From 65c131c4a362bed347a6240184ce40b9ddeaaae1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 08:23:21 -0700
Subject: BulletSim: remove trailing spaces to make git happy.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 6621d39..233f1ca 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -320,7 +320,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         m_log.Debug("[BULLETS UNMANAGED]:" + msg);
     }
-  
+
     // Called directly from unmanaged code so don't do much
     private void BulletLoggerPhysLog(string msg)
     {
@@ -545,7 +545,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
 
         // This is a kludge to get avatar movement updates.
-        // The simulator expects collisions for avatars even if there are have been no collisions. 
+        // The simulator expects collisions for avatars even if there are have been no collisions.
         //    The event updates avatar animations and stuff.
         // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
         foreach (BSPhysObject bsp in m_avatars)
-- 
cgit v1.1


From 14eeb8b31b865f7b1927703028b03b6f61693cb6 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 16:33:21 -0700
Subject: BulletSim: fix bug that caused error (and a crash on 32 bit Linux)
 when mesh assets weren't already in the cache. Comment cleanups.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 233f1ca..48ee6f6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -716,6 +716,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                     }
                     catch (Exception e)
                     {
+                        DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
                         m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
                     }
                 }
-- 
cgit v1.1


From 36bfd3667c44f7cd4e66e880c45c34903ed34842 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 22 Oct 2012 22:22:48 -0700
Subject: BulletSim: remove chatty debug message.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 48ee6f6..e686f2f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1334,7 +1334,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         // Add the Flush() if debugging crashes to get all the messages written out.
         // PhysicsLogging.Flush();
     }
-    // used to fill in the LocalID when there isn't one
+    // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
     public const string DetailLogZero = "0000000000";
 
 }
-- 
cgit v1.1


From b6fc5bad000e7e7af992e7f29eeb2de9f716fcc4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 23 Oct 2012 17:30:43 -0700
Subject: BulletSim: fix problem with avatars sinking into the ground. Change
 terrain activation state to DISABLE_SIMULATION for better performance.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e686f2f..db0c99e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
         {
-            // swizzle a new list into the list location so we can process what's there
             int taintCount = m_taintsToProcessPerStep;
             TaintCallbackEntry oneCallback = new TaintCallbackEntry();
             while (_taintedObjects.Count > 0 && taintCount-- > 0)
@@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 {
                     try
                     {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
+                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
                         oneCallback.callback();
                     }
                     catch (Exception e)
-- 
cgit v1.1


From 804b332d45c3989958f5ec08e1509ba373fb84b1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 25 Oct 2012 08:04:20 -0700
Subject: BulletSim: Add banking and other new code to vechile dynamics. Add
 third party license and contributor in for for Aurora-Sim project for physics
 code.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index db0c99e..9e95ce5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -62,7 +62,7 @@ using OpenMetaverse;
 //
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSScene : PhysicsScene, IPhysicsParameters
+public sealed class BSScene : PhysicsScene, IPhysicsParameters
 {
     private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS SCENE]";
-- 
cgit v1.1


From 9568f24c2628312f366c99ce6beb5c193aace33c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Oct 2012 11:38:01 -0700
Subject: BulletSim: add post taint taints and post step taints. The post
 taints operation is most useful and is used by linksets to build and rebuild
 only once before the simulation step.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 138 +++++++++++++++++++++---
 1 file changed, 122 insertions(+), 16 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 9e95ce5..cb52937 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -171,7 +171,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
     private Object _taintLock = new Object();   // lock for using the next object
-    private List<TaintCallbackEntry> _taintedObjects;
+    private List<TaintCallbackEntry> _taintOperations;
+    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
+    private List<TaintCallbackEntry> _postStepOperations;
 
     // A pointer to an instance if this structure is passed to the C++ code
     // Used to pass basic configuration values to the unmanaged code.
@@ -203,7 +205,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
     {
         mesher = meshmerizer;
-        _taintedObjects = new List<TaintCallbackEntry>();
+        _taintOperations = new List<TaintCallbackEntry>();
+        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+        _postStepOperations = new List<TaintCallbackEntry>();
         PhysObjects = new Dictionary<uint, BSPhysObject>();
         Shapes = new BSShapeCollection(this);
 
@@ -475,23 +479,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return 5.0f;
 
         // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintedObjects.Count;
+        int numTaints = _taintOperations.Count;
         ProcessTaints();
 
         // Some of the prims operate with special vehicle properties
         ProcessVehicles(timeStep);
-        numTaints += _taintedObjects.Count;
+        numTaints += _taintOperations.Count;
         ProcessTaints();    // the vehicles might have added taints
 
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
 
-        // DEBUG
-        // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
-
         try
         {
+            // DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -500,6 +502,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
             DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
                         DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
+            // DumpVehicles();  // DEBUG
         }
         catch (Exception e)
         {
@@ -579,6 +582,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         // Only enable this in a limited test world with few objects.
         // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
 
+        ProcessPostStepTaints();
+
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // We multiply by 55 to give a recognizable running rate (55 or less).
@@ -670,6 +675,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override bool IsThreaded { get { return false;  } }
 
+    #region Taints
+
     // Calls to the PhysicsActors can't directly call into the physics engine
     // because it might be busy. We delay changes to a known time.
     // We rely on C#'s closure to save and restore the context for the delegate.
@@ -679,7 +686,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         lock (_taintLock)
         {
-            _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
+            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
         }
 
         return;
@@ -690,19 +697,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
-        if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
+        ProcessRegularTaints();
+        ProcessPostTaintTaints();
+    }
+
+    private void ProcessRegularTaints()
+    {
+        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
         {
             int taintCount = m_taintsToProcessPerStep;
             TaintCallbackEntry oneCallback = new TaintCallbackEntry();
-            while (_taintedObjects.Count > 0 && taintCount-- > 0)
+            while (_taintOperations.Count > 0 && taintCount-- > 0)
             {
                 bool gotOne = false;
                 lock (_taintLock)
                 {
-                    if (_taintedObjects.Count > 0)
+                    if (_taintOperations.Count > 0)
                     {
-                        oneCallback = _taintedObjects[0];
-                        _taintedObjects.RemoveAt(0);
+                        oneCallback = _taintOperations[0];
+                        _taintOperations.RemoveAt(0);
                         gotOne = true;
                     }
                 }
@@ -746,6 +759,89 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
 
+    // Schedule an update to happen after all the regular taints are processed.
+    // Note that new requests for the same operation ("ident") for the same object ("ID")
+    //     will replace any previous operation by the same object.
+    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
+    {
+        if (!m_initialized) return;
+
+        lock (_taintLock)
+        {
+            _postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback);
+        }
+
+        return;
+    }
+
+    private void ProcessPostTaintTaints()
+    {
+        if (_postTaintOperations.Count > 0)
+        {
+            Dictionary<string, TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _postTaintOperations;
+                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+            }
+
+            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
+                    kvp.Value.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    public void PostStepTaintObject(String ident, TaintCallback callback)
+    {
+        if (!m_initialized) return;
+
+        lock (_taintLock)
+        {
+            _postStepOperations.Add(new TaintCallbackEntry(ident, callback));
+        }
+
+        return;
+    }
+
+    private void ProcessPostStepTaints()
+    {
+        if (_postStepOperations.Count > 0)
+        {
+            List<TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _postStepOperations;
+                _postStepOperations = new List<TaintCallbackEntry>();
+            }
+
+            foreach (TaintCallbackEntry tcbe in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
+                    tcbe.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    #endregion // Taints
+
     #region Vehicles
 
     public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
@@ -1006,7 +1102,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
@@ -1128,12 +1224,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
             (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
 	    new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.001f,
+            0.1f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintCFM; },
             (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
 	    new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.8f,
+            0.1f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintERP; },
             (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
@@ -1326,6 +1422,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion Runtime settable parameters
 
+    // Debugging routine for dumping detailed physical information for vehicle prims
+    private void DumpVehicles()
+    {
+        foreach (BSPrim prim in m_vehicles)
+        {
+            BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr);
+            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr);
+        }
+    }
+
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {
-- 
cgit v1.1


From dae038a117c3110970d6fe0b743e20f342df2269 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 29 Oct 2012 14:30:16 -0700
Subject: BulletSim: fix problem with multiple linksets stepping on each other
 if they are built at the same time.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index cb52937..c27b5f0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -578,12 +578,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        ProcessPostStepTaints();
+
         // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
         // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
 
-        ProcessPostStepTaints();
-
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // We multiply by 55 to give a recognizable running rate (55 or less).
@@ -766,9 +766,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         if (!m_initialized) return;
 
+        string uniqueIdent = ident + "-" + ID.ToString();
         lock (_taintLock)
         {
-            _postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback);
+            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
         }
 
         return;
-- 
cgit v1.1


From 364a7c308804a3e331199ca60c6dfafa406b5d0d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 31 Oct 2012 14:49:28 -0700
Subject: BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add
 skeleton of BSLinksetCompound.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c27b5f0..cc5dbb2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1067,49 +1067,49 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].deactivationTime; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearSleepingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularSleepingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0f,     // set to zero to disable
             (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].contactProcessingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
 
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
@@ -1428,8 +1428,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         foreach (BSPrim prim in m_vehicles)
         {
-            BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr);
-            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr);
+            BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
+            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
         }
     }
 
-- 
cgit v1.1


From b0eccd5044b1a20b995a62d6fb76fdd73b712f9a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 09:53:41 -0700
Subject: BulletSim: debugging of compound shape implementation of linksets.
 Add compound shape creation and freeing in shape manager. Add optional
 taint-time execution method and update code to use it. Add API2 linkage for
 more compound shape methods (get num, get/remove by index, ...) Modify
 perferred shape return so linkset children can have differet shapes than
 root. Add Position and Orientation calls to linksets so children can be moved
 around by     the linkset by its own calculation. Allows for very general
 linkset implementations.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index cc5dbb2..dcfcb83 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -692,6 +692,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         return;
     }
 
+    // Sometimes a potentially tainted operation can be used in and out of taint time.
+    // This routine executes the command immediately if in taint-time otherwise it is queued.
+    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
+    {
+        if (inTaintTime)
+            callback();
+        else
+            TaintedObject(ident, callback);
+    }
+
     // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
     // a callback into itself to do the actual property change. That callback is called
     // here just before the physics engine is called to step the simulation.
@@ -1438,7 +1448,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes to get all the messages written out.
-        // PhysicsLogging.Flush();
+        PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
     public const string DetailLogZero = "0000000000";
-- 
cgit v1.1


From 1dc23b2b9713f4099534ae0d08c2caf5c8b036b4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 10:35:12 -0700
Subject: BulletSim: parameterize selection of linkset implementation

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index dcfcb83..13aa860 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1214,6 +1214,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].numberOfSolverIterations; },
             (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
 
+	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)",
+            (float)BSLinkset.LinksetImplementation.Constraint,
+            (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return s.m_params[0].linksetImplementation; },
+            (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
 	    new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
             ConfigurationParameters.numericFalse,
             (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
-- 
cgit v1.1


From 498ea76e637961d8b4e3d39b758f7f2dea2fe998 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 17:22:34 -0700
Subject: BulletSim: Move construction of compound linkset from ShapeCollection
     into LinksetCompound where it should be. Create meshes for native shapes
 when part of a compound linkset because     scale is currently per object and
 not per collision shape. Don't schedule a LinksetCompound refresh if just
 changing properties.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 24 ++++++++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 13aa860..de35359 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -116,6 +116,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // True if initialized and ready to do simulation steps
     private bool m_initialized = false;
 
+    // Flag which is true when processing taints.
+    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
+    public bool InTaintTime { get; private set; }
+
     // Pinned memory used to pass step information between managed and unmanaged
     private int m_maxCollisionsPerFrame;
     private CollisionDesc[] m_collisionArray;
@@ -270,6 +274,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         TerrainManager = new BSTerrainManager(this);
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
+        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation);
+
+        InTaintTime = false;
         m_initialized = true;
     }
 
@@ -707,8 +714,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
+        InTaintTime = true;
         ProcessRegularTaints();
         ProcessPostTaintTaints();
+        InTaintTime = false;
     }
 
     private void ProcessRegularTaints()
@@ -851,6 +860,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
 
+    public bool AssertInTaintTime(string whereFrom)
+    {
+        if (!InTaintTime)
+        {
+            DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
+            m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
+            Util.PrintCallStack();
+        }
+        return InTaintTime;
+    }
+
     #endregion // Taints
 
     #region Vehicles
@@ -1214,8 +1234,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].numberOfSolverIterations; },
             (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
 
-	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)",
-            (float)BSLinkset.LinksetImplementation.Constraint,
+	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
+            (float)BSLinkset.LinksetImplementation.Compound,
             (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
             (s) => { return s.m_params[0].linksetImplementation; },
             (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
-- 
cgit v1.1


From 894bb4893b8bb269f8561737e4603a9b31183f2c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 3 Nov 2012 18:26:00 -0700
Subject: BulletSim: search the mesh and hull lists to find shapes if type is
 not known. This makes sure the correct accounting is done for the particular
 shape.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index de35359..c2e0ef1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1472,7 +1472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes to get all the messages written out.
+        // Add the Flush() if debugging crashes. Gets all the messages written out.
         PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
-- 
cgit v1.1


From 79f7c466a116bf368423d4e18163f34fd8d66ce1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 3 Nov 2012 21:08:39 -0700
Subject: BulletSim: fix compound linkset crash by not freeing shape of child
 prims. Remove all compilation warnings (mostly 'protected' in sealed
 classes.) Add the dynamicAabbEnable parameter to creation of compound shapes.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c2e0ef1..740f339 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1391,7 +1391,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
+    private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
         List<uint> objectIDs = new List<uint>();
         switch (localID)
@@ -1416,7 +1416,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
+    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
         float xval = val;
         List<uint> xlIDs = lIDs;
-- 
cgit v1.1


From e2130817e5c033ef671f0af512f568e422ec7887 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 6 Nov 2012 17:54:36 -0800
Subject: BulletSim: remove limit on taints that can happen before a step.
 Remove some debugging code (detail log flushing).

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 28 ++++++++++++++-----------
 1 file changed, 16 insertions(+), 12 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 740f339..1cc607a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -491,7 +491,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // Some of the prims operate with special vehicle properties
         ProcessVehicles(timeStep);
-        numTaints += _taintOperations.Count;
         ProcessTaints();    // the vehicles might have added taints
 
         // step the physical world one interval
@@ -500,7 +499,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         try
         {
-            // DumpVehicles();  // DEBUG
+            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -509,7 +508,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
             DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
                         DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
-            // DumpVehicles();  // DEBUG
+            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
         }
         catch (Exception e)
         {
@@ -521,7 +520,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             collidersCount = 0;
         }
 
-
         // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
 
         // Get a value for 'now' so all the collision and update routines don't have to get their own
@@ -724,6 +722,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
         {
+            /*
+            // Code to limit the number of taints processed per step. Meant to limit step time.
+            // Unsure if a good idea as code assumes that taints are done before the step.
             int taintCount = m_taintsToProcessPerStep;
             TaintCallbackEntry oneCallback = new TaintCallbackEntry();
             while (_taintOperations.Count > 0 && taintCount-- > 0)
@@ -752,13 +753,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                     }
                 }
             }
-            /*
+            if (_taintOperations.Count > 0)
+            {
+                DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
+            }
+             */
             // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
             {
-                oldList = _taintedObjects;
-                _taintedObjects = new List<TaintCallbackEntry>();
+                oldList = _taintOperations;
+                _taintOperations = new List<TaintCallbackEntry>();
             }
 
             foreach (TaintCallbackEntry tcbe in oldList)
@@ -774,7 +779,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 }
             }
             oldList.Clear();
-             */
         }
     }
 
@@ -1043,7 +1047,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return (float)s.m_maxUpdatesPerFrame; },
             (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
         new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            100f,
+            500f,
             (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
             (s) => { return (float)s.m_taintsToProcessPerStep; },
             (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
@@ -1097,13 +1101,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
@@ -1473,7 +1477,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes. Gets all the messages written out.
-        PhysicsLogging.Flush();
+        // PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
     public const string DetailLogZero = "0000000000";
-- 
cgit v1.1


From 6c961d8addf5c6aad81165042e684e45429b3b21 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 18 Nov 2012 22:58:36 -0800
Subject: BulletSim: Use base class constructors for initialization of BSShape
 and other classes.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 1cc607a..2fee95e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     #region Taints
 
     // Calls to the PhysicsActors can't directly call into the physics engine
-    // because it might be busy. We delay changes to a known time.
+    //       because it might be busy. We delay changes to a known time.
     // We rely on C#'s closure to save and restore the context for the delegate.
     public void TaintedObject(String ident, TaintCallback callback)
     {
-- 
cgit v1.1


From 2f5fe4b88e8eb0388cc2138c48a941b1317ed560 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 20 Nov 2012 08:34:18 -0800
Subject: BulletSim: tweek avatar capsule parameters so avatar feet don't go
 below ground. This solves the bouncing, short avatar problem (Mantis 6403).

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 2fee95e..58dccea 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -712,7 +712,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
-        InTaintTime = true;
+        InTaintTime = true; // Only used for debugging so locking is not necessary.
         ProcessRegularTaints();
         ProcessPostTaintTaints();
         InTaintTime = false;
@@ -758,6 +758,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
             }
              */
+
             // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
@@ -787,8 +788,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     //     will replace any previous operation by the same object.
     public void PostTaintObject(String ident, uint ID, TaintCallback callback)
     {
-        if (!m_initialized) return;
-
         string uniqueIdent = ident + "-" + ID.ToString();
         lock (_taintLock)
         {
@@ -864,13 +863,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
 
+    // Only used for debugging. Does not change state of anything so locking is not necessary.
     public bool AssertInTaintTime(string whereFrom)
     {
         if (!InTaintTime)
         {
             DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
             m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack();
+            Util.PrintCallStack();  // Prints the stack into the DEBUG log file.
         }
         return InTaintTime;
     }
@@ -1186,7 +1186,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].avatarCapsuleRadius; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
         new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
+            // 1.5f,
+            2.140599f,
             (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarCapsuleHeight; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
-- 
cgit v1.1


From a59368c4a1889ccd79da9e564ee84b213a7f6fbd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 21 Nov 2012 10:37:40 -0800
Subject: BulletSim: add terrainImplementation parameter with default to Mesh.

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

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 58dccea..0e73d04 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1145,6 +1145,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
             (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
 
+	    new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
+            (float)BSTerrainPhys.TerrainImplementation.Mesh,
+            (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
+            (s) => { return s.m_params[0].terrainImplementation; },
+            (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
             (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
-- 
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From cbc7e7bf85bfd9e916146b0ae4a605996c24720b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 21 Nov 2012 16:31:23 -0800
Subject: BulletSim: Make avatar capsule so it is not circular. Simple attempt
 to make avatars better shaped. Replace parameter 'avatarCapsuleRadius' with
 'avatarCapsuleWidth' and 'avatarCapsuleDepth'. More tweeking to avatar height
 calculation. A little better but short avatar's feet are above the terrain
 and tall avatar's feet are a little below the ground.

---
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

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

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 0e73d04..27a78d1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1185,14 +1185,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarRestitution; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
-            0.37f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
+            0.6f,
+            (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarCapsuleWidth; },
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarCapsuleDepth; },
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
         new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            // 1.5f,
-            2.140599f,
+            1.5f,
             (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarCapsuleHeight; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
-- 
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