4 files changed, 55 insertions, 60 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
index 288cab5..076da78 100644
--- a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
+++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
@@ -55,4 +55,4 @@ using System.Runtime.InteropServices;
 // You can specify all values by your own or you can build default build and revision
 // numbers with the '*' character (the default):
 
-[assembly : AssemblyVersion("0.8.0.*")]
+[assembly : AssemblyVersion("0.8.2.*")]
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 86735de..05eaf2a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -167,6 +167,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="avName"></param>
         /// <param name="parent_scene"></param>
         /// <param name="pos"></param>
+        /// <param name="vel"></param>
         /// <param name="size"></param>
         /// <param name="pid_d"></param>
         /// <param name="pid_p"></param>
@@ -178,7 +179,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="walk_divisor"></param>
         /// <param name="rundivisor"></param>
         public OdeCharacter(
-            String avName, OdeScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p,
+            String avName, OdeScene parent_scene, Vector3 pos, Vector3 vel, Vector3 size, float pid_d, float pid_p,
             float capsule_radius, float tensor, float density,
             float walk_divisor, float rundivisor)
         {
@@ -210,6 +211,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
             }
 
+            _velocity = vel;
+            m_taintTargetVelocity = vel;
+
             _parent_scene = parent_scene;
 
             PID_D = pid_d;
@@ -500,8 +504,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 m_pidControllerActive = true;
 
-                m_tainted_CAPSULE_LENGTH = (size.Z) - CAPSULE_RADIUS * 2.0f;
-//                    m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH);
+                m_tainted_CAPSULE_LENGTH = size.Z - CAPSULE_RADIUS * 2.0f;
+
+                // m_log.InfoFormat("[ODE CHARACTER]: Size = {0}, Capsule Length = {1} (Capsule Radius = {2})",
+                //     size, m_tainted_CAPSULE_LENGTH, CAPSULE_RADIUS);
             }
             else
             {
@@ -890,42 +896,30 @@ namespace OpenSim.Region.Physics.OdePlugin
 //                        vec, _target_velocity, movementdivisor, vel);
                 }
 
-                if (m_iscolliding && !flying && _target_velocity.Z > 0.0f)
+                if (flying)
                 {
-                    // We're colliding with something and we're not flying but we're moving
-                    // This means we're walking or running.
-                    d.Vector3 pos = d.BodyGetPosition(Body);
-                    vec.Z = (_target_velocity.Z - vel.Z)*PID_D + (_zeroPosition.Z - pos.Z)*PID_P;
-                    if (_target_velocity.X > 0)
-                    {
-                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
-                    }
-                    if (_target_velocity.Y > 0)
-                    {
-                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
-                    }
+                    // This also acts as anti-gravity so that we hover when flying rather than fall.
+                    vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
                 }
-                else if (!m_iscolliding && !flying)
+                else
                 {
-                    // we're not colliding and we're not flying so that means we're falling!
-                    // m_iscolliding includes collisions with the ground.
-
-                    // d.Vector3 pos = d.BodyGetPosition(Body);
-                    if (_target_velocity.X > 0)
+                    if (m_iscolliding && _target_velocity.Z > 0.0f)
                     {
+                        // We're colliding with something and we're not flying but we're moving
+                        // This means we're walking or running.
+                        d.Vector3 pos = d.BodyGetPosition(Body);
+                        vec.Z = (_target_velocity.Z - vel.Z) * PID_D + (_zeroPosition.Z - pos.Z) * PID_P;
                         vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
+                        vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
                     }
-                    if (_target_velocity.Y > 0)
+                    else if (!m_iscolliding)
                     {
+                        // we're not colliding and we're not flying so that means we're falling!
+                        // m_iscolliding includes collisions with the ground.
+                        vec.X = ((_target_velocity.X - vel.X) / 1.2f) * PID_D;
                         vec.Y = ((_target_velocity.Y - vel.Y) / 1.2f) * PID_D;
                     }
                 }
-
-                if (flying)
-                {
-                    // This also acts as anti-gravity so that we hover when flying rather than fall.
-                    vec.Z = (_target_velocity.Z - vel.Z) * (PID_D);
-                }
             }
 
             if (flying)
@@ -1255,7 +1249,11 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         public override Vector3 PIDTarget { set { return; } }
-        public override bool PIDActive { set { return; } }
+        public override bool PIDActive 
+        { 
+            get { return false; }
+            set { return; } 
+        }
         public override float PIDTau { set { return; } }
 
         public override float PIDHoverHeight { set { return; } }
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index b4b7e7f..f934b8a 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -114,7 +114,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         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.
@@ -351,11 +350,10 @@ namespace OpenSim.Region.Physics.OdePlugin
             if (m_assetFailed)
             {
                 d.GeomSetCategoryBits(prim_geom, 0);
-                d.GeomSetCollideBits(prim_geom, BadAssetColideBits());
+                d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
             }
             else
             {
-
                 d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
                 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
             }
@@ -425,7 +423,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadAssetColideBits());
+                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
                 }
                 else
                 {
@@ -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>
@@ -858,11 +864,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         private static Dictionary<IMesh, IntPtr> m_MeshToTriMeshMap = new Dictionary<IMesh, IntPtr>();
 
-        public int BadAssetColideBits()
-        {
-            return (m_isphysical ? (int)CollisionCategories.Land : 0);
-        }
-
         private void setMesh(OdeScene parent_scene, IMesh mesh)
         {
 //            m_log.DebugFormat("[ODE PRIM]: Setting mesh on {0} to {1}", Name, mesh);
@@ -1144,7 +1145,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                     if (prm.m_assetFailed)
                     {
                         d.GeomSetCategoryBits(prm.prim_geom, 0);
-                        d.GeomSetCollideBits(prm.prim_geom, prm.BadAssetColideBits());
+                        d.GeomSetCollideBits(prm.prim_geom, prm.BadMeshAssetCollideBits);
                     }
                     else
                     {
@@ -1198,7 +1199,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadAssetColideBits());
+                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
                 }
                 else
                 {
@@ -1400,7 +1401,7 @@ Console.WriteLine("ZProcessTaints for " + Name);
                 if (m_assetFailed)
                 {
                     d.GeomSetCategoryBits(prim_geom, 0);
-                    d.GeomSetCollideBits(prim_geom, BadAssetColideBits());
+                    d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
                 }
                 else
                 {
@@ -1729,7 +1730,7 @@ 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() ?
@@ -1798,10 +1799,10 @@ 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);
                     
@@ -2144,7 +2145,7 @@ Console.WriteLine(" JointCreateFixed");
             }
 
             if (m_assetFailed)
-                d.GeomSetCollideBits(prim_geom, BadAssetColideBits());
+                d.GeomSetCollideBits(prim_geom, BadMeshAssetCollideBits);
             else
 
                 d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
@@ -2652,6 +2653,7 @@ Console.WriteLine(" JointCreateFixed");
                 if (value.IsFinite())
                 {
                     m_rotationalVelocity = value;
+                    setAngularVelocity(value.X, value.Y, value.Z);
                 }
                 else
                 {
@@ -2872,7 +2874,7 @@ 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;
                         }
@@ -2953,9 +2955,9 @@ 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; ; } }
         public override bool PIDHoverActive { set { m_useHoverPID = value; } }
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
@@ -3350,7 +3352,7 @@ Console.WriteLine(" JointCreateFixed");
                         RequestAssetDelegate assetProvider = _parent_scene.RequestAssetMethod;
                         if (assetProvider != null)
                             assetProvider(_pbs.SculptTexture, MeshAssetReceived);
-                    });
+                    }, null, "ODEPrim.CheckMeshAsset");
             }
         }
 
@@ -3382,4 +3384,4 @@ Console.WriteLine(" JointCreateFixed");
             }
         }          
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 6d7f079..5953557 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -1969,16 +1969,11 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         #region Add/Remove Entities
 
-        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
-        {
-            Vector3 pos;
-            pos.X = position.X;
-            pos.Y = position.Y;
-            pos.Z = position.Z;
-            
+        public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
+        {                       
             OdeCharacter newAv
                 = new OdeCharacter(
-                    avName, this, pos, size, avPIDD, avPIDP,
+                    avName, this, position, velocity, size, avPIDD, avPIDP,
                     avCapRadius, avStandupTensor, avDensity,
                     avMovementDivisorWalk, avMovementDivisorRun);