)
+        {
+            // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
+            m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
         }
+        base.SetMomentum(momentum);
     }
 
     public override OMV.Vector3 ForceVelocity {
         get { return RawVelocity; }
         set {
-            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-//                Util.PrintCallStack();
-            DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
+            DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value);
 
-            RawVelocity = value;
+            RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
             PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
             PhysScene.PE.Activate(PhysBody, true);
         }
@@ -600,14 +625,6 @@ public sealed class BSCharacter : BSPhysObject
             });
         }
     }
-    public override OMV.Vector3 RotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
     public override bool Kinematic {
         get { return _kinematic; }
         set { _kinematic = value; }
@@ -626,8 +643,6 @@ public sealed class BSCharacter : BSPhysObject
     public override float ForceBuoyancy {
         get { return _buoyancy; }
         set {
-            PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
             _buoyancy = value;
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
@@ -652,14 +667,24 @@ public sealed class BSCharacter : BSPhysObject
     public override void AddForce(OMV.Vector3 force, bool pushforce)
     {
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
+        OMV.Vector3 addForce = force;
+
+        // The interaction of this force with the simulator rate and collision occurance is tricky.
+        // ODE multiplies the force by 100
+        // ubODE multiplies the force by 5.3
+        // BulletSim, after much in-world testing, thinks it gets a similar effect by multiplying mass*0.315f
+        //    This number could be a feature of friction or timing, but it seems to move avatars the same as ubODE
+        addForce *= Mass * BSParam.AvatarAddForcePushFactor;
+
+        DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
+        AddForce(false, addForce);
     }
-    public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
+
+    public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
         if (force.IsFinite())
         {
             OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
-            // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
+            // DetailLog("{0},BSCharacter.addForce,call,force={1},push={2},inTaint={3}", LocalID, addForce, pushforce, inTaintTime);
 
             PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
             {
@@ -667,7 +692,15 @@ public sealed class BSCharacter : BSPhysObject
                 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
+                    // Bullet adds this central force to the total force for this tick.
+                    // Deep down in Bullet:
+                    //      linearVelocity += totalForce / mass * timeStep;
                     PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
+                    PhysScene.PE.Activate(PhysBody, true);
+                }
+                if (m_moveActor != null)
+                {
+                    m_moveActor.SuppressStationayCheckUntilLowVelocity();
                 }
             });
         }
@@ -678,65 +711,74 @@ public sealed class BSCharacter : BSPhysObject
         }
     }
 
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
-    }
-    public override void SetMomentum(OMV.Vector3 momentum) {
+    public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
     }
 
+    // The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets
+    //    the scale of that unit shape to create the avatars full size.
     private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
     {
         OMV.Vector3 newScale = size;
 
-        // Bullet's capsule total height is the "passed height + radius * 2";
-        // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
-        // The number we pass in for 'scaling' is the multiplier to get that base
-        //     shape to be the size desired.
-        // So, when creating the scale for the avatar height, we take the passed height
-        //     (size.Z) and remove the caps.
-        // An oddity of the Bullet capsule implementation is that it presumes the Y
-        //     dimension is the radius of the capsule. Even though some of the code allows
-        //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
+        if (BSParam.AvatarUseBefore09SizeComputation)
+        {
 
-        // Scale is multiplier of radius with one of "0.5"
+            // Bullet's capsule total height is the "passed height + radius * 2";
+            // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
+            // The number we pass in for 'scaling' is the multiplier to get that base
+            //     shape to be the size desired.
+            // So, when creating the scale for the avatar height, we take the passed height
+            //     (size.Z) and remove the caps.
+            // An oddity of the Bullet capsule implementation is that it presumes the Y
+            //     dimension is the radius of the capsule. Even though some of the code allows
+            //     for a asymmetrical capsule, other parts of the code presume it is cylindrical.
 
-        float heightAdjust = BSParam.AvatarHeightMidFudge;
-        if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
-        {
-            const float AVATAR_LOW = 1.1f;
-            const float AVATAR_MID = 1.775f; // 1.87f
-            const float AVATAR_HI = 2.45f;
-            // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
-            float midHeightOffset = size.Z - AVATAR_MID;
-            if (midHeightOffset < 0f)
+            // Scale is multiplier of radius with one of "0.5"
+
+            float heightAdjust = BSParam.AvatarHeightMidFudge;
+            if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
             {
-                // Small avatar. Add the adjustment based on the distance from midheight
-                heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+                const float AVATAR_LOW = 1.1f;
+                const float AVATAR_MID = 1.775f; // 1.87f
+                const float AVATAR_HI = 2.45f;
+                // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
+                float midHeightOffset = size.Z - AVATAR_MID;
+                if (midHeightOffset < 0f)
+                {
+                    // Small avatar. Add the adjustment based on the distance from midheight
+                    heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
+                }
+                else
+                {
+                    // Large avatar. Add the adjustment based on the distance from midheight
+                    heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+                }
+            }
+            if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+            {
+                newScale.X = size.X / 2f;
+                newScale.Y = size.Y / 2f;
+                // The total scale height is the central cylindar plus the caps on the two ends.
+                newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
             }
             else
             {
-                // Large avatar. Add the adjustment based on the distance from midheight
-                heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
+                newScale.Z = size.Z + heightAdjust;
             }
-        }
-        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
-        {
-            newScale.X = size.X / 2f;
-            newScale.Y = size.Y / 2f;
-            // The total scale height is the central cylindar plus the caps on the two ends.
-            newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
+            // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
+
+            // If smaller than the endcaps, just fake like we're almost that small
+            if (newScale.Z < 0)
+                newScale.Z = 0.1f;
+
+            DetailLog("{0},BSCharacter.ComputeAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
+                LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
         }
         else
         {
-            newScale.Z = size.Z + heightAdjust;
+            newScale.Z = size.Z + _footOffset;
+            DetailLog("{0},BSCharacter.ComputeAvatarScale,using newScale={1}, footOffset={2}", LocalID, newScale, _footOffset);
         }
-        // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
-
-        // If smaller than the endcaps, just fake like we're almost that small
-        if (newScale.Z < 0)
-            newScale.Z = 0.1f;
-
-        DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
-            LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
 
         return newScale;
     }
@@ -744,17 +786,24 @@ public sealed class BSCharacter : BSPhysObject
     // set _avatarVolume and _mass based on capsule size, _density and Scale
     private void ComputeAvatarVolumeAndMass()
     {
-        _avatarVolume = (float)(
-                        Math.PI
-                        * Size.X / 2f
-                        * Size.Y / 2f    // the area of capsule cylinder
-                        * Size.Z         // times height of capsule cylinder
-                      + 1.33333333f
-                        * Math.PI
-                        * Size.X / 2f
-                        * Math.Min(Size.X, Size.Y) / 2
-                        * Size.Y / 2f    // plus the volume of the capsule end caps
-                        );
+        if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
+        {
+            _avatarVolume = (float)(
+                            Math.PI
+                            * Size.X / 2f
+                            * Size.Y / 2f    // the area of capsule cylinder
+                            * Size.Z         // times height of capsule cylinder
+                          + 1.33333333f
+                            * Math.PI
+                            * Size.X / 2f
+                            * Math.Min(Size.X, Size.Y) / 2
+                            * Size.Y / 2f    // plus the volume of the capsule end caps
+                            );
+        }
+        else
+        {
+            _avatarVolume = Size.X * Size.Y * Size.Z;
+        }
         _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
     }
 
@@ -773,7 +822,7 @@ public sealed class BSCharacter : BSPhysObject
         //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
         //    extra updates.
         //
-        // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to 
+        // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to
         // avatar movement rather than removes it.  The larger the threshold, the bigger the jitter.
         // This is most noticeable in level flight and can be seen with
         // the "show updates" option in a viewer.  With an update threshold, the RawVelocity cycles between a lower
@@ -787,7 +836,7 @@ public sealed class BSCharacter : BSPhysObject
             RawVelocity = entprop.Velocity;
 
         _acceleration = entprop.Acceleration;
-        _rotationalVelocity = entprop.RotationalVelocity;
+        RawRotationalVelocity = entprop.RotationalVelocity;
 
         // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
         if (PositionSanityCheck(true))
@@ -807,7 +856,7 @@ public sealed class BSCharacter : BSPhysObject
         // PhysScene.PostUpdate(this);
 
         DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
+                LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, RawRotationalVelocity);
     }
 }
 }