1 files changed, 33 insertions, 34 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
index 0a065be..2f42646 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -239,6 +239,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
         private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
         private readonly HashSet<OdePrim> _taintedPrimH = new HashSet<OdePrim>();
+        private readonly Object _taintedPrimLock = new Object();
         private readonly List<OdePrim> _taintedPrimL = new List<OdePrim>();
         private readonly HashSet<OdeCharacter> _taintedActors = new HashSet<OdeCharacter>();
         private readonly List<d.ContactGeom> _perloopContact = new List<d.ContactGeom>();
@@ -683,7 +684,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>Returns which split up space the given position is in.</returns>
-        public string whichspaceamIin(PhysicsVector pos)
+        public string whichspaceamIin(Vector3 pos)
         {
             return calculateSpaceForGeom(pos).ToString();
         }
@@ -962,7 +963,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                                     //p2.CollidingObj = true;
                                     contacts[i].depth = 0.00000003f;
-                                    p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p2.Velocity = p2.Velocity + new Vector3(0f, 0f, 0.5f);
                                     contacts[i].pos =
                                         new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                       contacts[i].pos.Y + (p1.Size.Y/2),
@@ -980,7 +981,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
                                     //p2.CollidingObj = true;
                                     contacts[i].depth = 0.00000003f;
-                                    p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
+                                    p1.Velocity = p1.Velocity + new Vector3(0f, 0f, 0.5f);
                                     contacts[i].pos =
                                         new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
                                                       contacts[i].pos.Y + (p1.Size.Y/2),
@@ -1645,9 +1646,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         #region Add/Remove Entities
 
-        public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
         {
-            PhysicsVector pos = new PhysicsVector();
+            Vector3 pos;
             pos.X = position.X;
             pos.Y = position.Y;
             pos.Z = position.Z;
@@ -1697,18 +1698,12 @@ namespace OpenSim.Region.Physics.OdePlugin
             
         }
 
-        private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
+        private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
                                      IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
         {
-            
-            PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
-            //pos.X = position.X;
-            //pos.Y = position.Y;
-            //pos.Z = position.Z;
-            PhysicsVector siz = new PhysicsVector();
-            siz.X = size.X;
-            siz.Y = size.Y;
-            siz.Z = size.Z;
+
+            Vector3 pos = position;
+            Vector3 siz = size;
             Quaternion rot = rotation;
 
             OdePrim newPrim;
@@ -1735,14 +1730,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation) //To be removed
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation) //To be removed
         {
             return AddPrimShape(primName, pbs, position, size, rotation, false);
         }
 
-        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
-                                                  PhysicsVector size, Quaternion rotation, bool isPhysical)
+        public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
+                                                  Vector3 size, Quaternion rotation, bool isPhysical)
         {
             PhysicsActor result;
             IMesh mesh = null;
@@ -1975,7 +1970,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         // this joint will just be added to a waiting list that is NOT processed during the main
         // Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
 
-        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
+        public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, Vector3 position,
                                             Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
 
         {
@@ -1983,7 +1978,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             OdePhysicsJoint joint = new OdePhysicsJoint();
             joint.ObjectNameInScene = objectNameInScene;
             joint.Type = jointType;
-            joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
+            joint.Position = position;
             joint.Rotation = rotation;
             joint.RawParams = parms;
             joint.BodyNames = new List<string>(bodyNames);
@@ -2035,7 +2030,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
-        public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
+        public override Vector3 GetJointAnchor(PhysicsJoint joint)
         {
             Debug.Assert(joint.IsInPhysicsEngine);
             d.Vector3 pos = new d.Vector3();
@@ -2057,14 +2052,14 @@ namespace OpenSim.Region.Physics.OdePlugin
                         break;
                 }
             }
-            return new PhysicsVector(pos.X, pos.Y, pos.Z);
+            return new Vector3(pos.X, pos.Y, pos.Z);
         }
 
         // normally called from within OnJointMoved, which is called from within a lock (OdeLock)
         // WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
         // appears to be unreliable. Fortunately we can compute the joint axis ourselves by
         // keeping track of the joint's original orientation relative to one of the involved bodies.
-        public override PhysicsVector GetJointAxis(PhysicsJoint joint)
+        public override Vector3 GetJointAxis(PhysicsJoint joint)
         {
             Debug.Assert(joint.IsInPhysicsEngine);
             d.Vector3 axis = new d.Vector3();
@@ -2086,7 +2081,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         break;
                 }
             }
-            return new PhysicsVector(axis.X, axis.Y, axis.Z);
+            return new Vector3(axis.X, axis.Y, axis.Z);
         }
 
 
@@ -2254,7 +2249,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="pos">the position that the geom moved to</param>
         /// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
         /// <returns>a pointer to the new space it's in</returns>
-        public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
+        public IntPtr recalculateSpaceForGeom(IntPtr geom, Vector3 pos, IntPtr currentspace)
         {
             // Called from setting the Position and Size of an ODEPrim so
             // it's already in locked space.
@@ -2401,7 +2396,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>a pointer to the space. This could be a new space or reused space.</returns>
-        public IntPtr calculateSpaceForGeom(PhysicsVector pos)
+        public IntPtr calculateSpaceForGeom(Vector3 pos)
         {
             int[] xyspace = calculateSpaceArrayItemFromPos(pos);
             //m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
@@ -2413,7 +2408,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="pos"></param>
         /// <returns>an array item based on the position</returns>
-        public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
+        public int[] calculateSpaceArrayItemFromPos(Vector3 pos)
         {
             int[] returnint = new int[2];
 
@@ -2572,7 +2567,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (prim is OdePrim)
             {
                 OdePrim taintedprim = ((OdePrim) prim);
-                lock (_taintedPrimH)
+                lock (_taintedPrimLock)
                 {
                     if (!(_taintedPrimH.Contains(taintedprim))) 
                                 {
@@ -2700,24 +2695,28 @@ namespace OpenSim.Region.Physics.OdePlugin
                                 // Modify other objects in the scene.
                                 processedtaints = false;
 
-                                lock (_taintedPrimL)
+                                lock (_taintedPrimLock)
                                 {
                                     foreach (OdePrim prim in _taintedPrimL)
                                     {
-       
-                                    
                                         if (prim.m_taintremove)
                                         {
-//Console.WriteLine("Simulate calls RemovePrimThreadLocked");                                          
+                                            //Console.WriteLine("Simulate calls RemovePrimThreadLocked");                                          
                                             RemovePrimThreadLocked(prim);
                                         }
                                         else
                                         {
-//Console.WriteLine("Simulate calls ProcessTaints");                                        
+                                            //Console.WriteLine("Simulate calls ProcessTaints");                                        
                                             prim.ProcessTaints(timeStep);
                                         }
                                         processedtaints = true;
                                         prim.m_collisionscore = 0;
+
+                                        // This loop can block up the Heartbeat for a very long time on large regions.
+                                        // We need to let the Watchdog know that the Heartbeat is not dead
+                                        // NOTE: This is currently commented out, but if things like OAR loading are 
+                                        // timing the heartbeat out we will need to uncomment it
+                                        //Watchdog.UpdateThread();
                                     }
 
                                     if (SupportsNINJAJoints)