1 files changed, 21 insertions, 19 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
index 0d66496..0b9c45f 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/Ode/ODEPrim.cs
@@ -50,9 +50,9 @@ using log4net;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.PhysicsModules.SharedBase;
 
-namespace OpenSim.Region.Physics.OdePlugin
+namespace OpenSim.Region.PhysicsModule.ODE
 {
     /// <summary>
     /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
@@ -108,14 +108,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         private Vector3 m_taintAngularLock = Vector3.One;
         private IntPtr Amotor = IntPtr.Zero;
 
-        private object m_assetsLock = new object();
         private bool m_assetFailed = false;
 
         private Vector3 m_PIDTarget;
         private float m_PIDTau;
         private float PID_D = 35f;
         private float PID_G = 25f;
-        private bool m_usePID;
 
         // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
         // and are for non-VEHICLES only.
@@ -447,7 +445,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_disabled = false;
 
                 // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0.0f)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.One, 0.0f)) && _parent == null)
                 {
                     createAMotor(m_angularlock);
                 }
@@ -787,6 +785,14 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
         }
 
+        private void setAngularVelocity(float x, float y, float z)
+        {
+            if (Body != (IntPtr)0)
+            {
+                d.BodySetAngularVel(Body, x, y, z);
+            }
+        }
+
         /// <summary>
         /// Stop a prim from being subject to physics.
         /// </summary>
@@ -1115,7 +1121,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 {
                     d.Mass m2;
                     d.MassSetZero(out m2);
-                    d.MassSetBoxTotal(out m2, prim.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
+                    d.MassSetBoxTotal(out m2, prm.CalculateMass(), prm._size.X, prm._size.Y, prm._size.Z);
 
                     d.Quaternion quat = new d.Quaternion();
                     quat.W = prm._orientation.W;
@@ -1178,11 +1184,6 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     prm.m_collisionscore = 0;
                     prm.m_disabled = false;
 
-                    // The body doesn't already have a finite rotation mode set here
-                    if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
-                    {
-                        prm.createAMotor(m_angularlock);
-                    }
                     prm.Body = Body;
                     _parent_scene.ActivatePrim(prm);
                 }
@@ -1229,7 +1230,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 m_disabled = false;
 
                 // The body doesn't already have a finite rotation mode set here
-                if ((!m_angularlock.ApproxEquals(Vector3.Zero, 0f)) && _parent == null)
+                if ((!m_angularlock.ApproxEquals(Vector3.One, 0f)) && _parent == null)
                 {
                     createAMotor(m_angularlock);
                 }
@@ -1724,7 +1725,7 @@ Console.WriteLine(" JointCreateFixed");
                     // gravityz multiplier = 1 - m_buoyancy
                     fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
 
-                    if (m_usePID)
+                    if (PIDActive)
                     {
 //Console.WriteLine("PID " +  Name);
                         // KF - this is for object move? eg. llSetPos() ?
@@ -1793,10 +1794,10 @@ Console.WriteLine(" JointCreateFixed");
 
                             fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
                         }
-                    }        // end if (m_usePID)
+                    }        // end if (PIDActive)
 
                     // Hover PID Controller needs to be mutually exlusive to MoveTo PID controller
-                    if (m_useHoverPID && !m_usePID)
+                    if (m_useHoverPID && !PIDActive)
                     {
 //Console.WriteLine("Hover " +  Name);
                     
@@ -2647,6 +2648,7 @@ Console.WriteLine(" JointCreateFixed");
                 if (value.IsFinite())
                 {
                     m_rotationalVelocity = value;
+                    setAngularVelocity(value.X, value.Y, value.Z);
                 }
                 else
                 {
@@ -2867,7 +2869,7 @@ Console.WriteLine(" JointCreateFixed");
                         // it does make sense to do this for tiny little instabilities with physical prim, however 0.5m/frame is fairly large. 
                         // reducing this to 0.02m/frame seems to help the angular rubberbanding quite a bit, however, to make sure it doesn't affect elevators and vehicles
                         // adding these logical exclusion situations to maintain this where I think it was intended to be.
-                        if (m_throttleUpdates || m_usePID || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) 
+                        if (m_throttleUpdates || PIDActive || (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE) || (Amotor != IntPtr.Zero)) 
                         {
                             m_minvelocity = 0.5f;
                         }
@@ -2948,7 +2950,7 @@ Console.WriteLine(" JointCreateFixed");
                     m_log.WarnFormat("[PHYSICS]: Got NaN PIDTarget from Scene on Object {0}", Name);
             } 
         }
-        public override bool PIDActive { set { m_usePID = value; } }
+        public override bool PIDActive { get; set; }
         public override float PIDTau { set { m_PIDTau = value; } }
 
         public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
@@ -3345,7 +3347,7 @@ Console.WriteLine(" JointCreateFixed");
                         RequestAssetDelegate assetProvider = _parent_scene.RequestAssetMethod;
                         if (assetProvider != null)
                             assetProvider(_pbs.SculptTexture, MeshAssetReceived);
-                    });
+                    }, null, "ODEPrim.CheckMeshAsset");
             }
         }
 
@@ -3373,7 +3375,7 @@ Console.WriteLine(" JointCreateFixed");
             {
                 m_log.WarnFormat(
                     "[ODE PRIM]: Could not get mesh/sculpt asset {0} for {1} at {2} in {3}",
-                    _pbs.SculptTexture, Name, _position, _parent_scene.Name);
+                    _pbs.SculptTexture, Name, _position, _parent_scene.PhysicsSceneName);
             }
         }          
     }