From 9a424059446fadb80c2700ece273905ebe5a2b5a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 24 Nov 2012 20:11:38 -0800
Subject: BulletSim: small change to add position correction force with
 AddForce rather than just storing it in the variable

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2b3fa25..caa6c46 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -342,13 +342,12 @@ public sealed class BSPrim : BSPhysObject
         // TODO: check for out of bounds
 
         // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
+        // TODO: This should be intergrated with a geneal physics action mechanism.
+        // TODO: This should be moderated with PID'ness.
         if (ret)
         {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate()
-            {
-                // Apply upforce and overcome gravity.
-                ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity;
-            });
+            // Apply upforce and overcome gravity.
+            AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
         }
         return ret;
     }
-- 
cgit v1.1


From 5685b33071c683c41643fcb78d6f8a28d98db468 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 26 Nov 2012 10:47:34 -0800
Subject: BulletSim: increase vehicle stability by suppressing Bullet's update
 to angular velocity.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 50 ++++----------------------
 1 file changed, 6 insertions(+), 44 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index caa6c46..c62c79a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1380,54 +1380,16 @@ public sealed class BSPrim : BSPhysObject
 
     public override void UpdateProperties(EntityProperties entprop)
     {
-        /*
-        UpdatedProperties changed = 0;
-        // assign to the local variables so the normal set action does not happen
-        // if (_position != entprop.Position)
-        if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
-        {
-            _position = entprop.Position;
-            changed |= UpdatedProperties.Position;
-        }
-        // if (_orientation != entprop.Rotation)
-        if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
-        {
-            _orientation = entprop.Rotation;
-            changed |= UpdatedProperties.Rotation;
-        }
-        // if (_velocity != entprop.Velocity)
-        if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
-        {
-            _velocity = entprop.Velocity;
-            changed |= UpdatedProperties.Velocity;
-        }
-        // if (_acceleration != entprop.Acceleration)
-        if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
-        {
-            _acceleration = entprop.Acceleration;
-            changed |= UpdatedProperties.Acceleration;
-        }
-        // if (_rotationalVelocity != entprop.RotationalVelocity)
-        if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
-        {
-            _rotationalVelocity = entprop.RotationalVelocity;
-            changed |= UpdatedProperties.RotationalVel;
-        }
-        if (changed != 0)
+        // Updates only for individual prims and for the root object of a linkset.
+        if (Linkset.IsRoot(this))
         {
-            // Only update the position of single objects and linkset roots
-            if (Linkset.IsRoot(this))
+            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
+            // TODO: handle physics introduced by Bullet with computed vehicle physics.
+            if (_vehicle.IsActive)
             {
-                base.RequestPhysicsterseUpdate();
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
-        }
-        */
-
-        // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
 
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
-        {
             // Assign directly to the local variables so the normal set action does not happen
             _position = entprop.Position;
             _orientation = entprop.Rotation;
-- 
cgit v1.1


From 0a66317fa6414dff9a7a4ab5bae10802e1e6693f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 28 Nov 2012 08:05:01 -0800
Subject: BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c62c79a..3fb0300 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
         });
     }
 
@@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject
 
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
             if (Math.Abs(Position.Z - waterHeight) > 0.1f)
             {
-- 
cgit v1.1


From ec63e4ff29f9983b65d76232018156605762ccc0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 29 Nov 2012 22:21:45 -0800
Subject: BulletSim: remove time scaling of computed vehicle absolute velocity
 since Bullet will scale the movement by the time slice. Restore
 LIMIT_MOTOR_UP to definitition of BOAT simce some vehicle engines use it even
 for land vehicles. Push vehicle parameter updates through the regular
 property update to solve vehicles floating off when they should be stopped.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 3fb0300..54b4167 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -348,7 +348,9 @@ public sealed class BSPrim : BSPhysObject
         if (ret)
         {
             // Apply upforce and overcome gravity.
-            AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
+            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+            AddForce(correctionForce, false, inTaintTime);
         }
         return ret;
     }
@@ -839,15 +841,6 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 RotationalVelocity {
         get {
-            /*
-            OMV.Vector3 pv = OMV.Vector3.Zero;
-            // if close to zero, report zero
-            // This is copied from ODE but I'm not sure why it returns zero but doesn't
-            //    zero the property in the physics engine.
-            if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
-                return pv;
-             */
-
             return _rotationalVelocity;
         }
         set {
@@ -1409,7 +1402,7 @@ public sealed class BSPrim : BSPhysObject
             LastEntityProperties = CurrentEntityProperties;
             CurrentEntityProperties = entprop;
 
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
-- 
cgit v1.1


From b124aae05e6aeca02f692a7a5d96569b804612bd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 1 Dec 2012 15:39:13 -0800
Subject: BulletSim: Add DumpActivationInfo2 function. Change static objects
 from DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add
 DumpActivationInfo2 function.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 54b4167..42a362f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -687,9 +687,9 @@ public sealed class BSPrim : BSPhysObject
             // 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);
+            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
             PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
             PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
-- 
cgit v1.1


From 787636b97ac242c3a903664a2fe1f26ea8c0130a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 3 Dec 2012 16:25:51 -0800
Subject: BulletSim: Reduce idle region physics overhead where there are MANY  
   static objects by more restrictive selection of objects that collide    
 with static objects. Rename collision mask fuctions from 'filter' to 'group'
 so it is clear     what is being set. Rename
 BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match
 above. Restore passing of time step to linear and angular motion component
 routines. Use buffering vehicle physical parameter get/set routines
 consistantly. Make range enforcement clearer by using ClampInRange() function
 for parameter setting. Remove commented out experimental vehicle
 calculations.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 42a362f..ea1f71a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -646,9 +646,13 @@ public sealed class BSPrim : BSPhysObject
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
+        if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
         {
-            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
+            if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
+                                LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
+            }
         }
 
         // Recompute any linkset parameters.
@@ -691,7 +695,7 @@ public sealed class BSPrim : BSPhysObject
             // Start it out sleeping and physical actions could wake it up.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
@@ -737,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
             // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
@@ -765,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
             PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
     }
-- 
cgit v1.1


From e599a8b2421ab51860c65e49bdfd38fa064fa9b8 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 5 Dec 2012 09:27:38 -0800
Subject: BulletSim: Vehicle angular vertical attraction works. Other vehicle
 angular forces commented out for the moment for debugging.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ea1f71a..e392078 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1010,6 +1010,9 @@ public sealed class BSPrim : BSPhysObject
         });
     }
     // A torque impulse.
+    // ApplyTorqueImpulse adds torque directly to the angularVelocity.
+    // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
+    // Computed as: angularVelocity += impulse * inertia;
     public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
     {
         OMV.Vector3 applyImpulse = impulse;
-- 
cgit v1.1


From cc59e3cbdf2d660422bc8707816d7d30d7c72b92 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 6 Dec 2012 09:21:04 -0800
Subject: BulletSim: only check position sanity if the prim is physical -- the
 user can do anything dumb they wish.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e392078..62aaf80 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1399,7 +1399,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = entprop.RotationalVelocity;
 
             // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true))
+            if (IsPhysical && PositionSanityCheck(true))
             {
                 entprop.Position = _position;
                 entprop.Velocity = _velocity;
@@ -1413,8 +1413,6 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
-            // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
-
             base.RequestPhysicsterseUpdate();
         }
             /*
-- 
cgit v1.1


From 04e64d73dfddf9ef3e3716f6c43752c6f63438cb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 8 Dec 2012 09:12:45 -0800
Subject: BulletSim: set material properties for static objects. Move
 Linkset.MakeStatic() after call to ForceActivationState2() since linkset
 might change activation state. Make BSPrim.CreateGeomAndObject public as
 linkset rebuilding might need access to it. Only rebuild prim if selection
 state is actually changes -- OpenSimulator calls PhysObject.Selected()
 multiple times whenever a prim is selected or deselected.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 ++++++++++++++++----------
 1 file changed, 19 insertions(+), 11 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

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);
         });
-- 
cgit v1.1


From ce5083a504a82712149f5e3dab622d42e260bba3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 9 Dec 2012 22:10:32 -0800
Subject: BulletSim: adjust friction and restitution based on material type.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d203ff..627393a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -683,8 +683,9 @@ public sealed class BSPrim : BSPhysObject
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
@@ -711,9 +712,10 @@ public sealed class BSPrim : BSPhysObject
             // Not a Bullet static object
             CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
-            // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
+            // Set various physical properties so other object interact properly
+            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
-- 
cgit v1.1


From 9df85eadf4b3719a898fda8769313ae023962c25 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 10 Dec 2012 15:35:53 -0800
Subject: BulletSim: Fix crash on the destruction of physical linksets. While
 fixing the above, add methods to physical body and shape pointer wrapper so
 routines won't have to know that IntPtr.Zero means no physical instance. Fix
 problem with physical linksets failing after a few sits and unsits by
 properly restoring child prom positions for compound linksets after multiple
 selection and deselections.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 627393a..d1d100d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject
         _mass = CalculateMass();
 
         // No body or shape yet
-        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
-        PhysShape = new BulletShape(IntPtr.Zero);
+        PhysBody = new BulletBody(LocalID);
+        PhysShape = new BulletShape();
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
             PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysBody.Clear();
             PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysShape.Clear();
         });
     }
 
-- 
cgit v1.1


From 63099184dbd2c1c5bcee2c3c87802f78444e7008 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 11 Dec 2012 13:42:23 -0800
Subject: BulletSim: protect prim property setting to remove crash from taints
 setting properties after the destroy object taint has happened.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 54 ++++++++++++++++++--------
 1 file changed, 37 insertions(+), 17 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d1d100d..1280c25 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -249,7 +249,8 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
-            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -259,8 +260,11 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            }
         });
     }
 
@@ -297,8 +301,11 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                ActivateIfPhysical(false);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    ActivateIfPhysical(false);
+                }
             });
         }
     }
@@ -415,7 +422,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -509,7 +517,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
     }
@@ -558,9 +567,12 @@ public sealed class BSPrim : BSPhysObject
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
-                // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                {
+                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                }
             });
         }
     }
@@ -865,7 +877,8 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
     }
@@ -900,8 +913,11 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            if (PhysBody.HasPhysicalBody)
+            {
+                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            }
         }
     }
 
@@ -969,7 +985,8 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
-                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
         });
     }
 
@@ -980,7 +997,8 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
         {
             DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
         });
     }
 
@@ -1016,7 +1034,8 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
             {
-                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
         });
@@ -1030,7 +1049,8 @@ public sealed class BSPrim : BSPhysObject
         OMV.Vector3 applyImpulse = impulse;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
-            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
         });
     }
 
-- 
cgit v1.1


From d4e0e98c001c3501ac17849ab78e7ac5a59a5c26 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 11 Dec 2012 13:54:26 -0800
Subject: BulletSim: protect character property setting to remove crash from
 taints setting properties after the destroy character taint.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1280c25..446e44c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -191,7 +191,8 @@ public sealed class BSPrim : BSPhysObject
         }
     }
     public override bool Selected {
-        set {
+        set
+        {
             if (value != _isSelected)
             {
                 _isSelected = value;
-- 
cgit v1.1


From a082ce9da78ffb50454834fde4e3dd19e3b5bc74 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 11 Dec 2012 14:27:09 -0800
Subject: BulletSim: fix crash caused by the creation of a linkset child that
 is under the terrain. Users can sure find some interesting corner conditions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 446e44c..35d22c0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -332,12 +332,12 @@ public sealed class BSPrim : BSPhysObject
 
         float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (Position.Z < terrainHeight)
+        if (RawPosition.Z < terrainHeight)
         {
             DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
             // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - Position.Z) * 1f;
+            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
             ret = true;
         }
 
@@ -345,10 +345,10 @@ public sealed class BSPrim : BSPhysObject
         {
             float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             // TODO: a floating motor so object will bob in the water
-            if (Math.Abs(Position.Z - waterHeight) > 0.1f)
+            if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
             {
                 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
-                upForce.Z = (waterHeight - Position.Z) * 1f;
+                upForce.Z = (waterHeight - RawPosition.Z) * 1f;
                 ret = true;
             }
         }
-- 
cgit v1.1


From e1814aa827c2d0af21d087bd34e3c7f4f7cf25bd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 12 Dec 2012 16:29:03 -0800
Subject: BulletSim: fix problem of avatar's floating off the ground after
 unsitting. Reworked size/scale logic so physical scale is kept in Bullet and
 physObject scale is the preferred size -- usually same as size but avatars
 are computed differently.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 35d22c0..19c29cc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -45,7 +45,6 @@ public sealed class BSPrim : BSPhysObject
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
     // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
 
     private bool _grabbed;
@@ -93,7 +92,7 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        Scale = size;   // the scale will be set by CreateGeom depending on object type
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
@@ -159,12 +158,10 @@ public sealed class BSPrim : BSPhysObject
             // We presume the scale and size are the same. If scale must be changed for
             //     the physical shape, that is done when the geometry is built.
             _size = value;
+            Scale = _size;
             ForceBodyShapeRebuild(false);
         }
     }
-    // Scale is what we set in the physics engine. It is different than 'size' in that
-    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public override OMV.Vector3 Scale { get; set; }
 
     public override PrimitiveBaseShape Shape {
         set {
@@ -1369,7 +1366,6 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // Updates PhysBody and PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        // Returns 'true' if either the body or the shape was changed.
         PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
-- 
cgit v1.1


From 3b2b785a461eba34c26a45be246c2baef2820e39 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 13 Dec 2012 12:42:25 -0800
Subject: BulletSim: Add 'BulletSimData' which separates structures created for
 the operation of BulletSim and those defintiions/structures defined so they
 can be used in the unmanaged world. Consolidate setting of collision flags so
 implementation is not scattered.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 ++++++++++----------------
 1 file changed, 11 insertions(+), 18 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 19c29cc..c9c9c2c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -661,14 +661,7 @@ public sealed class BSPrim : BSPhysObject
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
-        {
-            if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
-            {
-                PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
-                                LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
-            }
-        }
+        PhysBody.ApplyCollisionMask();
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -713,11 +706,11 @@ public sealed class BSPrim : BSPhysObject
             // Start it out sleeping and physical actions could wake it up.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
 
+            // This collides like a static object
+            PhysBody.collisionType = CollisionType.Static;
+
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
-
-            PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
@@ -755,16 +748,15 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
             BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
+            // This collides like an object.
+            PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
             BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-            // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            // There might be special things needed for implementing linksets.
+            Linkset.MakeDynamic(this);
         }
     }
 
@@ -791,8 +783,9 @@ public sealed class BSPrim : BSPhysObject
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
             CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
-            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+
+            // Change collision info from a static object to a ghosty collision object
+            PhysBody.collisionType = CollisionType.VolumeDetect;
         }
     }
 
-- 
cgit v1.1


From ace1f1e9314d2e5b3cf45426225ca485649bbf96 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 14 Dec 2012 17:03:59 -0800
Subject: BulletSim: rip out old code for linkset child position fetching.
 BulletSim doesn't need to do that bookkeeping because SOG/SOP already does
 it.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++++++++-----------
 1 file changed, 17 insertions(+), 12 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c9c9c2c..53be2e3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -279,9 +279,12 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
             // child prims move around based on their parent. Need to get the latest location
             if (!Linkset.IsRoot(this))
-                _position = Linkset.Position(this);
+                _position = Linkset.PositionGet(this);
+            */
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -289,21 +292,18 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             // If the position must be forced into the physics engine, use ForcePosition.
+            // All positions are given in world positions.
             if (_position == value)
             {
+                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
-            // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
             PositionSanityCheck(false);
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
-                // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                {
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                    ActivateIfPhysical(false);
-                }
+                DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                ForcePosition = _position;
             });
         }
     }
@@ -314,9 +314,11 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _position = value;
-            // PositionSanityCheck();   // Don't do this! Causes a loop and caller should know better.
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            ActivateIfPhysical(false);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ActivateIfPhysical(false);
+            }
         }
     }
 
@@ -551,11 +553,14 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
+            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
+             *    and does not fetch this position info for children. Thus this is commented out.
             // Children move around because tied to parent. Get a fresh value.
             if (!Linkset.IsRoot(this))
             {
-                _orientation = Linkset.Orientation(this);
+                _orientation = Linkset.OrientationGet(this);
             }
+             */
             return _orientation;
         }
         set {
-- 
cgit v1.1


From 2b8efa24dd816fda23fe3aed5822af1d50febf5d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 16 Dec 2012 21:18:32 -0800
Subject: BulletSim: add parameter to UpdateProperties call into the linkset so
 changes from the physics engine can be differentiated from changes made by
 the user. This eliminates a linkset rebuild loop. Also add logic to not
 rebuild or freak out when the object/linkset crosses a terrain boundry.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++++++++++++-------
 1 file changed, 21 insertions(+), 8 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 53be2e3..758d92b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -300,6 +300,10 @@ public sealed class BSPrim : BSPhysObject
             }
             _position = value;
             PositionSanityCheck(false);
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@@ -329,6 +333,14 @@ public sealed class BSPrim : BSPhysObject
     {
         bool ret = false;
 
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
+        {
+            // The physical object is out of the known/simulated area.
+            // Upper levels of code will handle the transition to other areas so, for
+            //     the time, we just ignore the position.
+            return ret;
+        }
+
         float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
         if (RawPosition.Z < terrainHeight)
@@ -352,8 +364,6 @@ public sealed class BSPrim : BSPhysObject
             }
         }
 
-        // TODO: check for out of bounds
-
         // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
         // TODO: This should be intergrated with a geneal physics action mechanism.
         // TODO: This should be moderated with PID'ness.
@@ -567,7 +577,10 @@ public sealed class BSPrim : BSPhysObject
             if (_orientation == value)
                 return;
             _orientation = value;
-            // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
+
+            // A linkset might need to know if a component information changed.
+            Linkset.UpdateProperties(this, false);
+
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
@@ -1432,14 +1445,14 @@ public sealed class BSPrim : BSPhysObject
                 entprop.Velocity = _velocity;
             }
 
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
-
             OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
             DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
                     LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
+            // remember the current and last set values
+            LastEntityProperties = CurrentEntityProperties;
+            CurrentEntityProperties = entprop;
+
             base.RequestPhysicsterseUpdate();
         }
             /*
@@ -1453,7 +1466,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
         // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this);
+        Linkset.UpdateProperties(this, true);
     }
 }
 }
-- 
cgit v1.1


From cf89e29ac315cbac74361b8fd85e0fdbf6157f09 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 18 Dec 2012 19:19:58 -0800
Subject: BulletSim: comments and TODO list update

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 758d92b..1c6f946 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -100,10 +100,15 @@ public sealed class BSPrim : BSPhysObject
         BaseShape = pbs;
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
-        _friction = PhysicsScene.Params.defaultFriction;  // TODO: compute based on object material
-        _density = PhysicsScene.Params.defaultDensity;    // TODO: compute based on object material
+
+        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
+        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
+        _density = PhysicsScene.Params.defaultDensity;
+        _friction = PhysicsScene.Params.defaultFriction;
         _restitution = PhysicsScene.Params.defaultRestitution;
+
         _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+
         _mass = CalculateMass();
 
         // No body or shape yet
-- 
cgit v1.1


From 8c99f63239702bcdb8f1e0efa57efc91c98fc3d7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 10:00:03 -0800
Subject: BulletSim: avatar movement smoothed with motor that modifies avatar
 velocity to target velocity. Fails in incorporating physical world effects
 (gravity) so avatar doesn't fly correctly.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1c6f946..68a0db6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -532,16 +532,18 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ForceVelocity = _velocity;
             });
         }
     }
     public override OMV.Vector3 ForceVelocity {
         get { return _velocity; }
         set {
+            PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
+
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            if (PhysBody.HasPhysicalBody)
+                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
         }
     }
     public override OMV.Vector3 Torque {
-- 
cgit v1.1


From ae4d932e7f00e781db9c9cdd5c29efc51e2425fb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 13:35:44 -0800
Subject: BulletSim: Move all the parameter variables, tables and get and fetch
 logic to a separate, static class for easier addition and to remove all that
 bulk from the BSScene class.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 +++++++++++---------------
 1 file changed, 11 insertions(+), 15 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 68a0db6..e43bf8e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -720,10 +720,10 @@ public sealed class BSPrim : BSPhysObject
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
             }
 
             // The activation state is 'disabled' so Bullet will not try to act on it.
@@ -761,17 +761,17 @@ public sealed class BSPrim : BSPhysObject
             UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
-            if (PhysicsScene.Params.ccdMotionThreshold > 0f)
+            if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
+            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
             PhysBody.collisionType = CollisionType.Dynamic;
@@ -1361,11 +1361,7 @@ public sealed class BSPrim : BSPhysObject
         }
          */
 
-        if (returnMass <= 0)
-            returnMass = 0.0001f;
-
-        if (returnMass > PhysicsScene.MaximumObjectMass)
-            returnMass = PhysicsScene.MaximumObjectMass;
+        returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
 
         return returnMass;
     }// end CalculateMass
-- 
cgit v1.1


From 3d659fe97d79c04983dcfa8c78e9dde1623f54f2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 17:27:53 -0800
Subject: BulletSim: add BSPhysObject code to manage registrations of preStep
 events. Use same to implement setForce and setTorque so the values are
 restored at the beginning of each step (since Bullet zeros forces applied
 last step). Simplify implementation of AddForce and AddTorque by relying on
 the addition of forces in Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 112 +++++++++++--------------
 1 file changed, 49 insertions(+), 63 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e43bf8e..e6aeebb 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -129,6 +129,7 @@ public sealed class BSPrim : BSPhysObject
     public override void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
+        base.Destroy();
 
         // Undo any links between me and any other object
         BSPhysObject parentBefore = Linkset.LinksetRoot;
@@ -434,12 +435,22 @@ public sealed class BSPrim : BSPhysObject
         get { return _force; }
         set {
             _force = value;
-            PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
+            if (_force != OMV.Vector3.Zero)
             {
-                // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
+                // If the force is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setForce", LocalID,
+                    delegate(float timeStep)
+                    {
+                        if (PhysBody.HasPhysicalBody)
+                            BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+            }
         }
     }
 
@@ -550,7 +561,22 @@ public sealed class BSPrim : BSPhysObject
         get { return _torque; }
         set {
             _torque = value;
-            AddAngularForce(_torque, false, false);
+            if (_torque != OMV.Vector3.Zero)
+            {
+                // If the torque is non-zero, it must be reapplied each tick because
+                //    Bullet clears the forces applied last frame.
+                RegisterPreStepAction("BSPrim.setTorque", LocalID,
+                    delegate(float timeStep)
+                    {
+                        if (PhysBody.HasPhysicalBody)
+                            AddAngularForce(_torque, false, true);
+                    }
+                );
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+            }
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
@@ -969,56 +995,32 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDStrength { set { return; } }
     public override float APIDDamping { set { return; } }
 
-    private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
         AddForce(force, pushforce, false);
     }
     // Applying a force just adds this to the total force on the object.
+    // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
         if (force.IsFinite())
         {
-            // _force += force;
-            lock (m_accumulatedForces)
-                m_accumulatedForces.Add(new OMV.Vector3(force));
+            OMV.Vector3 addForce = force;
+            DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
+            {
+                // Bullet adds this central force to the total force for this tick
+                DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
-        {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedForces)
-            {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedForces)
-                {
-                    fSum += v;
-                }
-                m_accumulatedForces.Clear();
-            }
-            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
-        });
     }
 
-    // An impulse force is scaled by the mass of the object.
-    public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
-    {
-        OMV.Vector3 applyImpulse = impulse;
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
-        {
-            DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
-        });
-    }
-
-    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
     public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
         AddAngularForce(force, pushforce, false);
     }
@@ -1026,36 +1028,20 @@ public sealed class BSPrim : BSPhysObject
     {
         if (force.IsFinite())
         {
-            // _force += force;
-            lock (m_accumulatedAngularForces)
-                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+            OMV.Vector3 angForce = force;
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
-        {
-            OMV.Vector3 fSum = OMV.Vector3.Zero;
-            lock (m_accumulatedAngularForces)
-            {
-                // Sum the accumulated additional forces for one big force to apply once.
-                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
-                {
-                    fSum += v;
-                }
-                m_accumulatedAngularForces.Clear();
-            }
-            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
-            if (fSum != OMV.Vector3.Zero)
-            {
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
-                _torque = fSum;
-            }
-        });
     }
+
     // A torque impulse.
     // ApplyTorqueImpulse adds torque directly to the angularVelocity.
     // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
-- 
cgit v1.1


From 37fb691ba56a72b95eeeacc13fb16c1f03af6006 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 23:03:27 -0800
Subject: BulletSim: Fix llApplyImpulse so it works after the first impulse.
 The problem was Bullet deactivating the object between the pushes (when, as
 far as the physics engine is concerned, it isn't moving).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 ++++++++++++++++++++++----
 1 file changed, 24 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e6aeebb..d137b2a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -442,8 +442,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setForce", LocalID,
                     delegate(float timeStep)
                     {
+                        DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
+                        {
                             BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                            ActivateIfPhysical(false);
+                        }
                     }
                 );
             }
@@ -554,7 +558,10 @@ public sealed class BSPrim : BSPhysObject
 
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override OMV.Vector3 Torque {
@@ -845,7 +852,7 @@ public sealed class BSPrim : BSPhysObject
     // Called in taint-time!!
     private void ActivateIfPhysical(bool forceIt)
     {
-        if (IsPhysical)
+        if (IsPhysical && PhysBody.HasPhysicalBody)
             BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
     }
 
@@ -919,8 +926,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ForceRotationalVelocity = _rotationalVelocity;
             });
         }
     }
@@ -930,7 +936,11 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                ActivateIfPhysical(false);
+            }
         }
     }
     public override bool Kinematic {
@@ -959,6 +969,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+                ActivateIfPhysical(false);
             }
         }
     }
@@ -1011,7 +1022,10 @@ public sealed class BSPrim : BSPhysObject
                 // Bullet adds this central force to the total force for this tick
                 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
+                {
                     BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    ActivateIfPhysical(false);
+                }
             });
         }
         else
@@ -1032,7 +1046,10 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
+                {
                     BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+                    ActivateIfPhysical(false);
+                }
             });
         }
         else
@@ -1052,7 +1069,10 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
             if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                ActivateIfPhysical(false);
+            }
         });
     }
 
-- 
cgit v1.1


From 5b2cbc0ae69c041abb34d70fd03e4e1a4b7f4ea4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 21 Dec 2012 23:24:31 -0800
Subject: BulletSim: remove all special vehicle code from BSScene. Replace
 per-frame updates for vehicles with per-frame action registration. One fewer
 special case.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 ++++++--------------------
 1 file changed, 6 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d137b2a..26b8df5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -465,15 +465,18 @@ public sealed class BSPrim : BSPhysObject
         set {
             Vehicle type = (Vehicle)value;
 
-            // Tell the scene about the vehicle so it will get processing each frame.
-            PhysicsScene.VehicleInSceneTypeChanged(this, type);
-
             PhysicsScene.TaintedObject("setVehicleType", delegate()
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
+
+                // If an active vehicle, register the vehicle code to be called before each step
+                if (_vehicle.Type == Vehicle.TYPE_NONE)
+                    UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+                else
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
             });
         }
     }
@@ -509,23 +512,6 @@ public sealed class BSPrim : BSPhysObject
         });
     }
 
-    // Called each simulation step to advance vehicle characteristics.
-    // Called from Scene when doing simulation step so we're in taint processing time.
-    public override void StepVehicle(float timeStep)
-    {
-        if (IsPhysical && _vehicle.IsActive)
-        {
-            _vehicle.Step(timeStep);
-            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
-            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
-            {
-                // This resets the interpolation values and recomputes the tensor variables
-                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
-            });
-             */
-        }
-    }
-
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
     public override void SetVolumeDetect(int param) {
         bool newValue = (param != 0);
-- 
cgit v1.1


From 80cee1b85a646045c02e2bb675056d532ce2fe27 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 24 Dec 2012 08:56:02 -0800
Subject: BulletSim: Fix single physical prim reporting its mass as zero.
 Properly return root mass as mass of just the root prim rather than the mass
 of the linkset. SOG has the logic to add the masses together to get the
 linkset mass. Update TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 71 ++++++++++++++++----------
 1 file changed, 44 insertions(+), 27 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 26b8df5..159f79f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject
         PhysBody = new BulletBody(LocalID);
         PhysShape = new BulletShape();
 
+        Linkset.Refresh(this);
+
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
         PhysicsScene.TaintedObject("BSPrim.create", delegate()
@@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // Return the effective mass of the object.
-    // If there are multiple items in the linkset, add them together for the root
+        // The definition of this call is to return the mass of the prim.
+        // If the simulator cares about the mass of the linkset, it will sum it itself.
     public override float Mass
     {
         get
         {
-            return Linkset.LinksetMass;
-            // return _mass;
+            return _mass;
         }
     }
 
@@ -400,22 +402,41 @@ public sealed class BSPrim : BSPhysObject
     }
     // Set the physical mass to the passed mass.
     // Note that this does not change _mass!
-    public override void UpdatePhysicalMassProperties(float physMass)
+    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        if (IsStatic)
+        if (PhysBody.HasPhysicalBody)
         {
-            Inertia = OMV.Vector3.Zero;
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-        }
-        else
-        {
-            Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-            // center of mass is at the zero of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+            if (IsStatic)
+            {
+                Inertia = OMV.Vector3.Zero;
+                BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
+                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+            }
+            else
+            {
+                if (inWorld)
+                {
+                    // Changing interesting properties doesn't change proxy and collision cache
+                    //    information. The Bullet solution is to re-add the object to the world
+                    //    after parameters are changed.
+                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                }
+
+                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
+
+                Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+                BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
+                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+                // center of mass is at the zero of the object
+                // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+
+                if (inWorld)
+                {
+                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                }
+            }
         }
     }
 
@@ -714,7 +735,7 @@ public sealed class BSPrim : BSPhysObject
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -737,7 +758,7 @@ public sealed class BSPrim : BSPhysObject
             BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            UpdatePhysicalMassProperties(0f);
+            UpdatePhysicalMassProperties(0f, false);
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
@@ -777,7 +798,7 @@ public sealed class BSPrim : BSPhysObject
             // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            UpdatePhysicalMassProperties(RawMass);
+            UpdatePhysicalMassProperties(RawMass, false);
 
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
@@ -950,13 +971,9 @@ public sealed class BSPrim : BSPhysObject
         set {
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            if (PhysBody.HasPhysicalBody)
-            {
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
-                ActivateIfPhysical(false);
-            }
+            // Force the recalculation of the various inertia,etc variables in the object
+            UpdatePhysicalMassProperties(_mass, true);
+            ActivateIfPhysical(false);
         }
     }
 
-- 
cgit v1.1


From d1ede1df3a04428c83a9937059a0df00d7f3e281 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 25 Dec 2012 23:55:25 -0800
Subject: BulletSim: make llBuoyancy work. For some reason, Bullet resets an
 object's individual gravity to the world gravity when the object is added to
 the physical world.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 159f79f..0d13096 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -422,20 +422,24 @@ public sealed class BSPrim : BSPhysObject
                     BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
                 }
 
-                float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
-
                 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
                 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
                 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+
                 // center of mass is at the zero of the object
                 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
 
                 if (inWorld)
                 {
                     BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
                 }
+
+                // Must set gravity after it has been added to the world because, for unknown reasons,
+                //     adding the object resets the object's gravity to world gravity
+                OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
+                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+
             }
         }
     }
-- 
cgit v1.1


From 225b564573a5ac12ca1b1e592834476feccf8ebb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 26 Dec 2012 10:25:50 -0800
Subject: BulletSim: scale the force for external AddForce by the simulation
 step time so it will be applied completely the next step. The internal
 AddForce routine does not scale the force.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 0d13096..9013414 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1014,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        AddForce(force, pushforce, false);
+        // Since this force is being applied in only one step, make this a force per second.
+        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        AddForce(addForce, pushforce, false);
     }
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
@@ -1022,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject
         // for an object, doesn't matter if force is a pushforce or not
         if (force.IsFinite())
         {
+            float magnitude = force.Length();
+            if (magnitude > 20000f)
+            {
+                // Force has a limit
+                force = force / magnitude * 20000f;
+            }
+
             OMV.Vector3 addForce = force;
             DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+
             PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
             {
                 // Bullet adds this central force to the total force for this tick
-- 
cgit v1.1


From f3baed5827853c5041f042ff36cf394b1e45538f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 06:58:07 -0800
Subject: BulletSim: add physical parameter min/max constants in BSParam. I
 just don't like raw numbers scattered around the code.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9013414..c7a81e0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1025,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
         if (force.IsFinite())
         {
             float magnitude = force.Length();
-            if (magnitude > 20000f)
+            if (magnitude > BSParam.MaxAddForceMagnitude)
             {
                 // Force has a limit
-                force = force / magnitude * 20000f;
+                force = force / magnitude * BSParam.MaxAddForceMagnitude;
             }
 
             OMV.Vector3 addForce = force;
-- 
cgit v1.1


From e57c0e6731bff376186ecba2530e76b697ab5887 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 13:13:35 -0800
Subject: BulletSim: fix buoyancy so it's properly set by a script when an
 object is selected. Update TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 ++++++++++++++++++++++----
 1 file changed, 25 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c7a81e0..f804a0f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -94,7 +94,7 @@ public sealed class BSPrim : BSPhysObject
         _size = size;
         Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
         _orientation = rotation;
-        _buoyancy = 1f;
+        _buoyancy = 0f;
         _velocity = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
         BaseShape = pbs;
@@ -408,12 +408,15 @@ public sealed class BSPrim : BSPhysObject
         {
             if (IsStatic)
             {
+                BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity);
                 Inertia = OMV.Vector3.Zero;
                 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
                 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
             }
             else
             {
+                OMV.Vector3 grav = ComputeGravity();
+
                 if (inWorld)
                 {
                     // Changing interesting properties doesn't change proxy and collision cache
@@ -422,13 +425,16 @@ public sealed class BSPrim : BSPhysObject
                     BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
                 }
 
+                // The computation of mass props requires gravity to be set on the object.
+                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+
                 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
                 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
                 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
 
                 // center of mass is at the zero of the object
                 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
 
                 if (inWorld)
                 {
@@ -437,13 +443,23 @@ public sealed class BSPrim : BSPhysObject
 
                 // Must set gravity after it has been added to the world because, for unknown reasons,
                 //     adding the object resets the object's gravity to world gravity
-                OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
                 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
 
             }
         }
     }
 
+    // Return what gravity should be set to this very moment
+    private OMV.Vector3 ComputeGravity()
+    {
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+
+        if (!IsStatic)
+            ret *= (1f - Buoyancy);
+
+        return ret;
+    }
+
     // Is this used?
     public override OMV.Vector3 CenterOfMass
     {
@@ -669,7 +685,7 @@ public sealed class BSPrim : BSPhysObject
                 _isPhysical = value;
                 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
                 {
-                    // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
+                    DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
                     // whether phys-to-static or static-to-phys, the object is not moving.
                     ZeroMotion(true);
@@ -726,6 +742,10 @@ public sealed class BSPrim : BSPhysObject
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
+        // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
+        // Replace this when the new AddObjectToWorld function is complete.
+        BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
+
         // Rebuild its shape
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
@@ -976,6 +996,7 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Force the recalculation of the various inertia,etc variables in the object
+            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
             UpdatePhysicalMassProperties(_mass, true);
             ActivateIfPhysical(false);
         }
-- 
cgit v1.1


From 7a5f598399c7373bd146061b478e6d04cb204879 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 16:05:11 -0800
Subject: BulletSim: move logic for IsColliding, CollidingGround and
 CollidingObj from individual sub-classes and up to parent BSPhysObject class.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 18 +++---------------
 1 file changed, 3 insertions(+), 15 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f804a0f..06e4ada 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -915,18 +915,6 @@ public sealed class BSPrim : BSPhysObject
         get { return _throttleUpdates; }
         set { _throttleUpdates = value; }
     }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { _collidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
     public bool IsPhantom {
         get {
             // SceneObjectPart removes phantom objects from the physics scene
@@ -1006,12 +994,12 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
     public override float PIDTau {
         set { _PIDTau = value; }
     }
+    public override bool PIDActive {
+        set { _usePID = value; }
+    }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
-- 
cgit v1.1


From c1e7539c77480b839d513dbb7db74aa8f260eba0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 18:19:25 -0800
Subject: BulletSim: Parameterize nominal frame rate (55) and add parameters to
 dynamially turn on/off detailed, unmanaged data dumping of prims and
 vehicles.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 06e4ada..2d429c4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -758,8 +758,8 @@ public sealed class BSPrim : BSPhysObject
         // For compound based linksets, this enables and disables interactions of the children.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
+                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
-- 
cgit v1.1


From 422f0fd6ec6e30c5200dbf81875c64223002f9c7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 27 Dec 2012 22:02:38 -0800
Subject: BulletSim: fix physical object not interacting with static objects.
 Another instance of the underlying Bullet doing, ah, helpful things when
 items are added to the world.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 33 +++++++++++++++++++-------
 1 file changed, 24 insertions(+), 9 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2d429c4..5f3f0d1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -438,7 +438,7 @@ public sealed class BSPrim : BSPhysObject
 
                 if (inWorld)
                 {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                    AddObjectToPhysicalWorld();
                 }
 
                 // Must set gravity after it has been added to the world because, for unknown reasons,
@@ -740,18 +740,11 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
-        // Replace this when the new AddObjectToWorld function is complete.
-        BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
+        AddObjectToPhysicalWorld();
 
         // Rebuild its shape
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
-        // Collision filter can be set only when the object is in the world
-        PhysBody.ApplyCollisionMask();
-
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
@@ -900,6 +893,28 @@ public sealed class BSPrim : BSPhysObject
         }
     }
 
+    // Add me to the physical world.
+    // Object MUST NOT already be in the world.
+    // This routine exists because some assorted properties get mangled by adding to the world.
+    internal void AddObjectToPhysicalWorld()
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+
+            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
+            // Replace this when the new AddObjectToWorld function is complete.
+            BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
+
+            // Collision filter can be set only when the object is in the world
+            if (!PhysBody.ApplyCollisionMask())
+            {
+                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
+                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
+            }
+        }
+    }
+
     // prims don't fly
     public override bool Flying {
         get { return _flying; }
-- 
cgit v1.1


From 203588e3c0374505a6aa564d8f7a655d968653d7 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 29 Dec 2012 18:34:46 -0800
Subject: BulletSim: change physical data structures to classes. Add default
 instantiations for PhysBody and PhysShape when BSPhysObject is created to
 account for them being classes and not structures. Update TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5f3f0d1..2de4717 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -111,10 +111,7 @@ public sealed class BSPrim : BSPhysObject
 
         _mass = CalculateMass();
 
-        // No body or shape yet
-        PhysBody = new BulletBody(LocalID);
-        PhysShape = new BulletShape();
-
+        // Cause linkset variables to be initialized (like mass)
         Linkset.Refresh(this);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
-- 
cgit v1.1


From 48f718f39fcd61501262878a8bcfbd98efed29d2 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 29 Dec 2012 21:43:43 -0800
Subject: BulletSim: first round of conversion from direct BulletSimAPI
 interfacing by BulletSim core to using the BulletSimAPITemplate. Physical
 object creation and destruction first.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2de4717..cf09be2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -845,7 +845,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
-- 
cgit v1.1


From 9218748321519ed04da5cdffa1f29e69030171b5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Dec 2012 10:21:47 -0800
Subject: BulletSim: another round of conversion: dynamics world and collision
 object functions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +++++++++++++-------------
 1 file changed, 37 insertions(+), 37 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index cf09be2..613606f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -265,7 +265,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             }
         });
@@ -318,14 +318,14 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 ActivateIfPhysical(false);
             }
         }
@@ -419,7 +419,7 @@ public sealed class BSPrim : BSPhysObject
                     // Changing interesting properties doesn't change proxy and collision cache
                     //    information. The Bullet solution is to re-add the object to the world
                     //    after parameters are changed.
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
@@ -649,9 +649,9 @@ public sealed class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
-                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
                     // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 }
             });
         }
@@ -661,13 +661,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -723,7 +723,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -740,7 +740,7 @@ public sealed class BSPrim : BSPhysObject
         AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -762,28 +762,28 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
 
             // This collides like a static object
             PhysBody.collisionType = CollisionType.Static;
@@ -794,22 +794,22 @@ public sealed class BSPrim : BSPhysObject
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
 
             // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -817,22 +817,22 @@ public sealed class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
+            PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
             BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
             PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
@@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -861,7 +861,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
 
             // Change collision info from a static object to a ghosty collision object
             PhysBody.collisionType = CollisionType.VolumeDetect;
@@ -874,7 +874,7 @@ public sealed class BSPrim : BSPhysObject
     private void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical && PhysBody.HasPhysicalBody)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -882,11 +882,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -897,7 +897,7 @@ public sealed class BSPrim : BSPhysObject
     {
         if (PhysBody.HasPhysicalBody)
         {
-            BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
             // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
             // Replace this when the new AddObjectToWorld function is complete.
@@ -941,9 +941,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
-- 
cgit v1.1


From c2a7af18b639646b647eb4cdff4168a2b9746ee4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Dec 2012 14:26:57 -0800
Subject: BulletSim: nearly complete in conversion from BulletSimAPI to
 BSAPITemplate. Only initialization and debug fuctions left.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 46 +++++++++++++-------------
 1 file changed, 23 insertions(+), 23 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 613606f..064ce3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -253,7 +253,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+                PhysicsScene.PE.ClearAllForces(PhysBody);
         });
     }
     public override void ZeroAngularMotion(bool inTaintTime)
@@ -266,7 +266,7 @@ public sealed class BSPrim : BSPhysObject
             if (PhysBody.HasPhysicalBody)
             {
                 PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
             }
         });
     }
@@ -292,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
             */
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
             return _position;
         }
         set {
@@ -405,10 +405,10 @@ public sealed class BSPrim : BSPhysObject
         {
             if (IsStatic)
             {
-                BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity);
+                PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity);
                 Inertia = OMV.Vector3.Zero;
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+                PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
             }
             else
             {
@@ -423,14 +423,14 @@ public sealed class BSPrim : BSPhysObject
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
-                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
 
-                Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-                BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
-                BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+                Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
+                PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
+                PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
 
                 // center of mass is at the zero of the object
-                // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
+                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
                 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
 
                 if (inWorld)
@@ -440,7 +440,7 @@ public sealed class BSPrim : BSPhysObject
 
                 // Must set gravity after it has been added to the world because, for unknown reasons,
                 //     adding the object resets the object's gravity to world gravity
-                BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
+                PhysicsScene.PE.SetGravity(PhysBody, grav);
 
             }
         }
@@ -483,7 +483,7 @@ public sealed class BSPrim : BSPhysObject
                         DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
                         {
-                            BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
+                            PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
                             ActivateIfPhysical(false);
                         }
                     }
@@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+                PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -809,7 +809,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
 
             // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation);
+            // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -822,9 +822,9 @@ public sealed class BSPrim : BSPhysObject
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
+            PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
             PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
+            PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
             PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
@@ -901,10 +901,10 @@ public sealed class BSPrim : BSPhysObject
 
             // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
             // Replace this when the new AddObjectToWorld function is complete.
-            BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
+            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
 
             // Collision filter can be set only when the object is in the world
-            if (!PhysBody.ApplyCollisionMask())
+            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
             {
                 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
                 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
@@ -969,7 +969,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
                 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
                 if (PhysBody.HasPhysicalBody)
                 {
-                    BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
+                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
                     ActivateIfPhysical(false);
                 }
             });
@@ -1085,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
-                    BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
+                    PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
                     ActivateIfPhysical(false);
                 }
             });
@@ -1108,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject
         {
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+                PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse);
                 ActivateIfPhysical(false);
             }
         });
-- 
cgit v1.1


From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 09:30:49 -0800
Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged
 to have pointers and managed to have objects. Initial paste of XNA code.
 Commented out.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 37 +++++++++++++++-----------
 1 file changed, 21 insertions(+), 16 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 064ce3c..cb8108d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -300,7 +300,7 @@ public sealed class BSPrim : BSPhysObject
             // All positions are given in world positions.
             if (_position == value)
             {
-                DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
+                DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
                 return;
             }
             _position = value;
@@ -894,21 +894,26 @@ public sealed class BSPrim : BSPhysObject
     // Object MUST NOT already be in the world.
     // This routine exists because some assorted properties get mangled by adding to the world.
     internal void AddObjectToPhysicalWorld()
-    {
-        if (PhysBody.HasPhysicalBody)
-        {
-            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-
-            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
-            // Replace this when the new AddObjectToWorld function is complete.
-            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
-
-            // Collision filter can be set only when the object is in the world
-            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
-            {
-                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
-                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
-            }
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+
+            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
+            // Replace this when the new AddObjectToWorld function is complete.
+            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
+
+            // Collision filter can be set only when the object is in the world
+            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
+            {
+                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
+                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
+            }
+        }
+        else
+        {
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
-- 
cgit v1.1


From 0662d109c2954c7be5f5e9400b1f4afdeab2c298 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 09:32:21 -0800
Subject: BulletSim: fix line endings.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 +++++++++++++-------------
 1 file changed, 20 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index cb8108d..d4e2e87 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -894,26 +894,26 @@ public sealed class BSPrim : BSPhysObject
     // Object MUST NOT already be in the world.
     // This routine exists because some assorted properties get mangled by adding to the world.
     internal void AddObjectToPhysicalWorld()
-    {
-        if (PhysBody.HasPhysicalBody)
-        {
-            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-
-            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
-            // Replace this when the new AddObjectToWorld function is complete.
-            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
-
-            // Collision filter can be set only when the object is in the world
-            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
-            {
-                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
-                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
-            }
-        }
-        else
-        {
-            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+    {
+        if (PhysBody.HasPhysicalBody)
+        {
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+
+            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
+            // Replace this when the new AddObjectToWorld function is complete.
+            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
+
+            // Collision filter can be set only when the object is in the world
+            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
+            {
+                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
+                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
+            }
+        }
+        else
+        {
+            m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
-- 
cgit v1.1


From 9d840fd2ee5c3e6c6f788e8145f06701e9ea2724 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 16:49:38 -0800
Subject: BulletSim: move over and port the interface for BulletXNA. Copied
 BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then
 modifyed the latter to comply with the BSAPITemplate definition. Not totally
 debugged but the code is all there for an INI variable to select either
 unmanaged C++ Bullet or the C# version of Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 -----------
 1 file changed, 11 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d4e2e87..826261c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -898,17 +898,6 @@ public sealed class BSPrim : BSPhysObject
         if (PhysBody.HasPhysicalBody)
         {
             PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-
-            // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
-            // Replace this when the new AddObjectToWorld function is complete.
-            PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
-
-            // Collision filter can be set only when the object is in the world
-            if (!PhysBody.ApplyCollisionMask(PhysicsScene))
-            {
-                m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
-                DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
-            }
         }
         else
         {
-- 
cgit v1.1


From 2c6b269b6e53cae70e6de0c4380a9a4183c4f32d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 3 Jan 2013 19:38:30 -0800
Subject: BulletSim: add initial implementation of llMoveToTarget and hover
 height. Not all there yet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 157 +++++++++++++++++++++++--
 1 file changed, 147 insertions(+), 10 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 826261c..1904ddd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -66,9 +66,6 @@ public sealed class BSPrim : BSPhysObject
     private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingGround;
-    private bool _collidingObj;
     private bool _floatOnWater;
     private OMV.Vector3 _rotationalVelocity;
     private bool _kinematic;
@@ -76,13 +73,14 @@ public sealed class BSPrim : BSPhysObject
 
     private BSDynamics _vehicle;
 
+    private BSVMotor _targetMotor;
     private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
     private float _PIDTau;
-    private bool _useHoverPID;
+
+    private BSFMotor _hoverMotor;
     private float _PIDHoverHeight;
     private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
+    private float _PIDHoverTau;
 
     public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
                        OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -564,6 +562,11 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public OMV.Vector3 RawVelocity
+    {
+        get { return _velocity; }
+        set { _velocity = value; }
+    }
     public override OMV.Vector3 Velocity {
         get { return _velocity; }
         set {
@@ -1004,13 +1007,120 @@ public sealed class BSPrim : BSPhysObject
         set { _PIDTau = value; }
     }
     public override bool PIDActive {
-        set { _usePID = value; }
+        set {
+            if (value)
+            {
+                // Turning the target on
+                /*
+                _targetMotor = new BSVMotor("BSPrim.PIDTarget",
+                                            _PIDTau,                    // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.InfiniteVector,     // friction timescale
+                                            1f                          // efficiency
+                );
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                 */
+                _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
+                _targetMotor.SetTarget(_PIDTarget);
+                _targetMotor.SetCurrent(RawPosition);
+                _targetMotor.Efficiency = 1f;
+
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
+                {
+                    // How far are we away from the target
+                    OMV.Vector3 distance = _PIDTarget - RawPosition;
+
+                    // The amount of that distance we should cover per second
+                    OMV.Vector3 movementPerSecond = distance / _PIDTau;
+
+                    OMV.Vector3 adjustedVelocity = movementPerSecond - RawVelocity;
+
+                    // Apply force to overcome current velocity
+                    AddForce(-RawVelocity * Mass, false, true);
+                    // Get it moving to the point
+                    AddForce(movementPerSecond * Mass, false, true);
+
+                    // Apply enough force to get to the speed needed to get to the point
+                    // The physics engine will do only a timestep's worth.
+                    // AddForce(adjustedVelocity * Mass, false, true);
+                    // PhysicsScene.PE.ApplyCentralImpulse(PhysBody, adjustedVelocity);
+
+                    DetailLog("{0},BSPrim.PIDTarget,move,tgt={1},pos={2},vel={3},dist={4},tau={5},mvmt={6},newVel={7}",
+                        LocalID, _PIDTarget, RawPosition, RawVelocity, distance, _PIDTau, movementPerSecond, adjustedVelocity);
+
+                    /*
+                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+
+                    // 'movePosition' is where we'd like the prim to be at this moment.
+                    // Compute the amount of force to push us there.
+                    OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass;
+
+                    // If we are very close to our target, turn off the movement motor.
+                    if (_targetMotor.ErrorIsZero())
+                    {
+                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3},moveForce={4}",
+                                                LocalID, movePosition, RawPosition, Mass, moveForce);
+                        moveForce = OMV.Vector3.Zero;
+                        ForcePosition = _targetMotor.TargetValue;
+                        _targetMotor.Enabled = false;
+                    }
+                    else
+                    {
+                        AddForce(moveForce, false, true);
+                    }
+                    DetailLog("{0},BSPrim.PIDTarget,move,movePos={1},moveForce={2},mass={3}", LocalID, movePosition, moveForce, Mass);
+                    */
+                });
+            }
+            else
+            {
+                // Stop any targetting
+                UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+            }
+        }
     }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z
     public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
+        set {
+            if (value)
+            {
+                // Turning the target on
+                _hoverMotor = new BSFMotor("BSPrim.Hover",
+                                            _PIDHoverTau,               // timeScale
+                                            BSMotor.Infinite,           // decay time scale
+                                            BSMotor.Infinite,           // friction timescale
+                                            1f                          // efficiency
+                );
+                _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                _hoverMotor.SetCurrent(RawPosition.Z);
+                _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+                RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
+                {
+                    // TODO: Decide if the step parameters should be changed depending on the avatar's
+                    //     state (flying, colliding, ...). There is code in ODE to do this.
+
+                    _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
+                    float targetHeight = _hoverMotor.Step(timeStep);
+
+                    // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
+                    // Compute the amount of force to push us there.
+                    float moveForce = (targetHeight - RawPosition.Z) * Mass / PhysicsScene.LastTimeStep;
+
+                    AddForce(new OMV.Vector3(0f, 0f, moveForce), false, true);
+                    DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
+                });
+            }
+            else
+            {
+                UnRegisterPreStepAction("BSPrim.Hover", LocalID);
+            }
+        }
     }
     public override float PIDHoverHeight {
         set { _PIDHoverHeight = value; }
@@ -1019,8 +1129,35 @@ public sealed class BSPrim : BSPhysObject
         set { _PIDHoverType = value; }
     }
     public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
+        set { _PIDHoverTau = value; }
     }
+    // Based on current position, determine what we should be hovering at now.
+    // Must recompute often. What if we walked offa cliff>
+    private float ComputeCurrentPIDHoverHeight()
+    {
+        float ret = _PIDHoverHeight;
+        float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
+
+        switch (_PIDHoverType)
+        {
+            case PIDHoverType.Ground:
+                ret = groundHeight + _PIDHoverHeight;
+                break;
+            case PIDHoverType.GroundAndWater:
+                float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
+                if (groundHeight > waterHeight)
+                {
+                    ret = groundHeight + _PIDHoverHeight;
+                }
+                else
+                {
+                    ret = waterHeight + _PIDHoverHeight;
+                }
+                break;
+        }
+        return ret;
+    }
+
 
     // For RotLookAt
     public override OMV.Quaternion APIDTarget { set { return; } }
@@ -1047,7 +1184,7 @@ public sealed class BSPrim : BSPhysObject
             }
 
             OMV.Vector3 addForce = force;
-            DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+            // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
             PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
             {
-- 
cgit v1.1


From 48cfc6d089ae47795d99bf56382c3d1a867e7d03 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 4 Jan 2013 16:47:04 -0800
Subject: BulletSim: implement llMoveToTarget by adding PIDActive, etc.
 Implementation of non-vehicle hover but haven't tested it a lot. Update TODO
 list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 63 +++++++++-----------------
 1 file changed, 21 insertions(+), 42 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1904ddd..94b63e5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1010,69 +1010,48 @@ public sealed class BSPrim : BSPhysObject
         set {
             if (value)
             {
-                // Turning the target on
-                /*
+                // We're taking over after this.
+                ZeroMotion(true);
+
                 _targetMotor = new BSVMotor("BSPrim.PIDTarget",
                                             _PIDTau,                    // timeScale
                                             BSMotor.Infinite,           // decay time scale
                                             BSMotor.InfiniteVector,     // friction timescale
                                             1f                          // efficiency
                 );
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
                 _targetMotor.SetTarget(_PIDTarget);
                 _targetMotor.SetCurrent(RawPosition);
-                 */
+                /*
                 _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
+                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
                 _targetMotor.SetTarget(_PIDTarget);
                 _targetMotor.SetCurrent(RawPosition);
+                _targetMotor.TimeScale = _PIDTau;
                 _targetMotor.Efficiency = 1f;
-
-                _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+                 */
 
                 RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
                 {
-                    // How far are we away from the target
-                    OMV.Vector3 distance = _PIDTarget - RawPosition;
-
-                    // The amount of that distance we should cover per second
-                    OMV.Vector3 movementPerSecond = distance / _PIDTau;
-
-                    OMV.Vector3 adjustedVelocity = movementPerSecond - RawVelocity;
-
-                    // Apply force to overcome current velocity
-                    AddForce(-RawVelocity * Mass, false, true);
-                    // Get it moving to the point
-                    AddForce(movementPerSecond * Mass, false, true);
-
-                    // Apply enough force to get to the speed needed to get to the point
-                    // The physics engine will do only a timestep's worth.
-                    // AddForce(adjustedVelocity * Mass, false, true);
-                    // PhysicsScene.PE.ApplyCentralImpulse(PhysBody, adjustedVelocity);
-
-                    DetailLog("{0},BSPrim.PIDTarget,move,tgt={1},pos={2},vel={3},dist={4},tau={5},mvmt={6},newVel={7}",
-                        LocalID, _PIDTarget, RawPosition, RawVelocity, distance, _PIDTau, movementPerSecond, adjustedVelocity);
-
-                    /*
-                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+                    OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
-                    // Compute the amount of force to push us there.
-                    OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass;
+                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
 
                     // If we are very close to our target, turn off the movement motor.
                     if (_targetMotor.ErrorIsZero())
                     {
-                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3},moveForce={4}",
-                                                LocalID, movePosition, RawPosition, Mass, moveForce);
-                        moveForce = OMV.Vector3.Zero;
+                        DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+                                                LocalID, movePosition, RawPosition, Mass);
                         ForcePosition = _targetMotor.TargetValue;
                         _targetMotor.Enabled = false;
                     }
                     else
                     {
-                        AddForce(moveForce, false, true);
+                        ForcePosition = movePosition;
                     }
-                    DetailLog("{0},BSPrim.PIDTarget,move,movePos={1},moveForce={2},mass={3}", LocalID, movePosition, moveForce, Mass);
-                    */
+                    DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
                 });
             }
             else
@@ -1102,17 +1081,17 @@ public sealed class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
                 {
-                    // TODO: Decide if the step parameters should be changed depending on the avatar's
-                    //     state (flying, colliding, ...). There is code in ODE to do this.
-
+                    _hoverMotor.SetCurrent(RawPosition.Z);
                     _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
                     float targetHeight = _hoverMotor.Step(timeStep);
 
                     // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
                     // Compute the amount of force to push us there.
-                    float moveForce = (targetHeight - RawPosition.Z) * Mass / PhysicsScene.LastTimeStep;
+                    float moveForce = (targetHeight - RawPosition.Z) * Mass;
+                    // Undo anything the object thinks it's doing at the moment
+                    moveForce = -RawVelocity.Z * Mass;
 
-                    AddForce(new OMV.Vector3(0f, 0f, moveForce), false, true);
+                    PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
                     DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
                 });
             }
@@ -1174,7 +1153,7 @@ public sealed class BSPrim : BSPhysObject
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
-        if (force.IsFinite())
+        if (!IsStatic && force.IsFinite())
         {
             float magnitude = force.Length();
             if (magnitude > BSParam.MaxAddForceMagnitude)
-- 
cgit v1.1


From 8452c0a8702ccf7ea045740dd829c69a6f509845 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 7 Jan 2013 16:05:02 -0800
Subject: BulletSim: add function to push avatar up when hitting stairs. It
 looks like BulletSim and ODE rely on penetration correction to cause the
 avatar to move up and thus allowing walking up stairs. Object penetration was
 minimized for walking and flying (so one doesn't go through walls) and this
 stopped stairs from working. This commit introduces avatar movement code to
 check for collisions at the feet while walking and attempts to raise the
 avatar for the steps. Not yet perfect but movement is better.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 94b63e5..400d5d6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -562,7 +562,7 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
-    public OMV.Vector3 RawVelocity
+    public override OMV.Vector3 RawVelocity
     {
         get { return _velocity; }
         set { _velocity = value; }
-- 
cgit v1.1


From b592ec265b6f5928804baff868165f10eee6f5ed Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 11 Jan 2013 16:44:34 -0800
Subject: BulletSim: fix the 'No recognised physics mesh found ...' error spew
 by remembering that the last asset fetch failed until the simulator resets
 the shape parameters.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 400d5d6..8fd054f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -169,6 +169,7 @@ public sealed class BSPrim : BSPhysObject
     public override PrimitiveBaseShape Shape {
         set {
             BaseShape = value;
+            LastAssetBuildFailed = false;
             ForceBodyShapeRebuild(false);
         }
     }
@@ -178,7 +179,6 @@ public sealed class BSPrim : BSPhysObject
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        LastAssetBuildFailed = false;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
-- 
cgit v1.1


From 98168edc29c7c761121e453d82bf1fab52814b58 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 9 Jan 2013 11:06:49 -0800
Subject: BulletSim: remove double application of buoyancy. Centralize
 computation of buoyancy. Add motor angular debugging controls.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 23 ++++-------------------
 1 file changed, 4 insertions(+), 19 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8fd054f..50ba343 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -410,7 +410,7 @@ public sealed class BSPrim : BSPhysObject
             }
             else
             {
-                OMV.Vector3 grav = ComputeGravity();
+                OMV.Vector3 grav = ComputeGravity(Buoyancy);
 
                 if (inWorld)
                 {
@@ -445,12 +445,12 @@ public sealed class BSPrim : BSPhysObject
     }
 
     // Return what gravity should be set to this very moment
-    private OMV.Vector3 ComputeGravity()
+    public OMV.Vector3 ComputeGravity(float buoyancy)
     {
         OMV.Vector3 ret = PhysicsScene.DefaultGravity;
 
         if (!IsStatic)
-            ret *= (1f - Buoyancy);
+            ret *= (1f - buoyancy);
 
         return ret;
     }
@@ -1561,21 +1561,6 @@ public sealed class BSPrim : BSPhysObject
 
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
-    // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
-    enum UpdatedProperties {
-        Position      = 1 << 0,
-        Rotation      = 1 << 1,
-        Velocity      = 1 << 2,
-        Acceleration  = 1 << 3,
-        RotationalVel = 1 << 4
-    }
-
-    const float ROTATION_TOLERANCE = 0.01f;
-    const float VELOCITY_TOLERANCE = 0.001f;
-    const float POSITION_TOLERANCE = 0.05f;
-    const float ACCELERATION_TOLERANCE = 0.01f;
-    const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
     public override void UpdateProperties(EntityProperties entprop)
     {
         // Updates only for individual prims and for the root object of a linkset.
@@ -1588,7 +1573,7 @@ public sealed class BSPrim : BSPhysObject
                 entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
-            // Assign directly to the local variables so the normal set action does not happen
+            // Assign directly to the local variables so the normal set actions do not happen
             _position = entprop.Position;
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
-- 
cgit v1.1


From 93adc4cb6689b156db4db315d44b5ba0ddcd65ac Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 9 Jan 2013 22:45:01 -0800
Subject: BulletSim: Add IsSelected attribute to physical objects. Have
 vehicles check to see if physical before trying to step. Replace vehicle
 gravity application. Previously relying on Bullet to apply gravity but since
 vehicles over-ride the velocity calculation, gravity never had a chance to
 accelerate the body down. Added AddForceImpulse as well as AddForce for those
 who need to apply immediate velocity updates. Use the impulse to apply the
 linear motion.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 81 +++++++++++++++++++-------
 1 file changed, 61 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 50ba343..02d06b4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -204,6 +204,10 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
+    public override bool IsSelected
+    {
+        get { return _isSelected; }
+    }
     public override void CrossingFailure() { return; }
 
     // link me to the specified parent
@@ -1153,33 +1157,70 @@ public sealed class BSPrim : BSPhysObject
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
-        if (!IsStatic && force.IsFinite())
+        if (!IsStatic)
         {
-            float magnitude = force.Length();
-            if (magnitude > BSParam.MaxAddForceMagnitude)
+            if (force.IsFinite())
             {
-                // Force has a limit
-                force = force / magnitude * BSParam.MaxAddForceMagnitude;
-            }
+                float magnitude = force.Length();
+                if (magnitude > BSParam.MaxAddForceMagnitude)
+                {
+                    // Force has a limit
+                    force = force / magnitude * BSParam.MaxAddForceMagnitude;
+                }
 
-            OMV.Vector3 addForce = force;
-            // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+                OMV.Vector3 addForce = force;
+                // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
-            {
-                // Bullet adds this central force to the total force for this tick
-                DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
-                if (PhysBody.HasPhysicalBody)
+                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
-                    PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
-                    ActivateIfPhysical(false);
-                }
-            });
+                    // Bullet adds this central force to the total force for this tick
+                    DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
+                    if (PhysBody.HasPhysicalBody)
+                    {
+                        PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
         }
-        else
+    }
+
+    public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
+        // for an object, doesn't matter if force is a pushforce or not
+        if (!IsStatic)
         {
-            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
-            return;
+            if (impulse.IsFinite())
+            {
+                float magnitude = impulse.Length();
+                if (magnitude > BSParam.MaxAddForceMagnitude)
+                {
+                    // Force has a limit
+                    impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
+                }
+
+                // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
+                OMV.Vector3 addImpulse = impulse;
+                PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
+                {
+                    // Bullet adds this impulse immediately to the velocity
+                    DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
+                    if (PhysBody.HasPhysicalBody)
+                    {
+                        PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
+                        ActivateIfPhysical(false);
+                    }
+                });
+            }
+            else
+            {
+                m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
+                return;
+            }
         }
     }
 
-- 
cgit v1.1


From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 11 Jan 2013 16:36:34 -0800
Subject: BulletSim: move center of gravity of linkset to its geometric center.
 Necessitated allowing simulator and physical position of a body to get out of
 sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and
 SOs for the UpdateChildTransform so positions of   individual prim in a
 linkset can be implemented.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 +++++++++++++++++++-------
 1 file changed, 30 insertions(+), 10 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 02d06b4..003dc54 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -50,7 +50,10 @@ public sealed class BSPrim : BSPhysObject
     private bool _grabbed;
     private bool _isSelected;
     private bool _isVolumeDetect;
+
+    // _position is what the simulator thinks the positions of the prim is.
     private OMV.Vector3 _position;
+
     private float _mass;    // the mass of this object
     private float _density;
     private OMV.Vector3 _force;
@@ -320,18 +323,37 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody);
+            _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
                 ActivateIfPhysical(false);
             }
         }
     }
+    // Override to have position displacement immediately update the physical position.
+    // A feeble attempt to keep the sim and physical positions in sync
+    // Must be called at taint time.
+    public override OMV.Vector3 PositionDisplacement
+    {
+        get
+        {
+            return base.PositionDisplacement;
+        }
+        set
+        {
+            base.PositionDisplacement = value;
+            PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
+            });
+        }
+    }
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -590,6 +612,7 @@ public sealed class BSPrim : BSPhysObject
             _velocity = value;
             if (PhysBody.HasPhysicalBody)
             {
+                DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
                 PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
                 ActivateIfPhysical(false);
             }
@@ -654,12 +677,7 @@ public sealed class BSPrim : BSPhysObject
 
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
-                    // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
-                }
+                ForceOrientation = _orientation;
             });
         }
     }
@@ -674,7 +692,8 @@ public sealed class BSPrim : BSPhysObject
         set
         {
             _orientation = value;
-            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            if (PhysBody.HasPhysicalBody)
+                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -813,7 +832,7 @@ public sealed class BSPrim : BSPhysObject
             // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
 
             // Center of mass is at the center of the object
             // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
@@ -1615,6 +1634,7 @@ public sealed class BSPrim : BSPhysObject
             }
 
             // Assign directly to the local variables so the normal set actions do not happen
+            entprop.Position -= PositionDisplacement;
             _position = entprop.Position;
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
-- 
cgit v1.1


From 8bf0a9f85dda4b1831630b65620d5c6868196c11 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 13 Jan 2013 22:32:31 -0800
Subject: BulletSim: disable center-of-mass computation for linksets until
 debugged. Move physical prim above ground if it is underground. Previously
 tried to correct by applying and up force but the prim would never go through
 the ground.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 ++++++++++++--------------
 1 file changed, 12 insertions(+), 14 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 003dc54..e5f7ab7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -297,7 +297,7 @@ public sealed class BSPrim : BSPhysObject
             */
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody);
+            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
             return _position;
         }
         set {
@@ -362,7 +362,7 @@ public sealed class BSPrim : BSPhysObject
     {
         bool ret = false;
 
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
+        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
         {
             // The physical object is out of the known/simulated area.
             // Upper levels of code will handle the transition to other areas so, for
@@ -376,8 +376,11 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
-            // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
-            upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
+            // 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)
+                ForcePosition = _position;
             ret = true;
         }
 
@@ -389,20 +392,15 @@ public sealed class BSPrim : BSPhysObject
             {
                 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
                 upForce.Z = (waterHeight - RawPosition.Z) * 1f;
+
+                // Apply upforce and overcome gravity.
+                OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
+                DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
+                AddForce(correctionForce, false, inTaintTime);
                 ret = true;
             }
         }
 
-        // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
-        // TODO: This should be intergrated with a geneal physics action mechanism.
-        // TODO: This should be moderated with PID'ness.
-        if (ret)
-        {
-            // Apply upforce and overcome gravity.
-            OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
-            DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
-            AddForce(correctionForce, false, inTaintTime);
-        }
         return ret;
     }
 
-- 
cgit v1.1


From 4e1ca890c2d41bf244ed7d4847c0d0a4fc7f6c51 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 14 Jan 2013 15:46:46 -0800
Subject: BulletSim: fix not moving physical objects below terrain to over
 terrain. Add locking on register prestep action list preventing potential
 race conditions. Little comment and formatting changes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

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;
         }
-- 
cgit v1.1


From 75f710f1e70a3c9d3459d549eb4334a445aca834 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 17 Jan 2013 14:47:35 -0800
Subject: BulletSim: Add one function that all actors who act on the physical
 can use to know if the object is currently active. Code cleaning including
 use of Util.ClampV function.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 33 ++++++++++----------------
 1 file changed, 13 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 79fe632..7aa2d92 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -132,8 +132,8 @@ public sealed class BSPrim : BSPhysObject
         base.Destroy();
 
         // Undo any links between me and any other object
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
+        BSPhysObject parentBefore = Linkset.LinksetRoot;    // DEBUG DEBUG
+        int childrenBefore = Linkset.NumberOfChildren;      // DEBUG DEBUG
 
         Linkset = Linkset.RemoveMeFromLinkset(this);
 
@@ -727,6 +727,12 @@ public sealed class BSPrim : BSPhysObject
         get { return !IsPhantom && !_isVolumeDetect; }
     }
 
+    // The object is moving and is actively being dynamic in the physical world
+    public override bool IsPhysicallyActive
+    {
+        get { return !_isSelected && IsPhysical; }
+    }
+
     // Make gravity work if the object is physical and not selected
     // Called at taint-time!!
     private void SetObjectDynamic(bool forceRebuild)
@@ -1174,18 +1180,11 @@ public sealed class BSPrim : BSPhysObject
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
-        if (!IsStatic)
+        if (IsPhysicallyActive)
         {
             if (force.IsFinite())
             {
-                float magnitude = force.Length();
-                if (magnitude > BSParam.MaxAddForceMagnitude)
-                {
-                    // Force has a limit
-                    force = force / magnitude * BSParam.MaxAddForceMagnitude;
-                }
-
-                OMV.Vector3 addForce = force;
+                OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
@@ -1209,19 +1208,13 @@ public sealed class BSPrim : BSPhysObject
 
     public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
         // for an object, doesn't matter if force is a pushforce or not
-        if (!IsStatic)
+        if (!IsPhysicallyActive)
         {
             if (impulse.IsFinite())
             {
-                float magnitude = impulse.Length();
-                if (magnitude > BSParam.MaxAddForceMagnitude)
-                {
-                    // Force has a limit
-                    impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
-                }
-
+                OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
-                OMV.Vector3 addImpulse = impulse;
+
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
                 {
                     // Bullet adds this impulse immediately to the velocity
-- 
cgit v1.1


From 482c7b5368faa034b73b3434fd90ce3702644cb8 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 18 Jan 2013 11:37:36 -0800
Subject: BulletSim: add logic to turn off pre-step actions when object goes
 non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget' when
 the object is selected or made non-physical.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7aa2d92..aaa6fe5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -502,6 +502,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setForce", LocalID,
                     delegate(float timeStep)
                     {
+                        if (!IsPhysicallyActive)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+                            return;
+                        }
+
                         DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
                         {
@@ -627,6 +633,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setTorque", LocalID,
                     delegate(float timeStep)
                     {
+                        if (!IsPhysicallyActive)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+                            return;
+                        }
+
                         if (PhysBody.HasPhysicalBody)
                             AddAngularForce(_torque, false, true);
                     }
@@ -1061,6 +1073,12 @@ public sealed class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
                 {
+                    if (!IsPhysicallyActive)
+                    {
+                        UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+                        return;
+                    }
+
                     OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
@@ -1108,6 +1126,9 @@ public sealed class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
                 {
+                    if (!IsPhysicallyActive)
+                        return;
+
                     _hoverMotor.SetCurrent(RawPosition.Z);
                     _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
                     float targetHeight = _hoverMotor.Step(timeStep);
-- 
cgit v1.1


From 3b0df52d10c157cd2711d64ef9007d2afccbd468 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 20 Jan 2013 09:33:13 -0800
Subject: BulletSim: modify motors to return correction rather than current
 value to better use them for incremental updates. Modify prim and character
 to use the new motors. Simplify the vehicle linear movement code to just
 update the velocity directly or the basic movement.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index aaa6fe5..22afdc9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1082,7 +1082,7 @@ public sealed class BSPrim : BSPhysObject
                     OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
-                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+                    OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
 
                     // If we are very close to our target, turn off the movement motor.
                     if (_targetMotor.ErrorIsZero())
-- 
cgit v1.1


From 52b341e2e24384395fddc7d32fd66358f5062468 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 20 Jan 2013 22:35:42 -0800
Subject: BulletSim: More aggressive as setting character velocity to zero when
 should be standing. Modify angular force routines to be the same pattern as
 linear force routines. BulletSim vehicle turning is scaled like SL and is
 DIFFERENT THAN ODE!! Fix some bugs in BSMotor dealing with the motor going to
 zero. Add a bunch of parameters:  MaxLinearVelocity, MaxAngularVelocity,
 MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity,
 and most of the values are defaulted to values that are larger than in SL.
 Use the new parameters in BSPrim, BSCharacter and BSDynamic.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 22afdc9..b63523c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -989,10 +989,10 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 ForceRotationalVelocity = _rotationalVelocity;
             });
         }
@@ -1005,6 +1005,7 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
@@ -1193,10 +1194,14 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Per documentation, max force is limited.
+        OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
+        addForce /= PhysicsScene.LastTimeStep;
+        AddForce(addForce, pushforce, false /* inTaintTime */);
     }
+
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -1205,9 +1210,9 @@ public sealed class BSPrim : BSPhysObject
         {
             if (force.IsFinite())
             {
-                OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
+                OMV.Vector3 addForce = force;
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
                     // Bullet adds this central force to the total force for this tick
-- 
cgit v1.1


From 471c4778639aec60078e6cee7c964682c959f033 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 21 Jan 2013 15:58:22 -0800
Subject: BulletSim: allow changing position and rotation of a child of a
 linkset without rebuilding the whole compound shape. Should make vehicles
 move smoother.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b63523c..468ff40 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck(false);
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Position, this);
+
             });
         }
     }
@@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject
                 return;
             _orientation = value;
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 ForceOrientation = _orientation;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+
             });
         }
     }
@@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
         // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this, true);
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
     }
 }
 }
-- 
cgit v1.1


From 80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 21 Jan 2013 23:43:24 -0800
Subject: BulletSim: Tweeks to vehicle motion. Pass through old angular
 velocity making for smoother transitions. Remove some old kludges for angular
 motion (damping and rotvel suppression).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 468ff40..e6b8507 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1009,6 +1009,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -1649,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
             if (_vehicle.IsActive)
             {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
+                // entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
             // Assign directly to the local variables so the normal set actions do not happen
-- 
cgit v1.1


From a0d460e6bfa64a6c43ff327dcf19b696cc380fbb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 18 Jan 2013 12:10:03 -0800
Subject: BulletSim: remove the unused RestoreBodyDependencies used by linksets
 and vehicles and clean up code by removing their kludgyness.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++------------------
 1 file changed, 2 insertions(+), 18 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e6b8507..b37a1f8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1606,11 +1606,6 @@ public sealed class BSPrim : BSPhysObject
     // Called at taint-time!!!
     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.
-        bool needToRestoreLinkset = false;
-        bool needToRestoreVehicle = false;
-
         // Create the correct physical representation for this type of object.
         // Updates PhysBody and PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
@@ -1619,21 +1614,10 @@ 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 to be subscribed to by BSLinkset, ...)
-            needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
-            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
+            Linkset.RemoveBodyDependencies(this);
+            _vehicle.RemoveBodyDependencies(this);
         });
 
-        if (needToRestoreLinkset)
-        {
-            // If physical body dependencies were removed, restore them
-            Linkset.RestoreBodyDependencies(this);
-        }
-        if (needToRestoreVehicle)
-        {
-            // If physical body dependencies were removed, restore them
-            _vehicle.RestoreBodyDependencies(this);
-        }
-
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
         return;
-- 
cgit v1.1


From c1371ab786a699ce91693e6e575bb81144a79c57 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 23 Jan 2013 08:28:36 -0800
Subject: BulletSim: working on COM

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b37a1f8..dad7250 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -336,6 +336,7 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
+        /*  Disable. Presume whoever is setting displacement is already adjusting position, etc.
     // Override to have position displacement immediately update the physical position.
     // A feeble attempt to keep the sim and physical positions in sync
     // Must be called at taint time.
@@ -355,6 +356,7 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+        */
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
@@ -371,11 +373,11 @@ public sealed class BSPrim : BSPhysObject
             return ret;
         }
 
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
         if (RawPosition.Z < terrainHeight)
         {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
             // If the object is below ground it just has to be moved up because pushing will
             //     not get it through the terrain
@@ -1637,7 +1639,11 @@ public sealed class BSPrim : BSPhysObject
                 // entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
+            DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
             // Assign directly to the local variables so the normal set actions do not happen
+
+            // Undo any center-of-mass displacement that might have been done.
             entprop.Position -= PositionDisplacement;
             _position = entprop.Position;
             _orientation = entprop.Rotation;
@@ -1645,6 +1651,8 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
+            DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
             // The sanity check can change the velocity and/or position.
             if (IsPhysical && PositionSanityCheck(true))
             {
@@ -1653,8 +1661,7 @@ public sealed class BSPrim : BSPhysObject
             }
 
             OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
-                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
+            DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
 
             // remember the current and last set values
             LastEntityProperties = CurrentEntityProperties;
-- 
cgit v1.1


From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 23 Jan 2013 09:09:17 -0800
Subject: BulletSim: center-of-gravity linkset changes. Not working yet.

Conflicts:

	OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index dad7250..ee2bfa0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject
             });
         }
     }
+
     public override OMV.Vector3 ForcePosition {
         get {
             _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
-        /*  Disable. Presume whoever is setting displacement is already adjusting position, etc.
-    // Override to have position displacement immediately update the physical position.
-    // A feeble attempt to keep the sim and physical positions in sync
-    // Must be called at taint time.
-    public override OMV.Vector3 PositionDisplacement
-    {
-        get
-        {
-            return base.PositionDisplacement;
-        }
-        set
-        {
-            base.PositionDisplacement = value;
-            PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
-            });
-        }
-    }
-        */
 
     // Check that the current position is sane and, if not, modify the position to make it so.
     // Check for being below terrain and being out of bounds.
-- 
cgit v1.1


From 13182904da897be1dad0bb86d8099bd0956ffac4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 23 Jan 2013 09:11:01 -0800
Subject: BulletSim: small change to center-of-mass computation left out last
 commit

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ee2bfa0..731ab7b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1621,10 +1621,15 @@ public sealed class BSPrim : BSPhysObject
 
             DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
-            // Assign directly to the local variables so the normal set actions do not happen
-
             // Undo any center-of-mass displacement that might have been done.
-            entprop.Position -= PositionDisplacement;
+            if (PositionDisplacement != OMV.Vector3.Zero)
+            {
+                // Correct for any rotation around the center-of-mass
+                // TODO!!!
+                entprop.Position -= PositionDisplacement;
+            }
+
+            // Assign directly to the local variables so the normal set actions do not happen
             _position = entprop.Position;
             _orientation = entprop.Rotation;
             _velocity = entprop.Velocity;
-- 
cgit v1.1


From a7b810ddeebda8b13af3ab9fbeb24bef1a8094c6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 23 Jan 2013 14:21:52 -0800
Subject: BulletSim: remove setting of vehicle InterpolationRotationalVelocity.
 This doesn't seem to help the vehicle stability. Rename vehicle internal
 variables adding a "V" or "W" so it is clear when coordinates are vehicle or
 world relative.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 731ab7b..f80084a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1619,7 +1619,7 @@ public sealed class BSPrim : BSPhysObject
                 // entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
-            DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+            // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
             // Undo any center-of-mass displacement that might have been done.
             if (PositionDisplacement != OMV.Vector3.Zero)
@@ -1636,7 +1636,7 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
-            DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+            // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
             // The sanity check can change the velocity and/or position.
             if (IsPhysical && PositionSanityCheck(true))
-- 
cgit v1.1


From 2cf29c87bccb5b359fc74e1a0520bfd394d86d15 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 24 Jan 2013 14:26:11 -0800
Subject: BulletSim: zero motion on an object that we pop up because it is
 below terrain. If the position is being corrected because it is out of
 bounds, all other movement rules are out the window.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f80084a..8b00a33 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -363,7 +363,11 @@ public sealed class BSPrim : BSPhysObject
             //     not get it through the terrain
             _position.Z = targetHeight;
             if (inTaintTime)
+            {
                 ForcePosition = _position;
+            }
+            // If we are throwing the object around, zero its other forces
+            ZeroMotion(inTaintTime);
             ret = true;
         }
 
@@ -1639,10 +1643,12 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
             // The sanity check can change the velocity and/or position.
-            if (IsPhysical && PositionSanityCheck(true))
+            if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ ))
             {
                 entprop.Position = _position;
                 entprop.Velocity = _velocity;
+                entprop.RotationalVelocity = _rotationalVelocity;
+                entprop.Acceleration = _acceleration;
             }
 
             OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
-- 
cgit v1.1


From c44a8e9f925c0195c4754c5e763af06dae657b53 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 25 Jan 2013 10:17:20 -0800
Subject: BulletSim: finish the post step event for physical object actions.
 Modify vehicle to use post step event for logging.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8b00a33..99903f5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -527,9 +527,15 @@ public sealed class BSPrim : BSPhysObject
 
                 // If an active vehicle, register the vehicle code to be called before each step
                 if (_vehicle.Type == Vehicle.TYPE_NONE)
+                {
                     UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+                    PhysicsScene.AfterStep -= _vehicle.PostStep;
+                }
                 else
+                {
                     RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
+                    PhysicsScene.AfterStep += _vehicle.PostStep;
+                }
             });
         }
     }
-- 
cgit v1.1


From ddef8f16e58471d19baa63f14134b25309cf2570 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 25 Jan 2013 16:00:17 -0800
Subject: BulletSim: first attempt at reporting top colliders

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ------
 1 file changed, 6 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 99903f5..17fddd7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -59,7 +59,6 @@ public sealed class BSPrim : BSPhysObject
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
-    private float _collisionScore;
     private OMV.Vector3 _acceleration;
     private OMV.Quaternion _orientation;
     private int _physicsActorType;
@@ -644,11 +643,6 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
     public override OMV.Vector3 Acceleration {
         get { return _acceleration; }
         set { _acceleration = value; }
-- 
cgit v1.1


From 26d4596080295d7509ef16bce9eb571d326c3ba6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 27 Jan 2013 12:48:16 -0800
Subject: BulletSim: reinstate the supression of rotational velocity for
 vehicles

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 17fddd7..998836c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1620,7 +1620,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
             if (_vehicle.IsActive)
             {
-                // entprop.RotationalVelocity = OMV.Vector3.Zero;
+                entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
             // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
-- 
cgit v1.1


From 531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 28 Jan 2013 17:08:34 -0800
Subject: BulletSim: first unit test: vehicle angular attraction

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 32 +++++++++++++-------------
 1 file changed, 16 insertions(+), 16 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 998836c..2b0a539 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -73,7 +73,7 @@ public sealed class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
-    private BSDynamics _vehicle;
+    public BSDynamics VehicleController { get; private set; }
 
     private BSVMotor _targetMotor;
     private OMV.Vector3 _PIDTarget;
@@ -107,7 +107,7 @@ public sealed class BSPrim : BSPhysObject
         _friction = PhysicsScene.Params.defaultFriction;
         _restitution = PhysicsScene.Params.defaultRestitution;
 
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+        VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
 
         _mass = CalculateMass();
 
@@ -512,7 +512,7 @@ public sealed class BSPrim : BSPhysObject
 
     public override int VehicleType {
         get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+            return (int)VehicleController.Type;   // if we are a vehicle, return that type
         }
         set {
             Vehicle type = (Vehicle)value;
@@ -521,19 +521,19 @@ public sealed class BSPrim : BSPhysObject
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
+                VehicleController.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
 
                 // If an active vehicle, register the vehicle code to be called before each step
-                if (_vehicle.Type == Vehicle.TYPE_NONE)
+                if (VehicleController.Type == Vehicle.TYPE_NONE)
                 {
                     UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
-                    PhysicsScene.AfterStep -= _vehicle.PostStep;
+                    PhysicsScene.AfterStep -= VehicleController.PostStep;
                 }
                 else
                 {
-                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
-                    PhysicsScene.AfterStep += _vehicle.PostStep;
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
+                    PhysicsScene.AfterStep += VehicleController.PostStep;
                 }
             });
         }
@@ -542,7 +542,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -550,7 +550,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -558,7 +558,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
             ActivateIfPhysical(false);
         });
     }
@@ -566,7 +566,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            _vehicle.ProcessVehicleFlags(param, remove);
+            VehicleController.ProcessVehicleFlags(param, remove);
         });
     }
 
@@ -747,7 +747,7 @@ public sealed class BSPrim : BSPhysObject
     //     isSolid: other objects bounce off of this object
     //     isVolumeDetect: other objects pass through but can generate collisions
     //     collisionEvents: whether this object returns collision events
-    private void UpdatePhysicalParameters()
+    public void UpdatePhysicalParameters()
     {
         // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
@@ -759,7 +759,7 @@ public sealed class BSPrim : BSPhysObject
         MakeDynamic(IsStatic);
 
         // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
+        VehicleController.Refresh();
 
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
@@ -1601,7 +1601,7 @@ public sealed class BSPrim : BSPhysObject
             // Remove all the physical dependencies on the old body.
             // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
             Linkset.RemoveBodyDependencies(this);
-            _vehicle.RemoveBodyDependencies(this);
+            VehicleController.RemoveBodyDependencies(this);
         });
 
         // Make sure the properties are set on the new object
@@ -1618,7 +1618,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
-            if (_vehicle.IsActive)
+            if (VehicleController.IsActive)
             {
                 entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
-- 
cgit v1.1


From a61ecee227450ea81c9afe85a62b207fefa888a9 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 29 Jan 2013 17:01:27 -0800
Subject: BulletSim: fix physics repositioning when under ground to only happen
 for physical objects. Non-physical objects can go anywhere they want.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2b0a539..b5dd131 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -344,6 +344,10 @@ public sealed class BSPrim : BSPhysObject
     {
         bool ret = false;
 
+        // We don't care where non-physical items are placed
+        if (!IsPhysicallyActive)
+            return ret;
+
         if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
         {
             // The physical object is out of the known/simulated area.
@@ -1643,7 +1647,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
             // The sanity check can change the velocity and/or position.
-            if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ ))
+            if (PositionSanityCheck(true /* inTaintTime */ ))
             {
                 entprop.Position = _position;
                 entprop.Velocity = _velocity;
-- 
cgit v1.1


From ed71c939fc22059b03572fe6380fcc754c89a284 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 31 Jan 2013 10:26:53 -0800
Subject: BulletSim: make sure vehicle physical properties are set when going
 physical by delaying setting until pre-step time. Change vehicle.Refresh() to
 schedule the pre-step setting. Comments and updating of TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b5dd131..0b81122 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1597,9 +1597,9 @@ public sealed class BSPrim : BSPhysObject
     public void CreateGeomAndObject(bool forceRebuild)
     {
         // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
+        // Updates base.PhysBody and base.PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
-- 
cgit v1.1


From 75a05c16c5c0ec0712f7f564b60530e0a3fd1c82 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 31 Jan 2013 15:52:50 -0800
Subject: BulletSim: fix crash caused when linksets were rebuilt. A problem
 added when individual child pos/rot changes were implementated a week or so
 ago. Remove some passing of inTaintTime flag when it was never false.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 0b81122..54bf063 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -146,9 +146,9 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
             PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
             PhysShape.Clear();
         });
     }
@@ -181,11 +181,19 @@ public sealed class BSPrim : BSPhysObject
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
-        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
+        if (inTaintTime)
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        });
+        }
+        else
+        {
+            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
+            {
+                _mass = CalculateMass();   // changing the shape changes the mass
+                CreateGeomAndObject(true);
+            });
+        }
         return true;
     }
     public override bool Grabbed {
-- 
cgit v1.1


From ebb63b55aab98da6d44e82fc0ecfd5d22f245172 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 11:53:49 -0800
Subject: BulletSim: add user setting of friction, density and restitution.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 99 ++++++++++++++++++++------
 1 file changed, 79 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 54bf063..a86932a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject
     private OMV.Vector3 _position;
 
     private float _mass;    // the mass of this object
-    private float _density;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
@@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
-    private float _friction;
-    private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
 
-        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
-        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
-        _density = PhysicsScene.Params.defaultDensity;
-        _friction = PhysicsScene.Params.defaultFriction;
-        _restitution = PhysicsScene.Params.defaultRestitution;
-
         VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
 
         _mass = CalculateMass();
@@ -457,11 +448,6 @@ public sealed class BSPrim : BSPhysObject
                 {
                     AddObjectToPhysicalWorld();
                 }
-
-                // Must set gravity after it has been added to the world because, for unknown reasons,
-                //     adding the object resets the object's gravity to world gravity
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
-
             }
         }
     }
@@ -469,7 +455,7 @@ public sealed class BSPrim : BSPhysObject
     // Return what gravity should be set to this very moment
     public OMV.Vector3 ComputeGravity(float buoyancy)
     {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
 
         if (!IsStatic)
             ret *= (1f - buoyancy);
@@ -596,6 +582,74 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public override void SetMaterial(int material)
+    {
+        base.SetMaterial(material);
+        PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+    public override float Friction
+    {
+        get { return base.Friction; }
+        set
+        {
+            if (base.Friction != value)
+            {
+                base.Friction = value;
+                PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Restitution
+    {
+        get { return base.Restitution; }
+        set
+        {
+            if (base.Restitution != value)
+            {
+                base.Restitution = value;
+                PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Density
+    {
+        get { return base.Density; }
+        set
+        {
+            if (base.Density != value)
+            {
+                base.Density = value;
+                PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float GravityModifier
+    {
+        get { return base.GravityModifier; }
+        set
+        {
+            if (base.GravityModifier != value)
+            {
+                base.GravityModifier = value;
+                PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
     public override OMV.Vector3 RawVelocity
     {
         get { return _velocity; }
@@ -810,8 +864,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
@@ -840,8 +894,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -940,6 +994,11 @@ public sealed class BSPrim : BSPhysObject
         if (PhysBody.HasPhysicalBody)
         {
             PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+
+            // Must set gravity after it has been added to the world because, for unknown reasons,
+            //     adding the object resets the object's gravity to world gravity
+            OMV.Vector3 grav = ComputeGravity(Buoyancy);
+            PhysicsScene.PE.SetGravity(PhysBody, grav);
         }
         else
         {
@@ -1581,7 +1640,7 @@ public sealed class BSPrim : BSPhysObject
         profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
-        returnMass = _density * volume;
+        returnMass = Density * volume;
 
         /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)
-- 
cgit v1.1


From b545e131846f38cc96757d5c4456c1ee8e7abe75 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 14:44:12 -0800
Subject: BulletSim: fix exceptions caused by setting physical properties
 before the prim body is initialized.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a86932a..38adb72 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -587,7 +587,8 @@ public sealed class BSPrim : BSPhysObject
         base.SetMaterial(material);
         PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
         {
-            UpdatePhysicalParameters();
+            if (PhysBody.HasPhysicalBody)
+                UpdatePhysicalParameters();
         });
     }
     public override float Friction
@@ -600,7 +601,8 @@ public sealed class BSPrim : BSPhysObject
                 base.Friction = value;
                 PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
                 {
-                    UpdatePhysicalParameters();
+                    if (PhysBody.HasPhysicalBody)
+                        UpdatePhysicalParameters();
                 });
             }
         }
@@ -615,7 +617,8 @@ public sealed class BSPrim : BSPhysObject
                 base.Restitution = value;
                 PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
                 {
-                    UpdatePhysicalParameters();
+                    if (PhysBody.HasPhysicalBody)
+                        UpdatePhysicalParameters();
                 });
             }
         }
@@ -630,7 +633,8 @@ public sealed class BSPrim : BSPhysObject
                 base.Density = value;
                 PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
                 {
-                    UpdatePhysicalParameters();
+                    if (PhysBody.HasPhysicalBody)
+                        UpdatePhysicalParameters();
                 });
             }
         }
@@ -645,7 +649,8 @@ public sealed class BSPrim : BSPhysObject
                 base.GravityModifier = value;
                 PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
                 {
-                    UpdatePhysicalParameters();
+                    if (PhysBody.HasPhysicalBody)
+                        UpdatePhysicalParameters();
                 });
             }
         }
-- 
cgit v1.1


From 913965256fecd4e25e06fe374fa5d8b8712a3b15 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 17:05:40 -0800
Subject: BulletSim: Adapt BulletSim to the newer physical properties. Viewer
 dialog setting of friction, restitution, ... working.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 54 ++++++++++++--------------
 1 file changed, 25 insertions(+), 29 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 38adb72..85c2627 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -423,8 +423,6 @@ public sealed class BSPrim : BSPhysObject
             }
             else
             {
-                OMV.Vector3 grav = ComputeGravity(Buoyancy);
-
                 if (inWorld)
                 {
                     // Changing interesting properties doesn't change proxy and collision cache
@@ -434,15 +432,15 @@ public sealed class BSPrim : BSPhysObject
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
+                Gravity = ComputeGravity(Buoyancy);
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
 
                 Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
                 PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
                 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
 
-                // center of mass is at the zero of the object
-                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
+                                            LocalID, physMass, Inertia, Gravity, inWorld);
 
                 if (inWorld)
                 {
@@ -455,10 +453,13 @@ public sealed class BSPrim : BSPhysObject
     // Return what gravity should be set to this very moment
     public OMV.Vector3 ComputeGravity(float buoyancy)
     {
-        OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
+        OMV.Vector3 ret = PhysicsScene.DefaultGravity;
 
         if (!IsStatic)
+        {
             ret *= (1f - buoyancy);
+            ret *= GravModifier;
+        }
 
         return ret;
     }
@@ -587,8 +588,7 @@ public sealed class BSPrim : BSPhysObject
         base.SetMaterial(material);
         PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
         {
-            if (PhysBody.HasPhysicalBody)
-                UpdatePhysicalParameters();
+            UpdatePhysicalParameters();
         });
     }
     public override float Friction
@@ -601,8 +601,7 @@ public sealed class BSPrim : BSPhysObject
                 base.Friction = value;
                 PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -617,8 +616,7 @@ public sealed class BSPrim : BSPhysObject
                 base.Restitution = value;
                 PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -633,24 +631,22 @@ public sealed class BSPrim : BSPhysObject
                 base.Density = value;
                 PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
     }
-    public override float GravityModifier
+    public override float GravModifier
     {
-        get { return base.GravityModifier; }
+        get { return base.GravModifier; }
         set
         {
-            if (base.GravityModifier != value)
+            if (base.GravModifier != value)
             {
-                base.GravityModifier = value;
+                base.GravModifier = value;
                 PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
                 {
-                    if (PhysBody.HasPhysicalBody)
-                        UpdatePhysicalParameters();
+                    UpdatePhysicalParameters();
                 });
             }
         }
@@ -820,7 +816,12 @@ public sealed class BSPrim : BSPhysObject
     //     collisionEvents: whether this object returns collision events
     public void UpdatePhysicalParameters()
     {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+        if (!PhysBody.HasPhysicalBody)
+        {
+            // This would only happen if updates are called for during initialization when the body is not set up yet.
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
+            return;
+        }
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
@@ -898,9 +899,9 @@ public sealed class BSPrim : BSPhysObject
             CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
             PhysicsScene.PE.SetFriction(PhysBody, Friction);
             PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
+            // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -999,16 +1000,11 @@ public sealed class BSPrim : BSPhysObject
         if (PhysBody.HasPhysicalBody)
         {
             PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
-
-            // Must set gravity after it has been added to the world because, for unknown reasons,
-            //     adding the object resets the object's gravity to world gravity
-            OMV.Vector3 grav = ComputeGravity(Buoyancy);
-            PhysicsScene.PE.SetGravity(PhysBody, grav);
         }
         else
         {
             m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+            DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
-- 
cgit v1.1


From 1b203601f43662541526369f540dd04f5b485be6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 21:57:31 -0800
Subject: BulletSim: include the linkage to the layered prim implementation.
 Separate layers for physical (vs simulator) location displacement and
 linksets.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 195 +++++++------------------
 1 file changed, 51 insertions(+), 144 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 85c2627..cf7aa0f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
     [Serializable]
-public sealed class BSPrim : BSPhysObject
+public class BSPrim : BSPhysObject
 {
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS PRIM]";
@@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject
 
         _mass = CalculateMass();
 
-        // Cause linkset variables to be initialized (like mass)
-        Linkset.Refresh(this);
-
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
         PhysicsScene.TaintedObject("BSPrim.create", delegate()
@@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
         base.Destroy();
 
-        // Undo any links between me and any other object
-        BSPhysObject parentBefore = Linkset.LinksetRoot;    // DEBUG DEBUG
-        int childrenBefore = Linkset.NumberOfChildren;      // DEBUG DEBUG
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
 
@@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
-    // Whatever the linkset wants is what I want.
+    // 'unknown' says to choose the best type
     public override BSPhysicsShapeType PreferredPhysicalShape
-        { get { return Linkset.PreferredPhysicalShape(this); } }
+        { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
 
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
@@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject
 
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
-        BSPrim parent = obj as BSPrim;
-        if (parent != null)
-        {
-            BSPhysObject parentBefore = Linkset.LinksetRoot;
-            int childrenBefore = Linkset.NumberOfChildren;
-
-            Linkset = parent.Linkset.AddMeToLinkset(this);
-
-            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
-                LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        }
-        return;
     }
 
     // delink me from my linkset
     public override void delink() {
-        // TODO: decide if this parent checking needs to happen at taint time
-        // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
-
-        BSPhysObject parentBefore = Linkset.LinksetRoot;
-        int childrenBefore = Linkset.NumberOfChildren;
-
-        Linkset = Linkset.RemoveMeFromLinkset(this);
-
-        DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
-            LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-        return;
     }
 
     // Set motion values to zero.
@@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 Position {
         get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // child prims move around based on their parent. Need to get the latest location
-            if (!Linkset.IsRoot(this))
-                _position = Linkset.PositionGet(this);
-            */
-
             // don't do the GetObjectPosition for root elements because this function is called a zillion times.
-            // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
+            // _position = ForcePosition;
             return _position;
         }
         set {
@@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
-
-                // A linkset might need to know if a component information changed.
-                Linkset.UpdateProperties(UpdatedProperties.Position, this);
-
             });
         }
     }
 
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 ActivateIfPhysical(false);
             }
         }
@@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject
         // If the simulator cares about the mass of the linkset, it will sum it itself.
     public override float Mass
     {
-        get
-        {
-            return _mass;
-        }
+        get { return _mass; }
+    }
+    // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
+    public virtual float TotalMass
+    {
+        get { return _mass; }
     }
-
     // used when we only want this prim's mass and not the linkset thing
     public override float RawMass { 
         get { return _mass; }
@@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject
     // Is this used?
     public override OMV.Vector3 CenterOfMass
     {
-        get { return Linkset.CenterOfMass; }
+        get { return RawPosition; }
     }
 
     // Is this used?
     public override OMV.Vector3 GeometricCenter
     {
-        get { return Linkset.GeometricCenter; }
+        get { return RawPosition; }
     }
 
     public override OMV.Vector3 Force {
@@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Quaternion Orientation {
         get {
-            /* NOTE: this refetch is not necessary. The simulator knows about linkset children
-             *    and does not fetch this position info for children. Thus this is commented out.
-            // Children move around because tied to parent. Get a fresh value.
-            if (!Linkset.IsRoot(this))
-            {
-                _orientation = Linkset.OrientationGet(this);
-            }
-             */
             return _orientation;
         }
         set {
@@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 ForceOrientation = _orientation;
-
-                // A linkset might need to know if a component information changed.
-                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
-
             });
         }
     }
@@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject
         {
             _orientation = value;
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject
     //     isSolid: other objects bounce off of this object
     //     isVolumeDetect: other objects pass through but can generate collisions
     //     collisionEvents: whether this object returns collision events
-    public void UpdatePhysicalParameters()
+    public virtual void UpdatePhysicalParameters()
     {
         if (!PhysBody.HasPhysicalBody)
         {
@@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject
         // Rebuild its shape
         PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
-        // Recompute any linkset parameters.
-        // When going from non-physical to physical, this re-enables the constraints that
-        //     had been automatically disabled when the mass was set to zero.
-        // For compound based linksets, this enables and disables interactions of the children.
-        Linkset.Refresh(this);
-
         DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
                         LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
     }
@@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject
     // When dynamic, the object can fall and be pushed by others.
     // This is independent of its 'solidness' which controls what passes through
     //    this object and what interacts with it.
-    private void MakeDynamic(bool makeStatic)
+    protected virtual void MakeDynamic(bool makeStatic)
     {
         if (makeStatic)
         {
@@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject
 
             // This collides like a static object
             PhysBody.collisionType = CollisionType.Static;
-
-            // There can be special things needed for implementing linksets
-            Linkset.MakeStatic(this);
         }
         else
         {
@@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject
             // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
-
-            // Center of mass is at the center of the object
-            // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
+            ForcePosition = _position;
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
             PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
-
-            // There might be special things needed for implementing linksets.
-            Linkset.MakeDynamic(this);
         }
     }
 
@@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject
 
         returnMass = Density * volume;
 
-        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
-        if (IsRootOfLinkset)
-        {
-            foreach (BSPrim prim in _childrenPrims)
-            {
-                returnMass += prim.CalculateMass();
-            }
-        }
-         */
-
         returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
 
         return returnMass;
@@ -1672,8 +1590,7 @@ 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 to be subscribed to by BSLinkset, ...)
-            Linkset.RemoveBodyDependencies(this);
-            VehicleController.RemoveBodyDependencies(this);
+            RemoveBodyDependencies();
         });
 
         // Make sure the properties are set on the new object
@@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject
         return;
     }
 
+    protected virtual void RemoveBodyDependencies()
+    {
+        VehicleController.RemoveBodyDependencies(this);
+    }
+
     // The physics engine says that properties have updated. Update same and inform
     // the world that things have changed.
     public override void UpdateProperties(EntityProperties entprop)
     {
-        // Updates only for individual prims and for the root object of a linkset.
-        if (Linkset.IsRoot(this))
+        // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
+        // TODO: handle physics introduced by Bullet with computed vehicle physics.
+        if (VehicleController.IsActive)
         {
-            // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
-            // TODO: handle physics introduced by Bullet with computed vehicle physics.
-            if (VehicleController.IsActive)
-            {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
-            }
-
-            // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+            entprop.RotationalVelocity = OMV.Vector3.Zero;
+        }
 
-            // Undo any center-of-mass displacement that might have been done.
-            if (PositionDisplacement != OMV.Vector3.Zero)
-            {
-                // Correct for any rotation around the center-of-mass
-                // TODO!!!
-                entprop.Position -= PositionDisplacement;
-            }
+        // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
-            // Assign directly to the local variables so the normal set actions do not happen
-            _position = entprop.Position;
-            _orientation = entprop.Rotation;
-            _velocity = entprop.Velocity;
-            _acceleration = entprop.Acceleration;
-            _rotationalVelocity = entprop.RotationalVelocity;
+        // Assign directly to the local variables so the normal set actions do not happen
+        _position = entprop.Position;
+        _orientation = entprop.Rotation;
+        _velocity = entprop.Velocity;
+        _acceleration = entprop.Acceleration;
+        _rotationalVelocity = entprop.RotationalVelocity;
 
-            // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+        // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
 
-            // The sanity check can change the velocity and/or position.
-            if (PositionSanityCheck(true /* inTaintTime */ ))
-            {
-                entprop.Position = _position;
-                entprop.Velocity = _velocity;
-                entprop.RotationalVelocity = _rotationalVelocity;
-                entprop.Acceleration = _acceleration;
-            }
+        // The sanity check can change the velocity and/or position.
+        if (PositionSanityCheck(true /* inTaintTime */ ))
+        {
+            entprop.Position = _position;
+            entprop.Velocity = _velocity;
+            entprop.RotationalVelocity = _rotationalVelocity;
+            entprop.Acceleration = _acceleration;
+        }
 
-            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
-            DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
+        OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
+        DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
 
-            // remember the current and last set values
-            LastEntityProperties = CurrentEntityProperties;
-            CurrentEntityProperties = entprop;
+        // remember the current and last set values
+        LastEntityProperties = CurrentEntityProperties;
+        CurrentEntityProperties = entprop;
 
-            base.RequestPhysicsterseUpdate();
-        }
+        base.RequestPhysicsterseUpdate();
             /*
         else
         {
@@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject
                     entprop.Acceleration, entprop.RotationalVelocity);
         }
              */
-
-        // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
     }
 }
 }
-- 
cgit v1.1


From fb903ff49089d5fd7a56aa2401528c3e7cf1800c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 10 Feb 2013 09:51:34 -0800
Subject: BulletSim: More work on center-of-mass. Remove linksetinfo and rely
 on simulator to update info.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index cf7aa0f..a76f8b9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -442,7 +442,7 @@ public class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setForce", LocalID,
                     delegate(float timeStep)
                     {
-                        if (!IsPhysicallyActive)
+                        if (!IsPhysicallyActive || _force == OMV.Vector3.Zero)
                         {
                             UnRegisterPreStepAction("BSPrim.setForce", LocalID);
                             return;
@@ -647,7 +647,7 @@ public class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setTorque", LocalID,
                     delegate(float timeStep)
                     {
-                        if (!IsPhysicallyActive)
+                        if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero)
                         {
                             UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
                             return;
-- 
cgit v1.1


From 0194a3d890b95c8a29fcdf130c378e3a8a629c77 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 12 Feb 2013 15:45:44 -0800
Subject: BulletSim: fix density since the simulator/viewer track density in a
 funny unit that is 100 times real density (default 1000). Fix avatar drifting
 slowly when stationary flying. Fix for physical prims getting corrected for
 being under terrain when it was just its geometric center that was below
 terrain. Add PreUpdatePropertyAction allowing plugable modifiction of phys
 parameters returned from Bullet. Fix an exception setting GravityMultiplier
 on initialization. Update DLLs and SOs for good measure (no functional
 change).

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 55 ++++++++++++++++++++++++--
 1 file changed, 52 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a76f8b9..0323b0d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject
     public override void LockAngularMotion(OMV.Vector3 axis)
     {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+
+        OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
+        if (axis.X != 1) locking.X = 0f;
+        if (axis.Y != 1) locking.Y = 0f;
+        if (axis.Z != 1) locking.Z = 0f;
+        LockedAxis = locking;
+
+        /*  Not implemented yet
+        if (LockedAxis != LockedAxisFree)
+        {
+            // Something is locked so start the thingy that keeps that axis from changing
+            RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
+            {
+                if (LockedAxis != LockedAxisFree)
+                {
+                    if (IsPhysicallyActive)
+                    {
+                        // Bullet can lock axis but it only works for global axis.
+                        // Check if this prim is aligned on global axis and use Bullet's
+                        //    system if so.
+
+                        ForceOrientation = entprop.Rotation;
+                        ForceRotationalVelocity = entprop.RotationalVelocity;
+                    }
+                }
+                else
+                {
+                    UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+                }
+
+            });
+        }
+        else
+        {
+            // Everything seems unlocked
+            UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+        }
+         */
+
         return;
     }
 
@@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject
 
         float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
-        if (RawPosition.Z < terrainHeight)
+        float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
+        if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
         {
             DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
@@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject
             }
         }
     }
+    // The simulator/viewer keep density as 100kg/m3.
+    // Remember to use BSParam.DensityScaleFactor to create the physical density.
     public override float Density
     {
         get { return base.Density; }
@@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject
         profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
-        returnMass = Density * volume;
+        returnMass = Density * BSParam.DensityScaleFactor * volume;
+        DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
 
         returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
 
@@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject
     // the world that things have changed.
     public override void UpdateProperties(EntityProperties entprop)
     {
+        TriggerPreUpdatePropertyAction(ref entprop);
+
         // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
         // TODO: handle physics introduced by Bullet with computed vehicle physics.
         if (VehicleController.IsActive)
@@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject
         // Assign directly to the local variables so the normal set actions do not happen
         _position = entprop.Position;
         _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
+        // _velocity = entprop.Velocity;
+        // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
+        //    very sensitive to velocity changes.
+        if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
+            _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
 
-- 
cgit v1.1


From e549c2922ab2af6c4fbe08c3492918a5d5f4ba61 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 16 Feb 2013 19:28:38 -0800
Subject: BulletSim: fix physical object appearing to slowly float off when
 they stop moving.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 0323b0d..4bb2a9e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1667,7 +1667,7 @@ public class BSPrim : BSPhysObject
         // _velocity = entprop.Velocity;
         // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
         //    very sensitive to velocity changes.
-        if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
+        if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, 0.1f))
             _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
-- 
cgit v1.1


From 26421294f644b224234e874210bbfd2a1aabf451 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 17 Feb 2013 20:11:40 -0800
Subject: BulletSim: experimental lock axis code using constraints. Not enabled
 by default. Like more debugging is needed.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 92 ++++++++++++++++++++------
 1 file changed, 72 insertions(+), 20 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4bb2a9e..4d61ad2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -239,50 +239,98 @@ public class BSPrim : BSPhysObject
         });
     }
 
+    bool TryExperimentalLockAxisCode = false;
+    BSConstraint LockAxisConstraint = null;
     public override void LockAngularMotion(OMV.Vector3 axis)
     {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
 
+        // "1" means free, "0" means locked
         OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
         if (axis.X != 1) locking.X = 0f;
         if (axis.Y != 1) locking.Y = 0f;
         if (axis.Z != 1) locking.Z = 0f;
         LockedAxis = locking;
 
-        /*  Not implemented yet
-        if (LockedAxis != LockedAxisFree)
+        if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree)
         {
-            // Something is locked so start the thingy that keeps that axis from changing
-            RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
+            // Lock that axis by creating a 6DOF constraint that has one end in the world and
+            //    the other in the object.
+            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
+
+            PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
             {
-                if (LockedAxis != LockedAxisFree)
+                CleanUpLockAxisPhysicals(true /* inTaintTime */);
+
+                BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, 
+                                    OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation),
+                                    true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+                LockAxisConstraint = axisConstrainer;
+                PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
+
+                // The constraint is tied to the world and oriented to the prim.
+
+                // Free to move linearly
+                OMV.Vector3 linearLow = OMV.Vector3.Zero;
+                OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
+                axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+
+                // Angular with some axis locked
+                float f2PI = (float)Math.PI * 2f;
+                OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
+                OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
+                if (LockedAxis.X != 1f)
                 {
-                    if (IsPhysicallyActive)
-                    {
-                        // Bullet can lock axis but it only works for global axis.
-                        // Check if this prim is aligned on global axis and use Bullet's
-                        //    system if so.
-
-                        ForceOrientation = entprop.Rotation;
-                        ForceRotationalVelocity = entprop.RotationalVelocity;
-                    }
+                    angularLow.X = 0f;
+                    angularHigh.X = 0f;
                 }
-                else
+                if (LockedAxis.Y != 1f)
                 {
-                    UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+                    angularLow.Y = 0f;
+                    angularHigh.Y = 0f;
                 }
+                if (LockedAxis.Z != 1f)
+                {
+                    angularLow.Z = 0f;
+                    angularHigh.Z = 0f;
+                }
+                axisConstrainer.SetAngularLimits(angularLow, angularHigh);
+
+                DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+                                            LocalID, linearLow, linearHigh, angularLow, angularHigh);
+
+                // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+                axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
 
+                axisConstrainer.RecomputeConstraintVariables(RawMass);
             });
         }
         else
         {
             // Everything seems unlocked
-            UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
+            CleanUpLockAxisPhysicals(false /* inTaintTime */);
         }
-         */
 
         return;
     }
+    // Get rid of any constraint built for LockAxis
+    // Most often the constraint is removed when the constraint collection is cleaned for this prim.
+    private void CleanUpLockAxisPhysicals(bool inTaintTime)
+    {
+        if (LockAxisConstraint != null)
+        {
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate()
+            {
+                if (LockAxisConstraint != null)
+                {
+                    PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
+                    LockAxisConstraint = null;
+                    DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID);
+                }
+            });
+        }
+    }
 
     public override OMV.Vector3 RawPosition
     {
@@ -762,6 +810,7 @@ public class BSPrim : BSPhysObject
                     SetObjectDynamic(true);
                     // whether phys-to-static or static-to-phys, the object is not moving.
                     ZeroMotion(true);
+
                 });
             }
         }
@@ -885,6 +934,8 @@ public class BSPrim : BSPhysObject
 
             // For good measure, make sure the transform is set through to the motion state
             ForcePosition = _position;
+            ForceVelocity = _velocity;
+            ForceRotationalVelocity = _rotationalVelocity;
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -1064,8 +1115,8 @@ public class BSPrim : BSPhysObject
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Force the recalculation of the various inertia,etc variables in the object
-            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
-            UpdatePhysicalMassProperties(_mass, true);
+            UpdatePhysicalMassProperties(RawMass, true);
+            DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity);
             ActivateIfPhysical(false);
         }
     }
@@ -1303,6 +1354,7 @@ public class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
+                    DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
                     PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
                     ActivateIfPhysical(false);
                 }
-- 
cgit v1.1


From efb5da0aa672551a8a68e16066f3dd3991f75da4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 21 Feb 2013 08:52:11 -0800
Subject: BulletSim: add OutOfBounds logic and some position sanity checking to
 eliminate some of the "cannot find terrain height" warning messages.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 27 +++++++++++++++++++++++---
 1 file changed, 24 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d61ad2..4dff927 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -70,6 +70,8 @@ public class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    private int CrossingFailures { get; set; }
+
     public BSDynamics VehicleController { get; private set; }
 
     private BSVMotor _targetMotor;
@@ -197,7 +199,20 @@ public class BSPrim : BSPhysObject
     {
         get { return _isSelected; }
     }
-    public override void CrossingFailure() { return; }
+
+    public override void CrossingFailure()
+    {
+        CrossingFailures++;
+        if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            base.RaiseOutOfBounds(RawPosition);
+        }
+        else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
+        }
+        return;
+    }
 
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
@@ -1123,7 +1138,11 @@ public class BSPrim : BSPhysObject
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
+        set
+        {
+            // TODO: add a sanity check -- don't move more than a region or something like that.
+            _PIDTarget = value;
+        }
     }
     public override float PIDTau {
         set { _PIDTau = value; }
@@ -1177,7 +1196,9 @@ public class BSPrim : BSPhysObject
                     }
                     else
                     {
-                        ForcePosition = movePosition;
+                        _position = movePosition;
+                        PositionSanityCheck(true /* intaintTime */);
+                        ForcePosition = _position;
                     }
                     DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
                 });
-- 
cgit v1.1


From bf9132e1c7a1ddaf291101f60f43c0cbd0f53662 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 26 Feb 2013 11:32:01 -0800
Subject: BulletSim: fix crash around race condition when a mesh asset cannot
 be fetched. Update TODO list.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4dff927..8f660c4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -470,7 +470,7 @@ public class BSPrim : BSPhysObject
     // Note that this does not change _mass!
     public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
     {
-        if (PhysBody.HasPhysicalBody)
+        if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
         {
             if (IsStatic)
             {
-- 
cgit v1.1


From 1c740798b45dddb3e056b2e281fe98de6bf35143 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 1 Mar 2013 08:52:06 -0800
Subject: BulletSim: add parameters, code cleanup around checking and enforcing
 maximum velocity and angular velocity values for prims.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 47 ++++++++++++++++++++++----
 1 file changed, 41 insertions(+), 6 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8f660c4..a465613 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -108,6 +108,9 @@ public class BSPrim : BSPhysObject
         // do the actual object creation at taint time
         PhysicsScene.TaintedObject("BSPrim.create", delegate()
         {
+            // Make sure the object is being created with some sanity.
+            ExtremeSanityCheck(true /* inTaintTime */);
+
             CreateGeomAndObject(true);
 
             CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
@@ -450,6 +453,38 @@ public class BSPrim : BSPhysObject
         return ret;
     }
 
+    // Occasionally things will fly off and really get lost.
+    // Find the wanderers and bring them back.
+    // Return 'true' if some parameter need some sanity.
+    private bool ExtremeSanityCheck(bool inTaintTime)
+    {
+        bool ret = false;
+
+        uint wayOutThere = Constants.RegionSize * Constants.RegionSize;
+        // There have been instances of objects getting thrown way out of bounds and crashing
+        //    the border crossing code.
+        if (   _position.X < -Constants.RegionSize || _position.X > wayOutThere
+            || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere
+            || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere)
+        {
+            _position = new OMV.Vector3(10, 10, 50);
+            ZeroMotion(inTaintTime);
+            ret = true;
+        }
+        if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity)
+        {
+            _velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity);
+            ret = true;
+        }
+        if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
+        {
+            _rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
+            ret = true;
+        }
+
+        return ret;
+    }
+
     // Return the effective mass of the object.
         // The definition of this call is to return the mass of the prim.
         // If the simulator cares about the mass of the linkset, it will sum it itself.
@@ -585,12 +620,12 @@ public class BSPrim : BSPhysObject
                 if (VehicleController.Type == Vehicle.TYPE_NONE)
                 {
                     UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
-                    PhysicsScene.AfterStep -= VehicleController.PostStep;
+                    UnRegisterPostStepAction("BSPrim.Vehicle", LocalID);
                 }
                 else
                 {
                     RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
-                    PhysicsScene.AfterStep += VehicleController.PostStep;
+                    RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep);
                 }
             });
         }
@@ -732,7 +767,7 @@ public class BSPrim : BSPhysObject
         set {
             PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
 
-            _velocity = value;
+            _velocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
             if (PhysBody.HasPhysicalBody)
             {
                 DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
@@ -1098,7 +1133,7 @@ public class BSPrim : BSPhysObject
             return _rotationalVelocity;
         }
         set {
-            _rotationalVelocity = value;
+            _rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
             if (PhysBody.HasPhysicalBody)
             {
                 DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
@@ -1230,6 +1265,7 @@ public class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
                 {
+                    // Don't do hovering while the object is selected.
                     if (!IsPhysicallyActive)
                         return;
 
@@ -1737,10 +1773,9 @@ public class BSPrim : BSPhysObject
         // Assign directly to the local variables so the normal set actions do not happen
         _position = entprop.Position;
         _orientation = entprop.Rotation;
-        // _velocity = entprop.Velocity;
         // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
         //    very sensitive to velocity changes.
-        if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, 0.1f))
+        if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold))
             _velocity = entprop.Velocity;
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
-- 
cgit v1.1


From 8510f57ad48db5f97dacc2a9be63c64e62477d14 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 17 Mar 2013 18:44:09 -0700
Subject: BulletSim: add terrain contact processing threshold parameter.
 Initialize contact processing threshold for static object as well as mesh
 terrain.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a465613..2cbbe9a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -947,9 +947,9 @@ public class BSPrim : BSPhysObject
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
             PhysicsScene.PE.SetFriction(PhysBody, Friction);
             PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
+            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
-- 
cgit v1.1


From 953090fd62c2f8647d0e04bc3890a04a7076dbad Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 23 Mar 2013 11:00:52 -0700
Subject: BulletSim: fix possible race condition where an prim's asset can be
 requested quicker than the asset fetcher returns and thus falsely reporting
 that an asset was not fetched and defaulting the assset to a bounding box.

---
 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 2cbbe9a..6a5461a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -155,7 +155,7 @@ public class BSPrim : BSPhysObject
     public override PrimitiveBaseShape Shape {
         set {
             BaseShape = value;
-            LastAssetBuildFailed = false;
+            PrimAssetState = PrimAssetCondition.Unknown;
             ForceBodyShapeRebuild(false);
         }
     }
-- 
cgit v1.1