8 files changed, 103 insertions, 37 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 0fef67c..ae54499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 
     // If Debug logging level, enable logging from the unmanaged code
     m_DebugLogCallbackHandle = null;
-    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
     {
         BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
         if (PhysicsScene.PhysicsLogging.Enabled)
@@ -202,7 +202,7 @@ private void BulletLoggerPhysLog(string msg)
 }
 
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, out int collidersCount)
+                                        out int updatedEntityCount, out int collidersCount)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
@@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
 }
 
 public override bool PushUpdate(BulletBody obj)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index aadb583..a5fec87 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
             PhysShape.Clear();
         });
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index bcebaec..e434412 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         static readonly float PIOverTwo = ((float)Math.PI) / 2f;
 
         // For debugging, flags to turn on and off individual corrections.
-        private bool enableAngularVerticalAttraction = true;
-        private bool enableAngularDeflection = true;
-        private bool enableAngularBanking = true;
+        private bool enableAngularVerticalAttraction;
+        private bool enableAngularDeflection;
+        private bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
@@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public void SetupVehicleDebugging()
         {
             enableAngularVerticalAttraction = true;
-            enableAngularDeflection = true;
-            enableAngularBanking = true;
+            enableAngularDeflection = false;
+            enableAngularBanking = false;
             if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
             {
                 enableAngularVerticalAttraction = false;
@@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Quaternion m_knownOrientation;
         private Vector3 m_knownRotationalVelocity;
         private Vector3 m_knownRotationalForce;
+        private Vector3 m_knownRotationalImpulse;
         private Vector3 m_knownForwardVelocity;    // vehicle relative forward speed
 
         private const int m_knownChangedPosition           = 1 << 0;
@@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private const int m_knownChangedOrientation        = 1 << 4;
         private const int m_knownChangedRotationalVelocity = 1 << 5;
         private const int m_knownChangedRotationalForce    = 1 << 6;
-        private const int m_knownChangedTerrainHeight      = 1 << 7;
-        private const int m_knownChangedWaterLevel         = 1 << 8;
-        private const int m_knownChangedForwardVelocity    = 1 << 9;
+        private const int m_knownChangedRotationalImpulse  = 1 << 7;
+        private const int m_knownChangedTerrainHeight      = 1 << 8;
+        private const int m_knownChangedWaterLevel         = 1 << 9;
+        private const int m_knownChangedForwardVelocity    = 1 <<10;
 
         private void ForgetKnownVehicleProperties()
         {
@@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
+                if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
+                    Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
+
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
                 {
                     Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
@@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             m_knownChanged |= m_knownChangedRotationalForce;
             m_knownHas |= m_knownChangedRotationalForce;
         }
+        private void VehicleAddRotationalImpulse(Vector3 pImpulse)
+        {
+            if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
+            {
+                m_knownRotationalImpulse = Vector3.Zero;
+                m_knownHas |= m_knownChangedRotationalImpulse;
+            }
+            m_knownRotationalImpulse += pImpulse;
+            m_knownChanged |= m_knownChangedRotationalImpulse;
+        }
+
         // Vehicle relative forward velocity
         private Vector3 VehicleForwardVelocity
         {
@@ -1031,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 else
                 {
                     // Error is positive if below the target and negative if above.
-                    float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
-                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep;
+                    Vector3 hpos = VehiclePosition;
+                    float verticalError = m_VhoverTargetHeight - hpos.Z;
+                    float verticalCorrection = verticalError / m_VhoverTimescale;
+                    verticalCorrection *= m_VhoverEfficiency;
+
+                    hpos.Z += verticalCorrection;
+                    VehiclePosition = hpos;
+
+                    // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
+                    Vector3 vel = VehicleVelocity;
+                    vel.Z = 0f;
+                    VehicleVelocity = vel;
+
+                    /*
+                    float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
+                    Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
+                    verticalCorrection *= m_vehicleMass;
 
                     // TODO: implement m_VhoverEfficiency correctly
-                    VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity));
+                    VehicleAddForceImpulse(verticalCorrection);
+                     */
 
-                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
+                    VDetailLog("{0},  MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
                                     Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
                                     m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
-                                    verticalError, verticalCorrectionVelocity);
+                                    verticalError, verticalCorrection);
                 }
 
             }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 5a1b5c7..2dc89b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset
                 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
             // TODO: replace this with are calculation of the child prim's orientation and pos.
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
+            // TODO: for the moment, don't rebuild the compound shape.
+            //    This is often just the car turning its wheels. When we can just reorient the one
+            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
+            // updated.LinksetInfo = null;
+            // ScheduleRebuild(updated);
         }
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 27ff047..862dbf6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -318,13 +318,13 @@ public static class BSParam
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
-            0f,     // set to zero to disable
+            0.3f,     // set to zero to disable
             (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return CcdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
             (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
+            0.2f,
             (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return CcdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
@@ -465,7 +465,7 @@ public static class BSParam
             (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
             new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
+            ConfigurationParameters.numericTrue,
             (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
             (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
             (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 185f111..821f470 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -382,10 +382,13 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
 
-        // Clean out any existing action
-        UnRegisterPreStepAction(op, id);
+        lock (RegisteredActions)
+        {
+            // Clean out any existing action
+            UnRegisterPreStepAction(op, id);
 
-        RegisteredActions[identifier] = actn;
+            RegisteredActions[identifier] = actn;
+        }
         PhysicsScene.BeforeStep += actn;
         DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
     }
@@ -395,22 +398,28 @@ public abstract class BSPhysObject : PhysicsActor
     {
         string identifier = op + "-" + id.ToString();
         bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
+            if (RegisteredActions.ContainsKey(identifier))
+            {
+                PhysicsScene.BeforeStep -= RegisteredActions[identifier];
+                RegisteredActions.Remove(identifier);
+                removed = true;
+            }
         }
         DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
     }
 
     protected void UnRegisterAllPreStepActions()
     {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+        lock (RegisteredActions)
         {
-            PhysicsScene.BeforeStep -= kvp.Value;
+            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+            {
+                PhysicsScene.BeforeStep -= kvp.Value;
+            }
+            RegisteredActions.Clear();
         }
-        RegisteredActions.Clear();
         DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e5f7ab7..79fe632 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -379,7 +379,7 @@ public sealed class BSPrim : BSPhysObject
             // If the object is below ground it just has to be moved up because pushing will
             //     not get it through the terrain
             _position.Z = targetHeight;
-            if (!inTaintTime)
+            if (inTaintTime)
                 ForcePosition = _position;
             ret = true;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index a5bdc07..e0b4992 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -387,12 +387,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return null;
 
         BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
+        lock (PhysObjects)
+            PhysObjects.Add(localID, actor);
 
         // TODO: Remove kludge someday.
         // We must generate a collision for avatars whether they collide or not.
         // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
+        lock (m_avatars)
+            m_avatars.Add(actor);
 
         return actor;
     }
@@ -408,9 +410,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             try
             {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
+                lock (PhysObjects)
+                    PhysObjects.Remove(bsactor.LocalID);
                 // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
+                lock (m_avatars)
+                    m_avatars.Remove(bsactor);
             }
             catch (Exception e)
             {
@@ -419,6 +423,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             bsactor.Destroy();
             // bsactor.dispose();
         }
+        else
+        {
+            m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
+                                        LogHeader, actor.LocalID, actor.GetType().Name);
+        }
     }
 
     public override void RemovePrim(PhysicsActor prim)