BulletSim: fix problem with avatar velocity going to zero when flying across

   region boundries.
Move code for Velocity, ForceVelocity and SetMomentum to BSPhysObject and
   have both BSPrim and BSCharacter share the code.

3 files changed, 58 insertions, 59 deletions

diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 5ad2136..213f2eb 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -52,7 +52,6 @@ public sealed class BSCharacter : BSPhysObject
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
@@ -291,7 +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()
@@ -303,7 +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()
         {
@@ -618,14 +617,6 @@ 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; }
@@ -716,8 +707,6 @@ public sealed class BSCharacter : BSPhysObject
 
     public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
     }
-    public override void SetMomentum(OMV.Vector3 momentum) {
-    }
 
     // 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.
@@ -841,7 +830,7 @@ 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))
@@ -861,7 +850,7 @@ 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);
     }
 }
 }
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
index bb21f0c..7c6f213 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
@@ -239,6 +239,8 @@ public abstract class BSPhysObject : PhysicsActor
     public virtual OMV.Vector3 RawVelocity { get; set; }
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
+    public OMV.Vector3 RawRotationalVelocity { get; set; }
+
     // RawForce is a constant force applied to object (see Force { set; } )
     public OMV.Vector3 RawForce { get; set; }
     public OMV.Vector3 RawTorque { get; set; }
@@ -250,7 +252,48 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract void AddAngularForce(bool inTaintTime, OMV.Vector3 force);
     public abstract void AddForce(bool inTaintTime, OMV.Vector3 force);
 
-    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
+    // PhysicsActor.SetMomentum
+    // All the physics engined use this as a way of forcing the velocity to something.
+    public override void SetMomentum(OMV.Vector3 momentum)
+    {
+        // This doesn't just set Velocity=momentum because velocity is ramped up to (see MoveActor)
+        RawVelocity = momentum;
+        PhysScene.TaintedObject(LocalID, TypeName + ".SetMomentum", delegate()
+        {
+            // DetailLog("{0},BSPrim.SetMomentum,taint,vel={1}", LocalID, RawVelocity);
+            ForceVelocity = RawVelocity;
+        });
+    }
+
+    public override OMV.Vector3 RotationalVelocity {
+        get {
+            return RawRotationalVelocity;
+        }
+        set {
+            RawRotationalVelocity = value;
+            Util.ClampV(RawRotationalVelocity, BSParam.MaxAngularVelocity);
+            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
+            PhysScene.TaintedObject(LocalID, TypeName + ".setRotationalVelocity", delegate()
+            {
+                ForceRotationalVelocity = RawRotationalVelocity;
+            });
+        }
+    }
+    public OMV.Vector3 ForceRotationalVelocity {
+        get {
+            return RawRotationalVelocity;
+        }
+        set {
+            RawRotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                DetailLog("{0},{1}.ForceRotationalVel,taint,rotvel={2}", LocalID, TypeName, RawRotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, RawRotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
+        }
+    }
 
     public abstract float ForceBuoyancy { get; set; }
 
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
index fd9b834..78a617d 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -59,7 +59,6 @@ public class BSPrim : BSPhysObject
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
     private float _buoyancy;
 
@@ -90,7 +89,7 @@ public class BSPrim : BSPhysObject
         RawOrientation = rotation;
         _buoyancy = 0f;
         RawVelocity = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
+        RawRotationalVelocity = OMV.Vector3.Zero;
         BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
@@ -256,7 +255,7 @@ public class BSPrim : BSPhysObject
     {
         RawVelocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
+        RawRotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties in the physics engine
         PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
@@ -267,15 +266,15 @@ public class BSPrim : BSPhysObject
     }
     public override void ZeroAngularMotion(bool inTaintTime)
     {
-        _rotationalVelocity = OMV.Vector3.Zero;
+        RawRotationalVelocity = OMV.Vector3.Zero;
         // Zero some other properties in the physics engine
         PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
         {
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
             if (PhysBody.HasPhysicalBody)
             {
-                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
-                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, RawRotationalVelocity);
+                PhysScene.PE.SetAngularVelocity(PhysBody, RawRotationalVelocity);
             }
         });
     }
@@ -426,9 +425,9 @@ public class BSPrim : BSPhysObject
             RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
             ret = true;
         }
-        if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
+        if (RawRotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
         {
-            _rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
+            RawRotationalVelocity = Util.ClampV(RawRotationalVelocity, BSParam.MaxAngularVelocity);
             ret = true;
         }
 
@@ -1008,7 +1007,7 @@ public class BSPrim : BSPhysObject
             // For good measure, make sure the transform is set through to the motion state
             ForcePosition = RawPosition;
             ForceVelocity = RawVelocity;
-            ForceRotationalVelocity = _rotationalVelocity;
+            ForceRotationalVelocity = RawRotationalVelocity;
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -1128,35 +1127,6 @@ public class BSPrim : BSPhysObject
             });
         }
     }
-    public override OMV.Vector3 RotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = value;
-            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
-            // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
-            PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate()
-            {
-                ForceRotationalVelocity = _rotationalVelocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get {
-            return _rotationalVelocity;
-        }
-        set {
-            _rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
-            if (PhysBody.HasPhysicalBody)
-            {
-                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
-                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
-                ActivateIfPhysical(false);
-            }
-        }
-    }
     public override bool Kinematic {
         get { return _kinematic; }
         set { _kinematic = value;
@@ -1358,9 +1328,6 @@ public class BSPrim : BSPhysObject
         });
     }
 
-    public override void SetMomentum(OMV.Vector3 momentum) {
-        // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
-    }
     #region Mass Calculation
 
     private float CalculateMass()
@@ -1930,7 +1897,7 @@ public class BSPrim : BSPhysObject
         if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
             RawVelocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
-        _rotationalVelocity = entprop.RotationalVelocity;
+        RawRotationalVelocity = entprop.RotationalVelocity;
 
         // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
@@ -1939,7 +1906,7 @@ public class BSPrim : BSPhysObject
         {
             entprop.Position = RawPosition;
             entprop.Velocity = RawVelocity;
-            entprop.RotationalVelocity = _rotationalVelocity;
+            entprop.RotationalVelocity = RawRotationalVelocity;
             entprop.Acceleration = _acceleration;
         }