Merge branch 'master' of /home/opensim/var/repo/opensim

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -307,7 +307,7 @@ public sealed class BSCharacter : BSPhysObject
         }
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
-            float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -445,9 +445,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
                                     | VehicleFlag.HOVER_GLOBAL_HEIGHT
                                     | VehicleFlag.LIMIT_ROLL_ONLY
+                                    | VehicleFlag.LIMIT_MOTOR_UP
                                     | VehicleFlag.HOVER_UP_ONLY);
                     m_flags |= (VehicleFlag.NO_DEFLECTION_UP
-                                    | VehicleFlag.LIMIT_MOTOR_UP
                                     | VehicleFlag.HOVER_WATER_ONLY);
                     break;
                 case Vehicle.TYPE_AIRPLANE:
@@ -713,7 +713,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // We should hover, get the target height
                 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
                 {
-                    m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
+                    m_VhoverTargetHeight = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
                 }
                 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
                 {
@@ -730,6 +730,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     if (pos.Z > m_VhoverTargetHeight)
                         m_VhoverTargetHeight = pos.Z;
                 }
+                
                 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
                 {
                     if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
@@ -804,6 +805,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             return changed;
         }
 
+        // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+        //    Prevent ground vehicles from motoring into the sky.This flag has a subtle effect when
+        //    used with conjunction with banking: the strength of the banking will decay when the
+        //    vehicle no longer experiences collisions. The decay timescale is the same as
+        //    VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
+        //    when they are in mid jump. 
+        // TODO: this code is wrong. Also, what should it do for boats?
         public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight)
         {
             Vector3 ret = Vector3.Zero;
@@ -817,10 +825,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
                     ret = new Vector3(0, 0, -distanceAboveGround);
                 }
-                // TODO: this calculation is all wrong. From the description at
+                // TODO: this calculation is wrong. From the description at
                 //     (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
                 //     has a decay factor. This says this force should
                 //     be computed with a motor.
+                // TODO: add interaction with banking.
                 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
                                     Prim.LocalID, distanceAboveGround, ret);
             }
@@ -863,7 +872,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
 
             // ==================================================================
-            // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            //    This flag prevents linear deflection parallel to world z-axis. This is useful
+            //    for preventing ground vehicles with large linear deflection, like bumper cars,
+            //    from climbing their linear deflection into the sky. 
+            // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
             if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
             {
                 angularMotorContribution.X = 0f;
@@ -883,8 +896,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Sum velocities
             m_lastAngularVelocity = angularMotorContribution
                                     + verticalAttractionContribution
-                                    + bankingContribution
+                                    + deflectionContribution
-                                    + deflectionContribution;
+                                    + bankingContribution;
 
             // ==================================================================
             //Offset section
@@ -921,8 +934,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {
                 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
-                Prim.ZeroAngularMotion(true);
+                // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle.
                 VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
+                Prim.ZeroAngularMotion(true);
             }
             else
             {

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);
+            // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
-            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            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)
             {

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -127,7 +127,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     public const uint GROUNDPLANE_ID = 1;
     public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
 
-    private float m_waterLevel;
+    public float SimpleWaterLevel { get; set; }
     public BSTerrainManager TerrainManager { get; private set; }
 
     public ConfigurationParameters Params
@@ -182,6 +182,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private string m_physicsLoggingDir;
     private string m_physicsLoggingPrefix;
     private int m_physicsLoggingFileMinutes;
+    private bool m_physicsLoggingDoFlush;
     // 'true' of the vehicle code is to log lots of details
     public bool VehicleLoggingEnabled { get; private set; }
 
@@ -290,6 +291,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
                 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
+                m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
                 // Very detailed logging for vehicle debugging
                 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
 
@@ -494,7 +496,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         try
         {
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            // if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -503,7 +505,7 @@ 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);
-            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            // if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
         }
         catch (Exception e)
         {
@@ -634,12 +636,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override void SetWaterLevel(float baseheight)
     {
-        m_waterLevel = baseheight;
+        SimpleWaterLevel = baseheight;
-    }
-    // Someday....
-    public float GetWaterLevelAtXYZ(Vector3 loc)
-    {
-        return m_waterLevel;
     }
 
     public override void DeleteTerrain()
@@ -1493,7 +1490,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     {
         PhysicsLogging.Write(msg, args);
         // Add the Flush() if debugging crashes. Gets all the messages written out.
-        // PhysicsLogging.Flush();
+        if (m_physicsLoggingDoFlush) 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";

OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs

@@ -148,7 +148,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     }
 
     // The passed position is relative to the base of the region.
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
 
@@ -166,5 +166,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         }
         return ret;
     }
+
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs

@@ -62,7 +62,8 @@ public abstract class BSTerrainPhys : IDisposable
         ID = id;
     }
     public abstract void Dispose();
-    public abstract float GetHeightAtXYZ(Vector3 pos);
+    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
+    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
 }
 
 // ==========================================================================================
@@ -75,6 +76,7 @@ public sealed class BSTerrainManager
     public const float HEIGHT_INITIALIZATION = 24.987f;
     public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
     public const float HEIGHT_GETHEIGHT_RET = 24.765f;
+    public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
 
     // If the min and max height are equal, we reduce the min by this
     //    amount to make sure that a bounding box is built for the terrain.
@@ -358,7 +360,7 @@ public sealed class BSTerrainManager
             BSTerrainPhys physTerrain;
             if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
             {
-                ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
+                ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ);
             }
             else
             {
@@ -370,6 +372,33 @@ public sealed class BSTerrainManager
         return ret;
     }
 
+    public float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        float ret = WATER_HEIGHT_GETHEIGHT_RET;
+
+        float tX = pos.X;
+        float tY = pos.Y;
+
+        Vector3 terrainBaseXYZ = Vector3.Zero;
+        terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
+        terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
+
+        lock (m_terrains)
+        {
+            BSTerrainPhys physTerrain;
+            if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
+            {
+                ret = physTerrain.GetWaterLevelAtXYZ(pos);
+            }
+            else
+            {
+                PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
+                        LogHeader, PhysicsScene.RegionName, tX, tY);
+            }
+        }
+        return ret;
+    }
+
     // Although no one seems to check this, I do support combining.
     public bool SupportsCombining()
     {

OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs

@@ -148,7 +148,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         }
     }
 
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         // For the moment use the saved heightmap to get the terrain height.
         // TODO: raycast downward to find the true terrain below the position.
@@ -169,6 +169,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         return ret;
     }
 
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
     // Return 'true' if successfully created.
     public static bool ConvertHeightmapToMesh(