Initial update to OpenSim 0.8.2.1 source code.

4 files changed, 526 insertions, 57 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs
new file mode 100755
index 0000000..35eba29
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs
@@ -0,0 +1,156 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using NUnit.Framework;
+using log4net;
+
+using OpenSim.Framework;
+using OpenSim.Region.PhysicsModule.BulletS;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Tests.Common;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.BulletS.Tests
+{
+[TestFixture]
+public class BasicVehicles : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+
+    BSScene PhysicsScene { get; set; }
+    BSPrim TestVehicle { get; set; }
+    Vector3 TestVehicleInitPosition { get; set; }
+    float simulationTimeStep = 0.089f;
+
+    [TestFixtureSetUp]
+    public void Init()
+    {
+        Dictionary<string, string> engineParams = new Dictionary<string, string>();
+        engineParams.Add("VehicleEnableAngularVerticalAttraction", "true");
+        engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1");
+        PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+
+        PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
+        Vector3 pos = new Vector3(100.0f, 100.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
+        TestVehicleInitPosition = pos;
+        Vector3 size = new Vector3(1f, 1f, 1f);
+        pbs.Scale = size;
+        Quaternion rot = Quaternion.Identity;
+        bool isPhys = false;
+        uint localID = 123;
+
+        PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID);
+        TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID];
+        // The actual prim shape creation happens at taint time
+        PhysicsScene.ProcessTaints();
+
+    }
+
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+        if (PhysicsScene != null)
+        {
+            // The Dispose() will also free any physical objects in the scene
+            PhysicsScene.Dispose();
+            PhysicsScene = null;
+        }
+    }
+
+    [TestCase(2f, 0.2f,  0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f,  0.25f,  0.25f)]
+    [TestCase(2f, 0.2f,  0.25f, -0.25f,  0.25f)]
+    [TestCase(2f, 0.2f, -0.25f, -0.25f,  0.25f)]
+    // [TestCase(2f, 0.2f, 0.785f,   0.0f,  0.25f) /*, "Leaning 45 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 1.650f,   0.0f,  0.25f) /*, "Leaning more than 90 degrees to the side" */]
+    // [TestCase(2f, 0.2f, 2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped right" */]
+    // [TestCase(2f, 0.2f,-2.750f,   0.0f,  0.25f) /*, "Almost upside down, tipped left" */]
+    // [TestCase(2f, 0.2f,   0.0f, 0.785f,  0.25f) /*, "Tipped back 45 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 1.650f,  0.25f) /*, "Tipped back more than 90 degrees" */]
+    // [TestCase(2f, 0.2f,   0.0f, 2.750f,  0.25f) /*, "Almost upside down, tipped back" */]
+    // [TestCase(2f, 0.2f,   0.0f,-2.750f,  0.25f) /*, "Almost upside down, tipped forward" */]
+    public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
+    {
+        // Enough simulation steps to cover the timescale the operation should take
+        int simSteps = (int)(timeScale / simulationTimeStep) + 1;
+
+        // Tip the vehicle
+        Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
+        TestVehicle.Orientation = initOrientation;
+
+        TestVehicle.Position = TestVehicleInitPosition;
+
+        // The vehicle controller is not enabled directly (by setting a vehicle type).
+        //    Instead the appropriate values are set and calls are made just the parts of the
+        //    controller we want to exercise. Stepping the physics engine then applies
+        //    the actions of that one feature.
+        BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
+        if (vehicleActor != null)
+        {
+            vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
+            vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
+            // vehicleActor.enableAngularVerticalAttraction = true;
+
+            TestVehicle.IsPhysical = true;
+            PhysicsScene.ProcessTaints();
+
+            // Step the simulator a bunch of times and vertical attraction should orient the vehicle up
+            for (int ii = 0; ii < simSteps; ii++)
+            {
+                vehicleActor.ForgetKnownVehicleProperties();
+                vehicleActor.ComputeAngularVerticalAttraction();
+                vehicleActor.PushKnownChanged();
+
+                PhysicsScene.Simulate(simulationTimeStep);
+            }
+        }
+
+        TestVehicle.IsPhysical = false;
+        PhysicsScene.ProcessTaints();
+
+        // After these steps, the vehicle should be upright
+        /*
+        float finalRoll, finalPitch, finalYaw;
+        TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
+        Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
+        Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
+         */
+
+        Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
+        Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
+    }
+}
+}
\ No newline at end of file
diff --git a/OpenSim/Framework/Communications/XMPP/XmppWriter.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTests.cs
index 415d808..0be1f4c 100644..100755
--- a/OpenSim/Framework/Communications/XMPP/XmppWriter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTests.cs
@@ -1,57 +1,56 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System.IO;
-using System.Text;
-using System.Xml;
-using IOStream = System.IO.Stream;
-
-namespace OpenSim.Framework.Communications.XMPP
-{
-    public class XMPPWriter: XmlTextWriter
-    {
-        public XMPPWriter(TextWriter textWriter) : base(textWriter)
-        {
-        }
-
-        public XMPPWriter(IOStream stream) : this(stream, Util.UTF8)
-        {
-        }
-
-        public XMPPWriter(IOStream stream, Encoding enc) : base(stream, enc)
-        {
-        }
-
-        public override void WriteStartDocument()
-        {
-        }
-
-        public override void WriteStartDocument(bool standalone)
-        {
-        }
-    }
-}
+/*

+ * Copyright (c) Contributors, http://opensimulator.org/

+ * See CONTRIBUTORS.TXT for a full list of copyright holders.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of the OpenSimulator Project nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY

+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ */

+

+using System;

+using System.Collections.Generic;

+using System.Linq;

+using System.Text;

+

+using NUnit.Framework;

+using log4net;

+

+using OpenSim.Tests.Common;

+

+namespace OpenSim.Region.PhysicsModule.BulletS.Tests

+{

+[TestFixture]

+public class BulletSimTests : OpenSimTestCase

+{

+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1

+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1

+

+    [TestFixtureSetUp]

+    public void Init()

+    {

+    }

+

+    [TestFixtureTearDown]

+    public void TearDown()

+    {

+    }

+}

+}

diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTestsUtil.cs
new file mode 100755
index 0000000..4eeea4d
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/BulletSimTestsUtil.cs
@@ -0,0 +1,109 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Text;
+
+using Nini.Config;
+
+using OpenSim.Framework;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Region.PhysicsModules.Meshing;
+using OpenSim.Region.Framework.Interfaces;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.BulletS.Tests
+{
+// Utility functions for building up and tearing down the sample physics environments
+public static class BulletSimTestsUtil
+{
+    // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA"
+    // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults)
+    //      May be 'null' if there are no overrides.
+    public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
+    {
+        IConfigSource openSimINI = new IniConfigSource();
+        IConfig startupConfig = openSimINI.AddConfig("Startup");
+        startupConfig.Set("physics", "BulletSim");
+        startupConfig.Set("meshing", "Meshmerizer");
+        startupConfig.Set("cacheSculptMaps", "false");  // meshmerizer shouldn't save maps
+
+        IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");
+        // If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged".
+        // bulletSimConfig.Set("BulletEngine", "BulletUnmanaged");
+        // bulletSimConfig.Set("BulletEngine", "BulletXNA");
+        bulletSimConfig.Set("MeshSculptedPrim", "false");
+        bulletSimConfig.Set("ForceSimplePrimMeshing", "true");
+        if (paramOverrides != null)
+        {
+            foreach (KeyValuePair<string, string> kvp in paramOverrides)
+            {
+                bulletSimConfig.Set(kvp.Key, kvp.Value);
+            }
+        }
+
+        // If a special directory exists, put detailed logging therein.
+        // This allows local testing/debugging without having to worry that the build engine will output logs.
+        if (Directory.Exists("physlogs"))
+        {
+            bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
+            bulletSimConfig.Set("PhysicsLoggingEnabled","True");
+            bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
+            bulletSimConfig.Set("VehicleLoggingEnabled","True");
+        }
+
+        Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+       
+        RegionInfo info = new RegionInfo();
+        info.RegionName = "BSTestRegion";
+        info.RegionSizeX = info.RegionSizeY = info.RegionSizeZ = Constants.RegionSize;
+        OpenSim.Region.Framework.Scenes.Scene scene = new OpenSim.Region.Framework.Scenes.Scene(info);
+
+        IMesher mesher = new OpenSim.Region.PhysicsModules.Meshing.Meshmerizer();
+        INonSharedRegionModule mod = mesher as INonSharedRegionModule;
+        mod.Initialise(openSimINI);
+        mod.AddRegion(scene);
+        mod.RegionLoaded(scene);
+
+        BSScene pScene = new BSScene();
+        mod = (pScene as INonSharedRegionModule);
+        mod.Initialise(openSimINI);
+        mod.AddRegion(scene);
+        mod.RegionLoaded(scene);
+
+        // Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
+        // In the future, add a fake asset fetcher to get meshes and sculpts.
+        // bsScene.RequestAssetMethod = ???;
+
+        return pScene;
+    }
+
+}
+}
diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/HullCreation.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/HullCreation.cs
new file mode 100644
index 0000000..c0cf19a
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/HullCreation.cs
@@ -0,0 +1,205 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using NUnit.Framework;
+using log4net;
+
+using OpenSim.Framework;
+using OpenSim.Region.PhysicsModule.BulletS;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OpenSim.Tests.Common;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.BulletS.Tests
+{
+[TestFixture]
+public class HullCreation : OpenSimTestCase
+{
+    // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
+    // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
+
+    BSScene PhysicsScene { get; set; }
+    Vector3 ObjectInitPosition;
+
+    [TestFixtureSetUp]
+    public void Init()
+    {
+
+    }
+
+    [TestFixtureTearDown]
+    public void TearDown()
+    {
+        if (PhysicsScene != null)
+        {
+            // The Dispose() will also free any physical objects in the scene
+            PhysicsScene.Dispose();
+            PhysicsScene = null;
+        }
+    }
+
+    [TestCase(7, 2, 5f, 5f, 32, 0f)]    /* default hull parameters */
+    public void GeomHullConvexDecomp( int maxDepthSplit,
+                                        int maxDepthSplitForSimpleShapes,
+                                        float concavityThresholdPercent,
+                                        float volumeConservationThresholdPercent,
+                                        int maxVertices,
+                                        float maxSkinWidth)
+    {
+        // Setup the physics engine to use the C# version of convex decomp
+        Dictionary<string, string> engineParams = new Dictionary<string, string>();
+        engineParams.Add("MeshSculptedPrim", "true"); // ShouldMeshSculptedPrim
+        engineParams.Add("ForceSimplePrimMeshing", "false"); // ShouldForceSimplePrimMeshing
+        engineParams.Add("UseHullsForPhysicalObjects", "true"); // ShouldUseHullsForPhysicalObjects
+        engineParams.Add("ShouldRemoveZeroWidthTriangles", "true");
+        engineParams.Add("ShouldUseBulletHACD", "false");
+        engineParams.Add("ShouldUseSingleConvexHullForPrims", "true");
+        engineParams.Add("ShouldUseGImpactShapeForPrims", "false");
+        engineParams.Add("ShouldUseAssetHulls", "true");
+
+        engineParams.Add("CSHullMaxDepthSplit", maxDepthSplit.ToString());
+        engineParams.Add("CSHullMaxDepthSplitForSimpleShapes", maxDepthSplitForSimpleShapes.ToString());
+        engineParams.Add("CSHullConcavityThresholdPercent", concavityThresholdPercent.ToString());
+        engineParams.Add("CSHullVolumeConservationThresholdPercent", volumeConservationThresholdPercent.ToString());
+        engineParams.Add("CSHullMaxVertices", maxVertices.ToString());
+        engineParams.Add("CSHullMaxSkinWidth", maxSkinWidth.ToString());
+
+        PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+
+        PrimitiveBaseShape pbs;
+        Vector3 pos;
+        Vector3 size;
+        Quaternion rot;
+        bool isPhys;
+
+        // Cylinder
+        pbs = PrimitiveBaseShape.CreateCylinder();
+        pos = new Vector3(100.0f, 100.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
+        ObjectInitPosition = pos;
+        size = new Vector3(2f, 2f, 2f);
+        pbs.Scale = size;
+        rot = Quaternion.Identity;
+        isPhys = true;
+        uint cylinderLocalID = 123;
+        PhysicsScene.AddPrimShape("testCylinder", pbs, pos, size, rot, isPhys, cylinderLocalID);
+        BSPrim primTypeCylinder = (BSPrim)PhysicsScene.PhysObjects[cylinderLocalID];
+
+        // Hollow Cylinder
+        pbs = PrimitiveBaseShape.CreateCylinder();
+        pbs.ProfileHollow = (ushort)(0.70f * 50000);
+        pos = new Vector3(110.0f, 110.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
+        ObjectInitPosition = pos;
+        size = new Vector3(2f, 2f, 2f);
+        pbs.Scale = size;
+        rot = Quaternion.Identity;
+        isPhys = true;
+        uint hollowCylinderLocalID = 124;
+        PhysicsScene.AddPrimShape("testHollowCylinder", pbs, pos, size, rot, isPhys, hollowCylinderLocalID);
+        BSPrim primTypeHollowCylinder = (BSPrim)PhysicsScene.PhysObjects[hollowCylinderLocalID];
+
+        // Torus
+        // ProfileCurve = Circle, PathCurve = Curve1
+        pbs = PrimitiveBaseShape.CreateSphere();
+        pbs.ProfileShape = (byte)ProfileShape.Circle;
+        pbs.PathCurve = (byte)Extrusion.Curve1;
+        pbs.PathScaleX = 100;   // default hollow info as set in the viewer
+        pbs.PathScaleY = (int)(.25f / 0.01f) + 200;
+        pos = new Vector3(120.0f, 120.0f, 0f);
+        pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
+        ObjectInitPosition = pos;
+        size = new Vector3(2f, 4f, 4f);
+        pbs.Scale = size;
+        rot = Quaternion.Identity;
+        isPhys = true;
+        uint torusLocalID = 125;
+        PhysicsScene.AddPrimShape("testTorus", pbs, pos, size, rot, isPhys, torusLocalID);
+        BSPrim primTypeTorus = (BSPrim)PhysicsScene.PhysObjects[torusLocalID];
+        
+        // The actual prim shape creation happens at taint time
+        PhysicsScene.ProcessTaints();
+
+        // Check out the created hull shapes and report their characteristics
+        ReportShapeGeom(primTypeCylinder);
+        ReportShapeGeom(primTypeHollowCylinder);
+        ReportShapeGeom(primTypeTorus);
+    }
+
+    [TestCase]
+    public void GeomHullBulletHACD()
+    {
+        // Cylinder
+        // Hollow Cylinder
+        // Torus
+    }
+
+    private void ReportShapeGeom(BSPrim prim)
+    {
+        if (prim != null)
+        {
+            if (prim.PhysShape.HasPhysicalShape)
+            {
+                BSShape physShape = prim.PhysShape;
+                string shapeType = physShape.GetType().ToString();
+                switch (shapeType)
+                {
+                    case "OpenSim.Region.Physics.BulletSPlugin.BSShapeNative":
+                        BSShapeNative nShape = physShape as BSShapeNative;
+                        prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
+                        break;
+                    case "OpenSim.Region.Physics.BulletSPlugin.BSShapeMesh":
+                        BSShapeMesh mShape = physShape as BSShapeMesh;
+                        prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo);
+                        break;
+                    case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull":
+                        // BSShapeHull hShape = physShape as BSShapeHull;
+                        // prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo);
+                        break;
+                    case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull":
+                        BSShapeConvexHull chShape = physShape as BSShapeConvexHull;
+                        prim.PhysScene.DetailLog("{0}, convexHull, shapeInfo={1}", prim.Name, chShape.shapeInfo);
+                        break;
+                    case "OpenSim.Region.Physics.BulletSPlugin.BSShapeCompound":
+                        BSShapeCompound cShape = physShape as BSShapeCompound;
+                        prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
+                        break;
+                    default:
+                        prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
+                        break;
+                }
+            }
+        }
+    }
+}
+}
\ No newline at end of file