BulletSim: fix avatar bobbing or jiggling while stationary flying.

Various comments and debugging message mods.

OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs

@@ -77,13 +77,14 @@ public class ExtendedPhysics : INonSharedRegionModule
             m_log.ErrorFormat("{0} Initialization error: {0}", LogHeader, e);
         }
 
-        m_log.ErrorFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
+        m_log.InfoFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
     }
 
     public void Close()
     {
         if (BaseScene != null)
         {
+            BaseScene.EventManager.OnObjectAddedToScene -= EventManager_OnObjectAddedToScene;
             BaseScene.EventManager.OnSceneObjectPartUpdated -= EventManager_OnSceneObjectPartUpdated;
             BaseScene = null;
         }
@@ -120,13 +121,20 @@ public class ExtendedPhysics : INonSharedRegionModule
         Comms.RegisterScriptInvocations(this);
 
         // When an object is modified, we might need to update its extended physics parameters
+        BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
         BaseScene.EventManager.OnSceneObjectPartUpdated += EventManager_OnSceneObjectPartUpdated;
+
     }
 
     public Type ReplaceableInterface { get { return null; } }
 
     #endregion // INonSharedRegionModule
 
+    private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
+    {
+        throw new NotImplementedException();
+    }
+
     // Event generated when some property of a prim changes.
     private void EventManager_OnSceneObjectPartUpdated(SceneObjectPart sop, bool isFullUpdate)
     {

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -140,7 +140,7 @@ public sealed class BSCharacter : BSPhysObject
         ZeroMotion(true);
         ForcePosition = _position;
 
-        // Set the velocity and compute the proper friction
+        // Set the velocity
         _velocityMotor.Reset();
         _velocityMotor.SetTarget(_velocity);
         _velocityMotor.SetCurrent(_velocity);
@@ -214,25 +214,28 @@ public sealed class BSCharacter : BSPhysObject
             _velocityMotor.Step(timeStep);
 
             // If we're not supposed to be moving, make sure things are zero.
-            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding)
+            if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
             {
                 // The avatar shouldn't be moving
                 _velocityMotor.Zero();
 
-                // If we are colliding with a stationary object, presume we're standing and don't move around
+                if (IsColliding)
-                if (!ColliderIsMoving)
                 {
-                    DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
+                    // If we are colliding with a stationary object, presume we're standing and don't move around
-                    ZeroMotion(true /* inTaintTime */);
+                    if (!ColliderIsMoving)
-                }
+                    {
+                        DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
+                        ZeroMotion(true /* inTaintTime */);
+                    }
 
-                // Standing has more friction on the ground
+                    // Standing has more friction on the ground
-                if (_currentFriction != BSParam.AvatarStandingFriction)
+                    if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
+                    {
-                    _currentFriction = BSParam.AvatarStandingFriction;
+                        _currentFriction = BSParam.AvatarStandingFriction;
-                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                    }
                 }
-                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
             }
             else
             {

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -71,6 +71,10 @@ public abstract class BSLinkset
                 ret = new BSLinksetCompound(physScene, parent);
                 break;
         }
+        if (ret == null)
+        {
+            physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
+        }
         return ret;
     }
 

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -290,13 +290,13 @@ public abstract class BSPhysObject : PhysicsActor
         CollisionAccumulation++;
 
         // For movement tests, remember if we are colliding with an object that is moving.
-        ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
+        ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
 
         // If someone has subscribed for collision events log the collision so it will be reported up
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
+            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
+                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
 
             ret = true;
         }

OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs

@@ -160,8 +160,8 @@ public class BSPrimLinkable : BSPrimDisplaced
             // TODO: this will have to change when linksets are articulated.
             base.UpdateProperties(entprop);
         }
+        // The linkset might like to know about changing locations
         Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
-
     }
 
     public override bool Collide(uint collidingWith, BSPhysObject collidee,

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         if (!m_initialized) return null;
 
-        DetailLog("{0},AddPrimShape,call", localID);
+        DetailLog("{0},BSScene.AddPrimShape,call", localID);
 
         BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
         lock (PhysObjects) PhysObjects.Add(localID, prim);