7 files changed, 118 insertions, 96 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 7603254..3884a5d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -56,7 +56,6 @@ public sealed class BSCharacter : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
-    private bool _wasWalking;   // 'true' if the avatar was walking/moving last frame
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -84,7 +83,6 @@ public sealed class BSCharacter : BSPhysObject
         _position = pos;
 
         _flying = isFlying;
-        _wasWalking = true;     // causes first step to initialize standing
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
@@ -220,7 +218,13 @@ public sealed class BSCharacter : BSPhysObject
             {
                 // The avatar shouldn't be moving
                 _velocityMotor.Zero();
-                ZeroMotion(true /* inTaintTime */);
+
+                // If we are colliding with a stationary object, presume we're standing and don't move around
+                if (!ColliderIsMoving)
+                {
+                    DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
+                    ZeroMotion(true /* inTaintTime */);
+                }
 
                 // Standing has more friction on the ground
                 if (_currentFriction != BSParam.AvatarStandingFriction)
@@ -229,8 +233,6 @@ public sealed class BSCharacter : BSPhysObject
                     PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
                 DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
-
-                _wasWalking = false;
             }
             else
             {
@@ -260,7 +262,6 @@ public sealed class BSCharacter : BSPhysObject
 
                 DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
                 PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
-                _wasWalking = true;
             }
         });
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 5e8143c..a113530 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -96,6 +96,7 @@ public abstract class BSPhysObject : PhysicsActor
         CollidingStep = 0;
         CollidingGroundStep = 0;
         CollisionAccumulation = 0;
+        ColliderIsMoving = false;
         CollisionScore = 0;
     }
 
@@ -177,13 +178,14 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
-    // Position is what the simulator thinks the positions of the prim is.
+    // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
     // Because Bullet needs the zero coordinate to be the center of mass of the linkset,
     //     sometimes it is necessary to displace the position the physics engine thinks
     //     the position is. PositionDisplacement must be added and removed from the
     //     position as the simulator position is stored and fetched from the physics
-    //     engine. 
+    //     engine. Similar to OrientationDisplacement.
     public virtual OMV.Vector3 PositionDisplacement { get; set; }
+    public virtual OMV.Quaternion OrientationDisplacement { get; set; }
 
     public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
@@ -240,6 +242,9 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
+    // On a collision, check the collider and remember if the last collider was moving
+    //    Used to modify the standing of avatars (avatars on stationary things stand still)
+    protected bool ColliderIsMoving;
 
     // Count of collisions for this object
     protected long CollisionAccumulation { get; set; }
@@ -307,7 +312,10 @@ public abstract class BSPhysObject : PhysicsActor
 
         CollisionAccumulation++;
 
-        // if someone has subscribed for collision events....
+        // For movement tests, remember if we are colliding with an object that is moving.
+        ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
+
+        // If someone has subscribed for collision events log the collision so it will be reported up
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
             DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
@@ -393,12 +401,13 @@ public abstract class BSPhysObject : PhysicsActor
     public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
-    // Because 'CollisionScore' is calls many times while sorting it should not be recomputed
+    // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
     //    each time called. So this is built to be light weight for each collision and to do
     //    all the processing when the user asks for the info.
     public void ComputeCollisionScore()
     {
-        // Scale the collision count by the time since the last collision
+        // Scale the collision count by the time since the last collision.
+        // The "+1" prevents dividing by zero.
         long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
         CollisionScore = CollisionAccumulation / timeAgo;
     }
@@ -423,13 +432,15 @@ public abstract class BSPhysObject : PhysicsActor
             UnRegisterPreStepAction(op, id);
 
             RegisteredPrestepActions[identifier] = actn;
+
+            PhysicsScene.BeforeStep += actn;
         }
-        PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
     }
 
     // Unregister a pre step action. Safe to call if the action has not been registered.
-    protected void UnRegisterPreStepAction(string op, uint id)
+    // Returns 'true' if an action was actually removed
+    protected bool UnRegisterPreStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
@@ -443,6 +454,7 @@ public abstract class BSPhysObject : PhysicsActor
             }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
     }
 
     protected void UnRegisterAllPreStepActions()
@@ -468,13 +480,15 @@ public abstract class BSPhysObject : PhysicsActor
             UnRegisterPostStepAction(op, id);
 
             RegisteredPoststepActions[identifier] = actn;
+
+            PhysicsScene.AfterStep += actn;
         }
-        PhysicsScene.AfterStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
     }
 
     // Unregister a pre step action. Safe to call if the action has not been registered.
-    protected void UnRegisterPostStepAction(string op, uint id)
+    // Returns 'true' if an action was actually removed.
+    protected bool UnRegisterPostStepAction(string op, uint id)
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
@@ -488,6 +502,7 @@ public abstract class BSPhysObject : PhysicsActor
             }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
+        return removed;
     }
 
     protected void UnRegisterAllPostStepActions()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
index 6c2247a..e7657f9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
@@ -1,81 +1,87 @@
-/*

- * 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 Nini.Config;

-

-using OpenSim.Framework;

-using OpenSim.Region.Physics.BulletSPlugin;

-using OpenSim.Region.Physics.Meshing;

-

-namespace OpenSim.Region.Physics.BulletSPlugin.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(string engineName, Dictionary<string,string> paramOverrides)

-    {

-        if (engineName == null)

-            engineName = "BulletUnmanaged";

-

-        IConfigSource openSimINI = new IniConfigSource();

-        IConfig startupConfig = openSimINI.AddConfig("StartUp");

-        startupConfig.Set("meshing", "Meshmerizer");

-        startupConfig.Set("physics", "BulletSim");

-

-        IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");

-        bulletSimConfig.Set("BulletEngine", engineName);

-        if (paramOverrides != null)

-        {

-            foreach (KeyValuePair<string, string> kvp in paramOverrides)

-            {

-                bulletSimConfig.Set(kvp.Key, kvp.Value);

-            }

-        }

-        // bulletSimConfig.Set("PhysicsLoggingEnabled","True");

-        // bulletSimConfig.Set("PhysicsLoggingDoFlush","True");

-        // bulletSimConfig.Set("VehicleLoggingEnabled","True");

-

-        BSPlugin bsPlugin = new BSPlugin();

-

-        BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");

-

-        Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);

-        bsScene.Initialise(mesher, openSimINI);

-

-        return bsScene;

-    }

-

-}

-}

+/*
+ * 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 Nini.Config;
+
+using OpenSim.Framework;
+using OpenSim.Region.Physics.BulletSPlugin;
+using OpenSim.Region.Physics.Meshing;
+
+namespace OpenSim.Region.Physics.BulletSPlugin.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);
+            }
+        }
+        // bulletSimConfig.Set("PhysicsLoggingEnabled","True");
+        // bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
+        // bulletSimConfig.Set("VehicleLoggingEnabled","True");
+
+        BSPlugin bsPlugin = new BSPlugin();
+
+        BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");
+
+        // 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 = ???;
+
+        Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
+        bsScene.Initialise(mesher, openSimINI);
+
+        return bsScene;
+    }
+
+}
+}
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index d8be6c7..24dffac 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index e188cbf..7e3ed20 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 5403913..808f433 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index a695fa4..9382751 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so