BulletSim: Added avatar capsule scaling for size of avatar.

This also fixes computation of avatar mass.
Added parameter MaxPersistantManifoldPoolSize.
Fixed a parameter setting bug which caused crashes of there were
  more than 400 or so physical objects. I tested up to 5000.
Updated BulletSim DLLs and SOs.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -102,7 +102,9 @@ public class BSCharacter : PhysicsActor
         _orientation = Quaternion.Identity;
         _velocity = Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _scale = new Vector3(1f, 1f, 1f);
+        // The dimensions of the avatar capsule are kept in the scale.
+        // Physics creates a unit capsule which is scaled by the physics engine.
+        _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z);
         _density = _scene.Params.avatarDensity;
         ComputeAvatarVolumeAndMass();   // set _avatarVolume and _mass based on capsule size, _density and _scale
 
@@ -150,9 +152,28 @@ public class BSCharacter : PhysicsActor
     public override bool Stopped { 
         get { return false; } 
     }
-    public override Vector3 Size { 
+    public override Vector3 Size {
-        get { return _size; } 
+        get
-        set { _size = value;
+        {
+            // Avatar capsule size is kept in the scale parameter.
+            return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
+        }
+
+        set { 
+            // When an avatar's size is set, only the height is changed
+            //    and that really only depends on the radius.
+            _size = value;
+            _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
+
+            // TODO: something has to be done with the avatar's vertical position
+
+            ComputeAvatarVolumeAndMass();
+
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true);
+            });
+
         } 
     }
     public override PrimitiveBaseShape Shape { 
@@ -419,9 +440,15 @@ public class BSCharacter : PhysicsActor
     {
         _avatarVolume = (float)(
                         Math.PI
-                        * _scene.Params.avatarCapsuleRadius * _scale.X
+                        * _scale.X
-                        * _scene.Params.avatarCapsuleRadius * _scale.Y
+                        * _scale.Y  // the area of capsule cylinder
-                        * _scene.Params.avatarCapsuleHeight * _scale.Z);
+                        * _scale.Z  // times height of capsule cylinder
+                      + 1.33333333f
+                        * Math.PI
+                        * _scale.X
+                        * Math.Min(_scale.X, _scale.Y)
+                        * _scale.Y  // plus the volume of the capsule end caps
+                        );
         _mass = _density * _avatarVolume;
     }
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -977,8 +977,8 @@ public sealed class BSPrim : PhysicsActor
         {
             if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
             {
-                if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
+                // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
-                {
+                // {
                     // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
                     if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
                     {
@@ -989,7 +989,7 @@ public sealed class BSPrim : PhysicsActor
                         // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
                         ret = true;
                     }
-                }
+                // }
             }
             else
             {
@@ -1039,7 +1039,7 @@ public sealed class BSPrim : PhysicsActor
         // if this new shape is the same as last time, don't recreate the mesh
         if (_meshKey == newMeshKey) return;
 
-        DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
+        DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
         // Since we're recreating new, get rid of any previously generated shape
         if (_meshKey != 0)
         {

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -1027,14 +1027,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
 
 
-	    new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)",
+	    new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,     // zero to disable
             (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
             (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
+	    new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,     // zero to disable
+            (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
 	    new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericTrue,
+            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
+            (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
             (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
             (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
 	    new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",

OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs

@@ -158,6 +158,7 @@ public struct ConfigurationParameters
 	public float avatarContactProcessingThreshold;
 
 	public float maxPersistantManifoldPoolSize;
+	public float maxCollisionAlgorithmPoolSize;
 	public float shouldDisableContactPoolDynamicAllocation;
 	public float shouldForceUpdateAllAabbs;
 	public float shouldRandomizeSolverOrder;