4 files changed, 43 insertions, 21 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index b9c2cf9..1f7c398 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -59,7 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset
     //   refresh will happen once after all the other taints are applied.
     public override void Refresh(BSPhysObject requestor)
     {
-        // External request for Refresh (from BSPrim) is not necessary
+        // External request for Refresh (from BSPrim) doesn't need to do anything
         // InternalRefresh(requestor);
     }
 
@@ -86,7 +86,7 @@ public sealed class BSLinksetCompound : BSLinkset
         DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
         if (!IsRoot(child))
         {
-            // Physical children are removed from the world as the shape ofthe root compound
+            // The origional prims are removed from the world as the shape of the root compound
             //     shape takes over.
             BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
             BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
@@ -118,7 +118,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // Called at taint-time!!
     public override void UpdateProperties(BSPhysObject updated)
     {
-        // Nothing to do for constraints on property updates
+        // Nothing to do for compound linksets on property updates
     }
 
     // The children move around in relationship to the root.
@@ -257,6 +257,11 @@ public sealed class BSLinksetCompound : BSLinkset
                     BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
                 }
             }
+
+            // TODO: need to phantomize the child prims left behind.
+            //     Maybe just destroy the children bodies and shapes and have them rebuild on unlink.
+            //     Selection/deselection might cause way too many build/destructions esp. for LARGE linksets.
+
             return false;   // 'false' says to move onto the next child in the list
         });
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 62aaf80..4d203ff 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -190,12 +190,15 @@ public sealed class BSPrim : BSPhysObject
     }
     public override bool Selected {
         set {
-            _isSelected = value;
-            PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+            if (value != _isSelected)
             {
-                DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
-                SetObjectDynamic(false);
-            });
+                _isSelected = value;
+                PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
+                {
+                    DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+                    SetObjectDynamic(false);
+                });
+            }
         }
     }
     public override void CrossingFailure() { return; }
@@ -678,8 +681,11 @@ public sealed class BSPrim : BSPhysObject
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+
+            // Set various physical properties so other object interact properly
+            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
@@ -688,13 +694,15 @@ public sealed class BSPrim : BSPhysObject
                 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
                 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
-            // 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);
             // Start it out sleeping and physical actions could wake it up.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
+            // There can be special things needed for implementing linksets
+            Linkset.MakeStatic(this);
+
             PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
@@ -1326,7 +1334,7 @@ public sealed class BSPrim : BSPhysObject
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
-    private void CreateGeomAndObject(bool forceRebuild)
+    public void CreateGeomAndObject(bool forceRebuild)
     {
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
@@ -1341,7 +1349,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
-            // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
+            // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
             needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
         });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index e77b6ba..933f573 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -415,7 +415,7 @@ public sealed class BSShapeCollection : IDisposable
         if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
         {
             // an avatar capsule is close to a native shape (it is not shared)
-            ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
+            GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
                             FixedShapeKey.KEY_CAPSULE, shapeCallback);
             if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
             ret = true;
@@ -423,7 +423,7 @@ public sealed class BSShapeCollection : IDisposable
         }
 
         // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
+        // This isn't too great a hardship since most of the child shapes will have already been created.
         if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
         {
             ret = GetReferenceToCompoundShape(prim, shapeCallback);
@@ -460,6 +460,9 @@ public sealed class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
+            if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
+                        prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
+
             // It doesn't look like Bullet scales spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
@@ -538,6 +541,8 @@ public sealed class BSShapeCollection : IDisposable
         if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
                                 prim.LocalID, newShape, prim.Scale);
 
+        // native shapes are scaled by Bullet
+        prim.Scale = prim.Size;
         prim.PhysShape = newShape;
         return true;
     }
@@ -550,8 +555,8 @@ public sealed class BSShapeCollection : IDisposable
         ShapeData nativeShapeData = new ShapeData();
         nativeShapeData.Type = shapeType;
         nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
+        nativeShapeData.Scale = prim.Size;
+        nativeShapeData.Size = prim.Size;  // unneeded, I think.
         nativeShapeData.MeshKey = (ulong)shapeKey;
         nativeShapeData.HullKey = (ulong)shapeKey;
 
@@ -566,8 +571,6 @@ public sealed class BSShapeCollection : IDisposable
         else
         {
             // Native shapes are scaled in Bullet so set the scaling to the size
-            prim.Scale = prim.Size;
-            nativeShapeData.Scale = prim.Scale;
             newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
         }
         if (newShape.ptr == IntPtr.Zero)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index d51003c..a2161c3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -5,6 +5,9 @@ CRASHES
 20121128.1600: mesh object not rezzing (no physics mesh).
     Causes many errors. Doesn't stop after first error with box shape.
     Eventually crashes when deleting the object.
+20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
+        Immediate simulator crash. Mono does not output any stacktrace and
+        log just stops after reporting taint-time linking of the linkset.
 
 VEHICLES TODO LIST:
 =================================================
@@ -23,9 +26,12 @@ After getting off a vehicle, the root prim is phantom (can be walked through)
 Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
 Implement referenceFrame for all the motion routines.
 Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
+Border crossing with linked vehicle causes crash
 
 BULLETSIM TODO LIST:
 =================================================
+Duplicating a physical prim causes old prim to jump away
+        Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
 Disable activity of passive linkset children.
         Since the linkset is a compound object, the old prims are left lying
         around and need to be phantomized so they don't collide, ...
@@ -96,7 +102,7 @@ Breakout code for mesh/hull/compound/native into separate BSShape* classes
 Generalize Dynamics and PID with standardized motors.
 Generalize Linkset and vehicles into PropertyManagers
     Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
-        Possibly generalized a 'pre step action' registration.
+        Potentially add events for shape destruction, etc.
 Complete implemention of preStepActions
         Replace vehicle step call with prestep event.
         Is there a need for postStepActions? postStepTaints?