1 files changed, 19 insertions, 21 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c62c79a..ea1f71a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
         });
     }
 
@@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject
 
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            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)
             {
@@ -347,7 +348,9 @@ public sealed class BSPrim : BSPhysObject
         if (ret)
         {
             // Apply upforce and overcome gravity.
-            AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
+            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+            AddForce(correctionForce, false, inTaintTime);
         }
         return ret;
     }
@@ -643,9 +646,13 @@ public sealed class BSPrim : BSPhysObject
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
+        if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
         {
-            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
+            if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
+                                LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
+            }
         }
 
         // Recompute any linkset parameters.
@@ -684,11 +691,11 @@ public sealed class BSPrim : BSPhysObject
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
@@ -734,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
             // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
@@ -762,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
     }
@@ -838,15 +845,6 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 RotationalVelocity {
         get {
-            /*
-            OMV.Vector3 pv = OMV.Vector3.Zero;
-            // if close to zero, report zero
-            // This is copied from ODE but I'm not sure why it returns zero but doesn't
-            //    zero the property in the physics engine.
-            if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
-                return pv;
-             */
-
             return _rotationalVelocity;
         }
         set {
@@ -1408,7 +1406,7 @@ public sealed class BSPrim : BSPhysObject
             LastEntityProperties = CurrentEntityProperties;
             CurrentEntityProperties = entprop;
 
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);