1 files changed, 54 insertions, 29 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d203ff..35d22c0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject
         _mass = CalculateMass();
 
         // No body or shape yet
-        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
-        PhysShape = new BulletShape(IntPtr.Zero);
+        PhysBody = new BulletBody(LocalID);
+        PhysShape = new BulletShape();
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
             PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysBody.Clear();
             PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysShape.Clear();
         });
     }
 
@@ -189,7 +191,8 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool Selected {
-        set {
+        set
+        {
             if (value != _isSelected)
             {
                 _isSelected = value;
@@ -247,7 +250,8 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -257,8 +261,11 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            }
         });
     }
 
@@ -295,8 +302,11 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                ActivateIfPhysical(false);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    ActivateIfPhysical(false);
+                }
             });
         }
     }
@@ -322,12 +332,12 @@ public sealed class BSPrim : BSPhysObject
 
         float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (Position.Z < terrainHeight)
+        if (RawPosition.Z < terrainHeight)
         {
             DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
             // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - Position.Z) * 1f;
+            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
             ret = true;
         }
 
@@ -335,10 +345,10 @@ public sealed class BSPrim : BSPhysObject
         {
             float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(Position.Z - waterHeight) > 0.1f)
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
             {
                 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - Position.Z) * 1f;
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
                 ret = true;
             }
         }
@@ -413,7 +423,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -507,7 +518,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
     }
@@ -556,9 +568,12 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                }
             });
         }
     }
@@ -683,8 +698,9 @@ public sealed class BSPrim : BSPhysObject
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
@@ -711,9 +727,10 @@ public sealed class BSPrim : BSPhysObject
             // Not a Bullet static object
             CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -861,7 +878,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
     }
@@ -896,8 +914,11 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            if (PhysBody.HasPhysicalBody)
+            {
+                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            }
         }
     }
 
@@ -965,7 +986,8 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
         });
     }
 
@@ -976,7 +998,8 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
         {
             DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
         });
     }
 
@@ -1012,7 +1035,8 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
             {
-                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
         });
@@ -1026,7 +1050,8 @@ public sealed class BSPrim : BSPhysObject
         OMV.Vector3 applyImpulse = impulse;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
-            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
         });
     }