5 files changed, 144 insertions, 44 deletions

diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index dd30a59..16a8588 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -959,7 +959,15 @@ namespace OpenSim.Region.Framework.Scenes
                 }
                 return m_angularVelocity;
             }
-            set { m_angularVelocity = value; }
+            set
+            {
+                m_angularVelocity = value;
+                PhysicsActor actor = PhysActor;
+                if ((actor != null) && actor.IsPhysical && ParentGroup.RootPart == this && VehicleType == (int)Vehicle.TYPE_NONE)
+                {
+                    actor.RotationalVelocity = m_angularVelocity;
+                }                       
+            }
         }
 
         /// <summary></summary>
@@ -1845,7 +1853,7 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-//      SetVelocity for LSL llSetVelocity..  may need revision if having other uses in future
+        //      SetVelocity for LSL llSetVelocity..  may need revision if having other uses in future
         public void SetVelocity(Vector3 pVel, bool localGlobalTF)
         {
             if (ParentGroup == null || ParentGroup.IsDeleted)
@@ -1871,6 +1879,33 @@ namespace OpenSim.Region.Framework.Scenes
 
             ParentGroup.Velocity = pVel;
         }
+
+        //      SetAngularVelocity for LSL llSetAngularVelocity..  may need revision if having other uses in future
+        public void SetAngularVelocity(Vector3 pAngVel, bool localGlobalTF)
+        {
+            if (ParentGroup == null || ParentGroup.IsDeleted)
+                return;
+
+            if (ParentGroup.IsAttachment)
+                return;                         // don't work on attachments (for now ??)
+
+            SceneObjectPart root = ParentGroup.RootPart;
+
+            if (root.VehicleType != (int)Vehicle.TYPE_NONE) // don't mess with vehicles
+                return;
+
+            PhysicsActor pa = root.PhysActor;
+
+            if (pa == null || !pa.IsPhysical)
+                return;
+
+            if (localGlobalTF)
+            {
+                pAngVel = pAngVel * GetWorldRotation();
+            }
+
+            root.AngularVelocity = pAngVel;
+        }
         
 
         /// <summary>
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 3d8e680..14e4272 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (value.IsFinite())

                 {

                     AddChange(changes.Velocity, value);

-//                    _velocity = value;

-

                 }

                 else

                 {

@@ -676,9 +674,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             {

                 if (value.IsFinite())

                 {

-                    m_rotationalVelocity = value;

-                    if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))

-                        d.BodyEnable(Body);

+                    AddChange(changes.AngVelocity, value);

                 }

                 else

                 {

@@ -687,7 +683,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

-

         public override float Buoyancy

         {

             get { return m_buoyancy; }

@@ -1737,17 +1732,14 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             d.BodySetAutoDisableFlag(Body, true);

             d.BodySetAutoDisableSteps(Body, body_autodisable_frames);

-//            d.BodySetLinearDampingThreshold(Body, 0.01f);

-//            d.BodySetAngularDampingThreshold(Body, 0.001f);

-            d.BodySetDamping(Body, .002f, .002f);

-

-                if (m_targetSpace != IntPtr.Zero)

-                {

-                    _parent_scene.waitForSpaceUnlock(m_targetSpace);

-                    if (d.SpaceQuery(m_targetSpace, prim_geom))

-                        d.SpaceRemove(m_targetSpace, prim_geom);

-                }

+            d.BodySetDamping(Body, .005f, .005f);

 

+            if (m_targetSpace != IntPtr.Zero)

+            {

+                _parent_scene.waitForSpaceUnlock(m_targetSpace);

+                if (d.SpaceQuery(m_targetSpace, prim_geom))

+                    d.SpaceRemove(m_targetSpace, prim_geom);

+            }

 

             if (childrenPrim.Count == 0)

             {

@@ -3296,6 +3288,13 @@ namespace OpenSim.Region.Physics.OdePlugin
 

         private void changevelocity(Vector3 newVel)

         {

+            float len = newVel.LengthSquared();

+            if (len > 100000.0f) // limit to 100m/s

+            {

+                len = 100.0f / (float)Math.Sqrt(len);

+                newVel *= len;

+            }

+

             if (!m_isSelected)

             {

                 if (Body != IntPtr.Zero)

@@ -3312,6 +3311,33 @@ namespace OpenSim.Region.Physics.OdePlugin
             _velocity = newVel;

         }

 

+

+        private void changeangvelocity(Vector3 newAngVel)

+        {

+            float len = newAngVel.LengthSquared();

+            if (len > 144.0f) // limit to 12rad/s

+            {

+                len = 12.0f / (float)Math.Sqrt(len);

+                newAngVel *= len;

+            }

+

+            if (!m_isSelected)

+            {

+                if (Body != IntPtr.Zero)

+                {

+                    if (m_disabled)

+                        enableBodySoft();

+                    else if (!d.BodyIsEnabled(Body))

+                        d.BodyEnable(Body);

+

+

+                    d.BodySetAngularVel(Body, newAngVel.X, newAngVel.Y, newAngVel.Z);

+                }

+                //resetCollisionAccounting();           

+            }

+            m_rotationalVelocity = newAngVel;

+        }

+

         private void changeVolumedetetion(bool newVolDtc)

         {

             m_isVolumeDetect = newVolDtc;

@@ -3948,9 +3974,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 //                case changes.Acceleration:

 //                    changeacceleration((Vector3)arg);

 //                    break;

-//                case changes.AngVelocity:

-//                    changeangvelocity((Vector3)arg);

-//                    break;

+

+                case changes.AngVelocity:

+                    changeangvelocity((Vector3)arg);

+                    break;

 

                 case changes.Force:

                     changeForce((Vector3)arg);

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index 0e4961b..2341186 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -1312,7 +1312,14 @@ namespace OdeAPI
         public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);
 
         [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGetConfiguration"), SuppressUnmanagedCodeSecurity]
-        public static extern string GetConfiguration(string str);
+        public static extern IntPtr iGetConfiguration();
+
+        public static string GetConfiguration()
+        {
+            IntPtr ptr = iGetConfiguration();
+            string s = Marshal.PtrToStringAnsi(ptr);
+            return s;
+        }
 
                 [DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]
                 public static extern IntPtr HashSpaceCreate(IntPtr space);
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 4552f3f..d5938f4 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -175,7 +175,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         const d.ContactFlags comumContactFlags = d.ContactFlags.SoftERP | d.ContactFlags.SoftCFM |d.ContactFlags.Approx1 | d.ContactFlags.Bounce;
         const float MaxERP = 0.8f;
-        const float minERP = 0.1f;
+        const float minERP = 0.2f;
         const float comumContactCFM = 0.0001f;
         
         float frictionMovementMult = 0.8f;
@@ -268,7 +268,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public ContactData[] m_materialContactsData = new ContactData[8];
 
-        private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
+        private readonly Dictionary<Vector3, IntPtr> RegionTerrain = new Dictionary<Vector3, IntPtr>();
         private readonly Dictionary<IntPtr, float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
         private readonly Dictionary<IntPtr, GCHandle> TerrainHeightFieldHeightsHandlers = new Dictionary<IntPtr, GCHandle>();
        
@@ -408,8 +408,8 @@ namespace OpenSim.Region.Physics.OdePlugin
 //            checkThread();
             mesher = meshmerizer;
             m_config = config;
-/*
-            string ode_config = d.GetConfiguration("ODE");
+
+            string ode_config = d.GetConfiguration();
             if (ode_config != null && ode_config != "")
             {
                 m_log.WarnFormat("ODE configuration: {0}", ode_config);
@@ -419,7 +419,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     OdeUbitLib = true;
                 }
             }
-*/
+
             /*
                         if (region != null)
                         {
@@ -921,6 +921,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                             cfm = 0.0001f / cfm;
                             if (cfm > 0.01f)
                                 cfm = 0.01f;
+                            else if (cfm < 0.0001f)
+                                cfm = 0.0001f;
 
                             if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
                                 mu *= frictionMovementMult;
@@ -947,6 +949,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                     cfm = 0.0001f / cfm;
                                     if (cfm > 0.01f)
                                         cfm = 0.01f;
+                                    else if (cfm < 0.0001f)
+                                        cfm = 0.0001f;
 
                                     if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
                                     {
@@ -1892,18 +1896,22 @@ namespace OpenSim.Region.Physics.OdePlugin
             lock (SimulationLock)
                 lock(OdeLock)
             {
+                if (world == IntPtr.Zero)
+                    return 0;
+
                 // adjust number of iterations per step
-                try
-                {
+
+//                try
+//                {
                     d.WorldSetQuickStepNumIterations(world, curphysiteractions);
-                }
+/*                }
                 catch (StackOverflowException)
                 {
                     m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation.  Restarting the sim.");
 //                    ode.drelease(world);
                     base.TriggerPhysicsBasedRestart();
                 }
-
+*/
                 while (step_time > HalfOdeStep && nodeframes < 10) //limit number of steps so we don't say here for ever
                 {
                     try
@@ -2383,11 +2391,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
                 d.GeomSetRotation(GroundGeom, ref R);
                 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
-                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
-//                TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
+                RegionTerrain.Add(pOffset, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
-                TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
-               
+                TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);             
             }
         }
 
@@ -2486,8 +2492,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 geom_name_map[GroundGeom] = "Terrain";
 
                 d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
-                RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
-                //                TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
+                RegionTerrain.Add(pOffset, GroundGeom);
                 TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
                 TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
             }
@@ -2649,19 +2654,42 @@ namespace OpenSim.Region.Physics.OdePlugin
 
         public override void Dispose()
         {
-            m_rayCastManager.Dispose();
-            m_rayCastManager = null;
-
             lock (OdeLock)
             {
+                m_rayCastManager.Dispose();
+                m_rayCastManager = null;
+
                 lock (_prims)
                 {
+                    ChangesQueue.Clear();
                     foreach (OdePrim prm in _prims)
                     {
-                        RemovePrim(prm);
+                        prm.DoAChange(changes.Remove, null);
+                        _collisionEventPrim.Remove(prm);
                     }
+                    _prims.Clear();
+                }
+
+                OdeCharacter[] chtorem;
+                lock (_characters)
+                {
+                    chtorem = new OdeCharacter[_characters.Count];
+                    _characters.CopyTo(chtorem);
+                }
+
+                ChangesQueue.Clear();
+                foreach (OdeCharacter ch in chtorem)
+                    ch.DoAChange(changes.Remove, null);
+
+                               
+                foreach (IntPtr GroundGeom in RegionTerrain.Values)
+                {
+                    if (GroundGeom != IntPtr.Zero)
+                        d.GeomDestroy(GroundGeom);
                 }
 
+                RegionTerrain.Clear();
+
                 if (TerrainHeightFieldHeightsHandlers.Count > 0)
                 {
                     foreach (GCHandle gch in TerrainHeightFieldHeightsHandlers.Values)
@@ -2671,6 +2699,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }
                 }
 
+                TerrainHeightFieldHeightsHandlers.Clear();
+                TerrainHeightFieldHeights.Clear();
+
                 if (WaterGeom != IntPtr.Zero)
                 {
                     d.GeomDestroy(WaterGeom);
@@ -2691,6 +2722,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
 
                 d.WorldDestroy(world);
+                world = IntPtr.Zero;
                 //d.CloseODE();
             }
         }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 0ee2748..05bb161 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2597,12 +2597,10 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return new LSL_Vector(m_host.Acceleration.X, m_host.Acceleration.Y, m_host.Acceleration.Z);
         }
 
-
         public void llSetAngularVelocity(LSL_Vector avel, int local)
         {
             m_host.AddScriptLPS(1);
-            // Still not done !!!!
-//            m_host.SetAngularVelocity(new Vector3((float)avel.x, (float)avel.y, (float)avel.z), local != 0);
+            m_host.SetAngularVelocity(new Vector3((float)avel.x, (float)avel.y, (float)avel.z), local != 0);
         }
 
         public LSL_Vector llGetOmega()
@@ -3806,6 +3804,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
         protected void TargetOmega(SceneObjectPart part, LSL_Vector axis, double spinrate, double gain)
         {
+            spinrate *= gain;
             part.UpdateAngularVelocity(new Vector3((float)(axis.x * spinrate), (float)(axis.y * spinrate), (float)(axis.z * spinrate)));
          }