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;
     }
 
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