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

OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs

@@ -1750,6 +1750,7 @@ namespace OpenSim.Framework.Servers.HttpServer
 
                 // Long Poll Service Manager with 3 worker threads a 25 second timeout for no events
                 m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000);
+                m_PollServiceManager.Start();
                 HTTPDRunning = true;
 
                 //HttpListenerContext context;
@@ -1800,6 +1801,8 @@ namespace OpenSim.Framework.Servers.HttpServer
             HTTPDRunning = false;
             try
             {
+                m_PollServiceManager.Stop();
+
                 m_httpListener2.ExceptionThrown -= httpServerException;
                 //m_httpListener2.DisconnectHandler = null;
 

OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs

@@ -45,19 +45,26 @@ namespace OpenSim.Framework.Servers.HttpServer
         private uint m_WorkerThreadCount = 0;
         private Thread[] m_workerThreads;
         private PollServiceWorkerThread[] m_PollServiceWorkerThreads;
-        private bool m_running = true;
+        private volatile bool m_running = true;
+        private int m_pollTimeout;
 
         public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout)
         {
             m_server = pSrv;
             m_WorkerThreadCount = pWorkerThreadCount;
+            m_pollTimeout = pTimeout;
+        }
+
+        public void Start()
+        {
+            m_running = true;
             m_workerThreads = new Thread[m_WorkerThreadCount];
             m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount];
 
             //startup worker threads
             for (uint i = 0; i < m_WorkerThreadCount; i++)
             {
-                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, pTimeout);
+                m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, m_pollTimeout);
                 m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent;
 
                 m_workerThreads[i]
@@ -136,8 +143,10 @@ namespace OpenSim.Framework.Servers.HttpServer
             
         }
 
-        ~PollServiceRequestManager()
+        public void Stop()
         {
+            m_running = false;
+
             foreach (object o in m_requests)
             {
                 PollServiceHttpRequest req = (PollServiceHttpRequest) o;
@@ -151,8 +160,6 @@ namespace OpenSim.Framework.Servers.HttpServer
             {
                 t.Abort();
             }
-            
-            m_running = false;
         }
     }
 }

OpenSim/Framework/Util.cs

@@ -1658,8 +1658,13 @@ namespace OpenSim.Framework
             if (m_ThreadPool != null)
                 throw new InvalidOperationException("SmartThreadPool is already initialized");
 
-            m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2);
+            STPStartInfo startInfo = new STPStartInfo();
-            m_ThreadPool.Name = "Util";
+            startInfo.ThreadPoolName = "Util";
+            startInfo.IdleTimeout = 2000;
+            startInfo.MaxWorkerThreads = maxThreads;
+            startInfo.MinWorkerThreads = 2;
+
+            m_ThreadPool = new SmartThreadPool(startInfo);
         }
 
         public static int FireAndForgetCount()

OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs

@@ -87,13 +87,24 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             return false;
         }
 
-        public bool Remove(UUID animID)
+        /// <summary>
+        /// Remove the specified animation
+        /// </summary>
+        /// <param name='animID'></param>
+        /// <param name='allowNoDefault'>
+        /// If true, then the default animation can be entirely removed. 
+        /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+        /// </param>
+        public bool Remove(UUID animID, bool allowNoDefault)
         {
             lock (m_animations)
             {
                 if (m_defaultAnimation.AnimID == animID)
                 {
+                    if (allowNoDefault)
                         m_defaultAnimation = new OpenSim.Framework.Animation(UUID.Zero, 1, UUID.Zero);
+                    else
+                        ResetDefaultAnimation();
                 }
                 else if (HasAnimation(animID))
                 {

OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs

@@ -86,7 +86,10 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (m_scenePresence.IsChildAgent)
                 return;
 
-//            m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Adding animation {0} for {1}", animID, m_scenePresence.Name);
+            if (m_scenePresence.Scene.DebugAnimations)
+                m_log.DebugFormat(
+                    "[SCENE PRESENCE ANIMATOR]: Adding animation {0} {1} for {2}", 
+                    GetAnimName(animID), animID, m_scenePresence.Name);
 
             if (m_animations.Add(animID, m_scenePresence.ControllingClient.NextAnimationSequenceNumber, objectID))
                 SendAnimPack();
@@ -109,14 +112,25 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             AddAnimation(animID, objectID);
         }
 
-        public void RemoveAnimation(UUID animID)
+        /// <summary>
+        /// Remove the specified animation
+        /// </summary>
+        /// <param name='animID'></param>
+        /// <param name='allowNoDefault'>
+        /// If true, then the default animation can be entirely removed. 
+        /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+        /// </param>
+        public void RemoveAnimation(UUID animID, bool allowNoDefault)
         {
             if (m_scenePresence.IsChildAgent)
                 return;
 
-//            m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Removing animation {0} for {1}", animID, m_scenePresence.Name);
+            if (m_scenePresence.Scene.DebugAnimations)
+                m_log.DebugFormat(
+                    "[SCENE PRESENCE ANIMATOR]: Removing animation {0} {1} for {2}", 
+                    GetAnimName(animID), animID, m_scenePresence.Name);
 
-            if (m_animations.Remove(animID))
+            if (m_animations.Remove(animID, allowNoDefault))
                 SendAnimPack();
         }
 
@@ -132,14 +146,15 @@ namespace OpenSim.Region.Framework.Scenes.Animation
             if (animID == UUID.Zero)
                 return;
 
-            RemoveAnimation(animID);
+            RemoveAnimation(animID, true);
         }
 
         public void ResetAnimations()
         {
-//            m_log.DebugFormat(
+            if (m_scenePresence.Scene.DebugAnimations)
-//                "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
+                m_log.DebugFormat(
-//                m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
+                    "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
+                    m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
 
             m_animations.Clear();
         }
@@ -550,5 +565,21 @@ namespace OpenSim.Region.Framework.Scenes.Animation
 
             SendAnimPack(animIDs, sequenceNums, objectIDs);
         }
+
+        public string GetAnimName(UUID animId)
+        {
+            string animName;
+
+            if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
+            {
+                AssetMetadata amd = m_scenePresence.Scene.AssetService.GetMetadata(animId.ToString());
+                if (amd != null)
+                    animName = amd.Name;
+                else
+                    animName = "Unknown";
+            }
+
+            return animName;
+        }
     }
 }

OpenSim/Region/Framework/Scenes/Scene.cs

@@ -67,6 +67,11 @@ namespace OpenSim.Region.Framework.Scenes
 
         public bool EmergencyMonitoring = false;
 
+        /// <summary>
+        /// Show debug information about animations.
+        /// </summary>
+        public bool DebugAnimations { get; set; }
+
         /// <summary>
         /// Show debug information about teleports.
         /// </summary>

OpenSim/Region/Framework/Scenes/SceneObjectPart.cs

@@ -1951,6 +1951,16 @@ namespace OpenSim.Region.Framework.Scenes
         {
             PhysicsActor pa = PhysActor;
 
+            if (pa != null)
+                return new Vector3(pa.GeometricCenter.X, pa.GeometricCenter.Y, pa.GeometricCenter.Z);
+            else
+                return new Vector3(0, 0, 0);
+        }
+
+        public Vector3 GetCenterOfMass()
+        {
+            PhysicsActor pa = PhysActor;
+
             if (pa != null)
                 return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z);
             else

OpenSim/Region/Framework/Scenes/ScenePresence.cs

@@ -1954,8 +1954,7 @@ namespace OpenSim.Region.Framework.Scenes
         {
             if (ParentID != 0)
             {
-                var targetPart = m_scene.GetSceneObjectPart(targetID);
+                if (ParentPart.UUID == targetID)
-                if (targetPart != null && targetPart.LocalId == ParentID)
                     return; // already sitting here, ignore
 
                 StandUp();
@@ -2260,7 +2259,7 @@ namespace OpenSim.Region.Framework.Scenes
 
         public void HandleStopAnim(IClientAPI remoteClient, UUID animID)
         {
-            Animator.RemoveAnimation(animID);
+            Animator.RemoveAnimation(animID, false);
         }
 
         /// <summary>

OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs

@@ -161,12 +161,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
             UUID defaultAnimId = anims.DefaultAnimation.AnimID;
             cdl.AddRow(
                 "Default anim", 
-                string.Format("{0}, {1}", defaultAnimId, GetAnimName(sp.Scene.AssetService, defaultAnimId)));
+                string.Format("{0}, {1}", defaultAnimId, sp.Animator.GetAnimName(defaultAnimId)));
 
             UUID implicitDefaultAnimId = anims.ImplicitDefaultAnimation.AnimID;
             cdl.AddRow(
                 "Implicit default anim", 
-                string.Format("{0}, {1}", implicitDefaultAnimId, GetAnimName(sp.Scene.AssetService, implicitDefaultAnimId)));
+                string.Format("{0}, {1}", 
+                    implicitDefaultAnimId, sp.Animator.GetAnimName(implicitDefaultAnimId)));
 
             cdl.AddToStringBuilder(sb);
 
@@ -185,7 +186,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
             for (int i = 0; i < animIds.Length; i++)
             {
                 UUID animId = animIds[i];
-                string animName = GetAnimName(sp.Scene.AssetService, animId);
+                string animName = sp.Animator.GetAnimName(animId);
                 int seq = sequenceNumbers[i];
                 UUID objectId = objectIds[i];
 
@@ -195,21 +196,5 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
             cdt.AddToStringBuilder(sb);
             sb.Append("\n");
         }
-
-        private string GetAnimName(IAssetService assetService, UUID animId)
-        {
-            string animName;
-
-            if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
-            {
-                AssetMetadata amd = assetService.GetMetadata(animId.ToString());
-                if (amd != null)
-                    animName = amd.Name;
-                else
-                    animName = "Unknown";
-            }
-
-            return animName;
-        }
     }
 }

OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs

@@ -46,7 +46,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
     {
         private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        internal static bool m_pluginEnabled = false;
+        internal static bool Enabled = false;
         internal static IConfig m_config = null;
 
         internal static List<ChannelState> m_channels = new List<ChannelState>();
@@ -87,19 +87,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                 m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password);
             }
 
-            m_pluginEnabled = true;
+            Enabled = true;
-            m_log.InfoFormat("[IRC-Bridge]: Module enabled");
+
+            m_log.InfoFormat("[IRC-Bridge]: Module is enabled");
         }
 
         public void AddRegion(Scene scene)
         {
-            if (m_pluginEnabled)
+            if (Enabled)
             {
                 try
                 {
                     m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName);
+
                     if (!String.IsNullOrEmpty(m_password))
                         MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false);
+
                     m_region = new RegionState(scene, m_config);
                     lock (m_regions) m_regions.Add(m_region);
                     m_region.Open();
@@ -123,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public void RemoveRegion(Scene scene)
         {
-            if (!m_pluginEnabled)
+            if (!Enabled)
                 return;
 
             if (m_region == null)

OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs

@@ -300,10 +300,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
                         m_connected = false;
 
-                        try { m_writer.Close(); } catch (Exception) {}
+                        try { m_writer.Close(); }
-                        try { m_reader.Close(); } catch (Exception) {}
+                        catch (Exception) { }
-                        try { m_stream.Close(); } catch (Exception) {}
+                        try { m_reader.Close(); }
-                        try { m_tcp.Close();    } catch (Exception) {}
+                        catch (Exception) { }
+                        try { m_stream.Close(); }
+                        catch (Exception) { }
+                        try { m_tcp.Close(); }
+                        catch (Exception) { }
 
                     }
 
@@ -418,9 +422,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                     // the socket and it will disappear of its own accord, once this
                     // processing is completed.
 
-                    try { m_writer.Close(); } catch (Exception) {}
+                    try { m_writer.Close(); }
-                    try { m_reader.Close(); } catch (Exception) {}
+                    catch (Exception) { }
-                    try { m_tcp.Close();    } catch (Exception) {}
+                    try { m_reader.Close(); }
+                    catch (Exception) { }
+                    try { m_tcp.Close(); }
+                    catch (Exception) { }
 
                     m_connected = false;
                     m_pending = false;

OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs

@@ -41,7 +41,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
     internal class RegionState
     {
-
         private static readonly ILog m_log =
             LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
@@ -66,6 +65,11 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
         internal IConfig config = null; // configuration file reference
         internal bool enabled = true;
 
+        //AgentAlert
+        internal bool showAlert = false;
+        internal string alertMessage = String.Empty;
+        internal IDialogModule dialogModule = null;
+
         // This list is used to keep track of who is here, and by
         // implication, who is not.
 
@@ -75,7 +79,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         public RegionState(Scene p_scene, IConfig p_config)
         {
-
             scene = p_scene;
             config = p_config;
 
@@ -85,6 +88,25 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
             LocY = Convert.ToString(scene.RegionInfo.RegionLocY);
             IDK = Convert.ToString(_idk_++);
 
+            showAlert = config.GetBoolean("alert_show", false);
+            string alertServerInfo = String.Empty;
+
+            if (showAlert)
+            {
+                bool showAlertServerInfo = config.GetBoolean("alert_show_serverinfo", true);
+
+                if (showAlertServerInfo)
+                    alertServerInfo = String.Format("\nServer: {0}\nPort: {1}\nChannel: {2}\n\n",
+                        config.GetString("server", ""), config.GetString("port", ""), config.GetString("channel", ""));
+
+                string alertPreMessage = config.GetString("alert_msg_pre", "This region is linked to Irc.");
+                string alertPostMessage = config.GetString("alert_msg_post", "Everything you say in public chat can be listened.");
+
+                alertMessage = String.Format("{0}\n{1}{2}", alertPreMessage, alertServerInfo, alertPostMessage);
+
+                dialogModule = scene.RequestModuleInterface<IDialogModule>();
+            }
+
             // OpenChannel conditionally establishes a connection to the
             // IRC server. The request will either succeed, or it will
             // throw an exception.
@@ -195,7 +217,6 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
 
         private void OnMakeRootAgent(ScenePresence presence)
         {
-
             IClientAPI client = presence.ControllingClient;
 
             try
@@ -216,17 +237,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
                         }
                     }
                 }
+
+                if (dialogModule != null && showAlert)
+                    dialogModule.SendAlertToUser(client, alertMessage, true);
             }
             catch (Exception ex)
             {
                 m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message);
                 m_log.Debug(ex);
             }
-
         }
 
         // This handler detects chat events int he virtual world.
-
         public void OnSimChat(Object sender, OSChatMessage msg)
         {
 

OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs

@@ -94,6 +94,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
                 "debug scene get",
                 "List current scene options.",
                 "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If animations is true  then extra animations debug information is logged.\n"
                     + "If collisions is false then collisions with other objects are turned off.\n"
                     + "If pbackup    is false then periodic scene backup is turned off.\n"
                     + "If physics    is false then all physics objects are non-physical.\n"
@@ -107,6 +108,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
                 "debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false",
                 "Turn on scene debugging options.",
                 "If active     is false then main scene update and maintenance loops are suspended.\n"
+                    + "If animations is true  then extra animations debug information is logged.\n"
                     + "If collisions is false then collisions with other objects are turned off.\n"
                     + "If pbackup    is false then periodic scene backup is turned off.\n"
                     + "If physics    is false then all physics objects are non-physical.\n"
@@ -120,9 +122,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
         {
             if (args.Length == 3)
             {
-                if (MainConsole.Instance.ConsoleScene == null)
+                if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
-                    MainConsole.Instance.Output("Please use 'change region <regioname>' first");
+                    return;
-                else
+
                 OutputSceneDebugOptions();
             }
             else
@@ -135,12 +137,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
         {
             ConsoleDisplayList cdl = new ConsoleDisplayList();
             cdl.AddRow("active", m_scene.Active);
+            cdl.AddRow("animations", m_scene.DebugAnimations);
             cdl.AddRow("pbackup", m_scene.PeriodicBackup);
             cdl.AddRow("physics", m_scene.PhysicsEnabled);
             cdl.AddRow("scripting", m_scene.ScriptsEnabled);
             cdl.AddRow("teleport", m_scene.DebugTeleporting);
             cdl.AddRow("updates", m_scene.DebugUpdates);
 
+            MainConsole.Instance.OutputFormat("Scene {0} options:", m_scene.Name);
             MainConsole.Instance.Output(cdl.ToString());
         }
 
@@ -148,18 +152,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
         {
             if (args.Length == 5)
             {
-                if (MainConsole.Instance.ConsoleScene == null)
+                if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
-                {
+                    return;
-                    MainConsole.Instance.Output("Please use 'change region <regioname>' first");
+
-                }
-                else
-                {
                 string key = args[3];
                 string value = args[4];
                 SetSceneDebugOptions(new Dictionary<string, string>() { { key, value } });
 
-                    MainConsole.Instance.OutputFormat("Set debug scene {0} = {1}", key, value);
+                MainConsole.Instance.OutputFormat("Set {0} debug scene {1} = {2}", m_scene.Name, key, value);
-                }
             }
             else
             {
@@ -178,6 +178,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
                     m_scene.Active = active;
             }
 
+            if (options.ContainsKey("animations"))
+            {
+                bool active;
+
+                if (bool.TryParse(options["animations"], out active))
+                    m_scene.DebugAnimations = active;
+            }
+
             if (options.ContainsKey("pbackup"))
             {
                 bool active;

OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs

@@ -1,814 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSCharacter : BSPhysObject
-{
-    private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
-    private static readonly string LogHeader = "[BULLETS CHAR]";
-
-    // private bool _stopped;
-    private OMV.Vector3 _size;
-    private bool _grabbed;
-    private bool _selected;
-    private OMV.Vector3 _position;
-    private float _mass;
-    private float _avatarDensity;
-    private float _avatarVolume;
-    private OMV.Vector3 _force;
-    private OMV.Vector3 _velocity;
-    private OMV.Vector3 _torque;
-    private float _collisionScore;
-    private OMV.Vector3 _acceleration;
-    private OMV.Quaternion _orientation;
-    private int _physicsActorType;
-    private bool _isPhysical;
-    private bool _flying;
-    private bool _setAlwaysRun;
-    private bool _throttleUpdates;
-    private bool _isColliding;
-    private bool _collidingObj;
-    private bool _floatOnWater;
-    private OMV.Vector3 _rotationalVelocity;
-    private bool _kinematic;
-    private float _buoyancy;
-
-    // The friction and velocity of the avatar is modified depending on whether walking or not.
-    private OMV.Vector3 _appliedVelocity;   // the last velocity applied to the avatar
-    private float _currentFriction;         // the friction currently being used (changed by setVelocity).
-
-    private BSVMotor _velocityMotor;
-
-    private OMV.Vector3 _PIDTarget;
-    private bool _usePID;
-    private float _PIDTau;
-    private bool _useHoverPID;
-    private float _PIDHoverHeight;
-    private PIDHoverType _PIDHoverType;
-    private float _PIDHoverTao;
-
-    public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
-            : base(parent_scene, localID, avName, "BSCharacter")
-    {
-        _physicsActorType = (int)ActorTypes.Agent;
-        _position = pos;
-
-        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-        //     replace with the default values.
-        _size = size;
-        if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-        if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-        // A motor to control the acceleration and deceleration of the avatar movement.
-        // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
-        // Infinite decay and timescale values so motor only changes current to target values.
-        _velocityMotor = new BSVMotor("BSCharacter.Velocity", 
-                                            0.2f,                       // time scale
-                                            BSMotor.Infinite,           // decay time scale
-                                            BSMotor.InfiniteVector,     // friction timescale
-                                            1f                          // efficiency
-        );
-        _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
-        _flying = isFlying;
-        _orientation = OMV.Quaternion.Identity;
-        _velocity = OMV.Vector3.Zero;
-        _appliedVelocity = OMV.Vector3.Zero;
-        _buoyancy = ComputeBuoyancyFromFlying(isFlying);
-        _currentFriction = BSParam.AvatarStandingFriction;
-        _avatarDensity = BSParam.AvatarDensity;
-
-        // The dimensions of the avatar capsule are kept in the scale.
-        // Physics creates a unit capsule which is scaled by the physics engine.
-        ComputeAvatarScale(_size);
-        // set _avatarVolume and _mass based on capsule size, _density and Scale
-        ComputeAvatarVolumeAndMass();
-        DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-        // do actual creation in taint time
-        PhysicsScene.TaintedObject("BSCharacter.create", delegate()
-        {
-            DetailLog("{0},BSCharacter.create,taint", LocalID);
-            // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
-
-            SetPhysicalProperties();
-        });
-        return;
-    }
-
-    // called when this character is being destroyed and the resources should be released
-    public override void Destroy()
-    {
-        base.Destroy();
-
-        DetailLog("{0},BSCharacter.Destroy", LocalID);
-        PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
-        {
-            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
-            PhysBody.Clear();
-            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
-            PhysShape.Clear();
-        });
-    }
-
-    private void SetPhysicalProperties()
-    {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        ZeroMotion(true);
-        ForcePosition = _position;
-        // Set the velocity and compute the proper friction
-        ForceVelocity = _velocity;
-        // Setting the current and target in the motor will cause it to start computing any deceleration.
-        _velocityMotor.Reset();
-        _velocityMotor.SetCurrent(_velocity);
-        _velocityMotor.SetTarget(_velocity);
-        _velocityMotor.Enabled = false;
-
-        // This will enable or disable the flying buoyancy of the avatar.
-        // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
-        Flying = _flying;
-
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
-        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
-        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
-        if (BSParam.CcdMotionThreshold > 0f)
-        {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
-        }
-
-        UpdatePhysicalMassProperties(RawMass, false);
-
-        // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
-
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
-
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
-        // Do this after the object has been added to the world
-        PhysBody.collisionType = CollisionType.Avatar;
-        PhysBody.ApplyCollisionMask();
-    }
-
-    public override void RequestPhysicsterseUpdate()
-    {
-        base.RequestPhysicsterseUpdate();
-    }
-    // No one calls this method so I don't know what it could possibly mean
-    public override bool Stopped { get { return false; } }
-
-    public override OMV.Vector3 Size {
-        get
-        {
-            // Avatar capsule size is kept in the scale parameter.
-            return _size;
-        }
-
-        set {
-            // When an avatar's size is set, only the height is changed.
-            _size = value;
-            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
-            //     replace with the default values.
-            if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
-            if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
-            ComputeAvatarScale(_size);
-            ComputeAvatarVolumeAndMass();
-            DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
-            PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
-            {
-                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
-                {
-                    BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-                    UpdatePhysicalMassProperties(RawMass, true);
-                    // Make sure this change appears as a property update event
-                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
-                }
-            });
-
-        }
-    }
-
-    public override PrimitiveBaseShape Shape
-    {
-        set { BaseShape = value; }
-    }
-    // I want the physics engine to make an avatar capsule
-    public override BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
-    }
-
-    public override bool Grabbed {
-        set { _grabbed = value; }
-    }
-    public override bool Selected {
-        set { _selected = value; }
-    }
-    public override void CrossingFailure() { return; }
-    public override void link(PhysicsActor obj) { return; }
-    public override void delink() { return; }
-
-    // Set motion values to zero.
-    // Do it to the properties so the values get set in the physics engine.
-    // Push the setting of the values to the viewer.
-    // Called at taint time!
-    public override void ZeroMotion(bool inTaintTime)
-    {
-        _velocity = OMV.Vector3.Zero;
-        _acceleration = OMV.Vector3.Zero;
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        // Zero some other properties directly into the physics engine
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.ClearAllForces2(PhysBody.ptr);
-        });
-    }
-    public override void ZeroAngularMotion(bool inTaintTime)
-    {
-        _rotationalVelocity = OMV.Vector3.Zero;
-
-        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
-        {
-            if (PhysBody.HasPhysicalBody)
-            {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
-                // The next also get rid of applied linear force but the linear velocity is untouched.
-                BulletSimAPI.ClearForces2(PhysBody.ptr);
-            }
-        });
-    }
-
-
-    public override void LockAngularMotion(OMV.Vector3 axis) { return; }
-
-    public override OMV.Vector3 RawPosition
-    {
-        get { return _position; }
-        set { _position = value; }
-    }
-    public override OMV.Vector3 Position {
-        get {
-            // Don't refetch the position because this function is called a zillion times
-            // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-
-            PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
-            {
-                DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-        }
-    }
-    public override OMV.Vector3 ForcePosition {
-        get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
-            return _position;
-        }
-        set {
-            _position = value;
-            PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-
-
-    // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain or on water.
-    // Returns 'true' of the position was made sane by some action.
-    private bool PositionSanityCheck()
-    {
-        bool ret = false;
-
-        // TODO: check for out of bounds
-        if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
-        {
-            // The character is out of the known/simulated area.
-            // Upper levels of code will handle the transition to other areas so, for
-            //     the time, we just ignore the position.
-            return ret;
-        }
-
-        // If below the ground, move the avatar up
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
-        if (Position.Z < terrainHeight)
-        {
-            DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
-            _position.Z = terrainHeight + 2.0f;
-            ret = true;
-        }
-        if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
-        {
-            float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
-            if (Position.Z < waterHeight)
-            {
-                _position.Z = waterHeight;
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // A version of the sanity check that also makes sure a new position value is
-    //    pushed back to the physics engine. This routine would be used by anyone
-    //    who is not already pushing the value.
-    private bool PositionSanityCheck(bool inTaintTime)
-    {
-        bool ret = false;
-        if (PositionSanityCheck())
-        {
-            // The new position value must be pushed into the physics engine but we can't
-            //    just assign to "Position" because of potential call loops.
-            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
-            {
-                DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-            });
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override float Mass { get { return _mass; } }
-
-    // used when we only want this prim's mass and not the linkset thing
-    public override float RawMass { 
-        get {return _mass; }
-    }
-    public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
-    {
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
-        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
-    }
-
-    public override OMV.Vector3 Force {
-        get { return _force; }
-        set {
-            _force = value;
-            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
-            PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-    }
-
-    public bool TouchingGround()
-    {
-        bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
-        return ret;
-    }
-    // Avatars don't do vehicles
-    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
-    public override void VehicleFloatParam(int param, float value) { }
-    public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
-    public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
-    public override void VehicleFlags(int param, bool remove) { }
-
-    // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) { return; }
-
-    public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
-    public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
-
-    // Sets the target in the motor. This starts the changing of the avatar's velocity.
-    public override OMV.Vector3 TargetVelocity
-    {
-        get
-        {
-            return _velocityMotor.TargetValue;
-        }
-        set
-        {
-            DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-
-            if (!_flying)
-                if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
-                    if (!TouchingGround())
-                        value.Z = _velocity.Z;
-            if (_setAlwaysRun)
-                value *= 1.3f;
-
-            OMV.Vector3 targetVel = value;
-
-            PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
-            {
-                                                                                
-                _velocityMotor.Reset();
-                _velocityMotor.SetTarget(targetVel);
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.Enabled = true;
-
-                // Make sure a property update happens next step so the motor gets incorporated.
-                BulletSimAPI.PushUpdate2(PhysBody.ptr);
-            });
-        }
-    }
-    // Directly setting velocity means this is what the user really wants now.
-    public override OMV.Vector3 Velocity {
-        get { return _velocity; }
-        set {
-            _velocity = value;
-            // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
-            PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
-            {
-                _velocityMotor.Reset();
-                _velocityMotor.SetCurrent(_velocity);
-                _velocityMotor.SetTarget(_velocity);
-                // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
-                _velocityMotor.Enabled = false;
-
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
-                ForceVelocity = _velocity;
-            });
-        }
-    }
-    public override OMV.Vector3 ForceVelocity {
-        get { return _velocity; }
-        set {
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-
-            _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
-                }
-            }
-            // Remember the set velocity so we can suppress the reduction by friction, ...
-            _appliedVelocity = value;
-
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
-        }
-    }
-    public override OMV.Vector3 Torque {
-        get { return _torque; }
-        set { _torque = value;
-        }
-    }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
-    public override OMV.Vector3 Acceleration {
-        get { return _acceleration; }
-        set { _acceleration = value; }
-    }
-    public override OMV.Quaternion RawOrientation
-    {
-        get { return _orientation; }
-        set { _orientation = value; }
-    }
-    public override OMV.Quaternion Orientation {
-        get { return _orientation; }
-        set {
-            _orientation = value;
-            // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
-            PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-                }
-            });
-        }
-    }
-    // Go directly to Bullet to get/set the value.
-    public override OMV.Quaternion ForceOrientation
-    {
-        get
-        {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
-            return _orientation;
-        }
-        set
-        {
-            _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-        }
-    }
-    public override int PhysicsActorType {
-        get { return _physicsActorType; }
-        set { _physicsActorType = value;
-        }
-    }
-    public override bool IsPhysical {
-        get { return _isPhysical; }
-        set { _isPhysical = value;
-        }
-    }
-    public override bool IsSolid {
-        get { return true; }
-    }
-    public override bool IsStatic {
-        get { return false; }
-    }
-    public override bool Flying {
-        get { return _flying; }
-        set {
-            _flying = value;
-
-            // simulate flying by changing the effect of gravity
-            Buoyancy = ComputeBuoyancyFromFlying(_flying);
-        }
-    }
-    // Flying is implimented by changing the avatar's buoyancy.
-    // Would this be done better with a vehicle type?
-    private float ComputeBuoyancyFromFlying(bool ifFlying) {
-        return ifFlying ? 1f : 0f;
-    }
-    public override bool
-        SetAlwaysRun {
-        get { return _setAlwaysRun; }
-        set { _setAlwaysRun = value; }
-    }
-    public override bool ThrottleUpdates {
-        get { return _throttleUpdates; }
-        set { _throttleUpdates = value; }
-    }
-    public override bool IsColliding {
-        get { return (CollidingStep == PhysicsScene.SimulationStep); }
-        set { _isColliding = value; }
-    }
-    public override bool CollidingGround {
-        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
-        set { CollidingGround = value; }
-    }
-    public override bool CollidingObj {
-        get { return _collidingObj; }
-        set { _collidingObj = value; }
-    }
-    public override bool FloatOnWater {
-        set {
-            _floatOnWater = value;
-            PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                {
-                    if (_floatOnWater)
-                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                    else
-                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
-                }
-            });
-        }
-    }
-    public override OMV.Vector3 RotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override OMV.Vector3 ForceRotationalVelocity {
-        get { return _rotationalVelocity; }
-        set { _rotationalVelocity = value; }
-    }
-    public override bool Kinematic {
-        get { return _kinematic; }
-        set { _kinematic = value; }
-    }
-    // neg=fall quickly, 0=1g, 1=0g, pos=float up
-    public override float Buoyancy {
-        get { return _buoyancy; }
-        set { _buoyancy = value;
-            PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
-            {
-                DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-                ForceBuoyancy = _buoyancy;
-            });
-        }
-    }
-    public override float ForceBuoyancy {
-        get { return _buoyancy; }
-        set { 
-            PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
-            _buoyancy = value;
-            DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
-            // Buoyancy is faked by changing the gravity applied to the object
-            float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            if (PhysBody.HasPhysicalBody)
-                BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
-        }
-    }
-
-    // Used for MoveTo
-    public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
-    }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
-    public override float PIDTau {
-        set { _PIDTau = value; }
-    }
-
-    // Used for llSetHoverHeight and maybe vehicle height
-    // Hover Height will override MoveTo target's Z
-    public override bool PIDHoverActive {
-        set { _useHoverPID = value; }
-    }
-    public override float PIDHoverHeight {
-        set { _PIDHoverHeight = value; }
-    }
-    public override PIDHoverType PIDHoverType {
-        set { _PIDHoverType = value; }
-    }
-    public override float PIDHoverTau {
-        set { _PIDHoverTao = value; }
-    }
-
-    // For RotLookAt
-    public override OMV.Quaternion APIDTarget { set { return; } }
-    public override bool APIDActive { set { return; } }
-    public override float APIDStrength { set { return; } }
-    public override float APIDDamping { set { return; } }
-
-    public override void AddForce(OMV.Vector3 force, bool pushforce) {
-        if (force.IsFinite())
-        {
-            _force.X += force.X;
-            _force.Y += force.Y;
-            _force.Z += force.Z;
-            // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
-            PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
-            {
-                DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
-            });
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
-        }
-        //m_lastUpdateSent = false;
-    }
-
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-    }
-    public override void SetMomentum(OMV.Vector3 momentum) {
-    }
-
-    private void ComputeAvatarScale(OMV.Vector3 size)
-    {
-        OMV.Vector3 newScale = size;
-        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
-        // From the total height, remove the capsule half spheres that are at each end
-        // The 1.15f came from ODE. Not sure what this factors in.
-        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
-
-        // The total scale height is the central cylindar plus the caps on the two ends.
-        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
-
-        // Convert diameters to radii and height to half height -- the way Bullet expects it.
-        Scale = newScale / 2f;
-    }
-
-    // set _avatarVolume and _mass based on capsule size, _density and Scale
-    private void ComputeAvatarVolumeAndMass()
-    {
-        _avatarVolume = (float)(
-                        Math.PI
-                        * Scale.X
-                        * Scale.Y    // the area of capsule cylinder
-                        * 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 = _avatarDensity * _avatarVolume;
-    }
-
-    // The physics engine says that properties have updated. Update same and inform
-    // the world that things have changed.
-    public override void UpdateProperties(EntityProperties entprop)
-    {
-        _position = entprop.Position;
-        _orientation = entprop.Rotation;
-        _velocity = entprop.Velocity;
-        _acceleration = entprop.Acceleration;
-        _rotationalVelocity = entprop.RotationalVelocity;
-
-        // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
-        PositionSanityCheck(true);
-
-        if (_velocityMotor.Enabled)
-        {
-            // TODO: Decide if the step parameters should be changed depending on the avatar's
-            //     state (flying, colliding, ...).
-
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
-
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
-            if (!Flying && !IsColliding)
-            {
-                stepVelocity.Z = entprop.Velocity.Z;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
-            }
-
-            // If the user has said stop and we've stopped applying velocity correction,
-            //     the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
-            if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
-            {
-                ZeroMotion(true);
-                stepVelocity = OMV.Vector3.Zero;
-                _velocityMotor.Enabled = false;
-                DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
-            }
-
-            _velocity = stepVelocity;
-            entprop.Velocity = _velocity;
-            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-        }
-
-        // remember the current and last set values
-        LastEntityProperties = CurrentEntityProperties;
-        CurrentEntityProperties = entprop;
-
-        // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
-
-        // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
-        // base.RequestPhysicsterseUpdate();
-
-        DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs

@@ -1,135 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public abstract class BSConstraint : IDisposable
-{
-    private static string LogHeader = "[BULLETSIM CONSTRAINT]";
-
-    protected BulletWorld m_world;
-    protected BulletBody m_body1;
-    protected BulletBody m_body2;
-    protected BulletConstraint m_constraint;
-    protected bool m_enabled = false;
-
-    public BulletBody Body1 { get { return m_body1; } }
-    public BulletBody Body2 { get { return m_body2; } }
-    public BulletConstraint Constraint { get { return m_constraint; } }
-    public abstract ConstraintType Type { get; }
-    public bool IsEnabled { get { return m_enabled; } }
-
-    public BSConstraint()
-    {
-    }
-
-    public virtual void Dispose()
-    {
-        if (m_enabled)
-        {
-            m_enabled = false;
-            if (m_constraint.HasPhysicalConstraint)
-            {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
-                m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
-                                    BSScene.DetailLogZero,
-                                    m_body1.ID, m_body1.ptr.ToString(),
-                                    m_body2.ID, m_body2.ptr.ToString(),
-                                    success);
-                m_constraint.Clear();
-            }
-        }
-    }
-
-    public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
-        return ret;
-    }
-
-    public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
-        return ret;
-    }
-
-    public virtual bool SetSolverIterations(float cnt)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public virtual bool CalculateTransforms()
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
-            ret = true;
-        }
-        return ret;
-    }
-
-    // Reset this constraint making sure it has all its internal structures
-    //    recomputed and is enabled and ready to go.
-    public virtual bool RecomputeConstraintVariables(float mass)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            ret = CalculateTransforms();
-            if (ret)
-            {
-                // Setting an object's mass to zero (making it static like when it's selected)
-                //     automatically disables the constraints.
-                // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
-            }
-            else
-            {
-                m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
-            }
-        }
-        return ret;
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs

@@ -1,153 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraint6Dof : BSConstraint
-{
-    private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
-
-    public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
-
-    // Create a btGeneric6DofConstraint
-    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1, Quaternion frame1rot,
-                    Vector3 frame2, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                frame1, frame1rot,
-                                frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-        m_enabled = true;
-        world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-    }
-
-    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
-        {
-            world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            BSScene.DetailLogZero, world.worldID,
-                            obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            m_enabled = false;
-        }
-        else
-        {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                    joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
-                                BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(),
-                                obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
-            if (!m_constraint.HasPhysicalConstraint)
-            {
-                world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
-                                LogHeader, obj1.ID, obj2.ID);
-                m_enabled = false;
-            }
-            else
-            {
-                m_enabled = true;
-            }
-        }
-    }
-
-    public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public bool SetCFMAndERP(float cfm, float erp)
-    {
-        bool ret = false;
-        if (m_enabled)
-        {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public bool UseFrameOffset(bool useOffset)
-    {
-        bool ret = false;
-        float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
-        return ret;
-    }
-
-    public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
-    {
-        bool ret = false;
-        float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
-        if (m_enabled)
-        {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
-            m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
-                            BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
-        }
-        return ret;
-    }
-
-    public bool SetBreakingImpulseThreshold(float threshold)
-    {
-        bool ret = false;
-        if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
-        return ret;
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs

@@ -1,180 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintCollection : IDisposable
-{
-    // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-    // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-
-    delegate bool ConstraintAction(BSConstraint constrain);
-
-    private List<BSConstraint> m_constraints;
-    private BulletWorld m_world;
-
-    public BSConstraintCollection(BulletWorld world)
-    {
-        m_world = world;
-        m_constraints = new List<BSConstraint>();
-    }
-
-    public void Dispose()
-    {
-        this.Clear();
-    }
-
-    public void Clear()
-    {
-        lock (m_constraints)
-        {
-            foreach (BSConstraint cons in m_constraints)
-            {
-                cons.Dispose();
-            }
-            m_constraints.Clear();
-        }
-    }
-
-    public bool AddConstraint(BSConstraint cons)
-    {
-        lock (m_constraints)
-        {
-            // There is only one constraint between any bodies. Remove any old just to make sure.
-            RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
-            m_constraints.Add(cons);
-        }
-
-        return true;
-    }
-
-    // Get the constraint between two bodies. There can be only one.
-    // Return 'true' if a constraint was found.
-    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
-    {
-        bool found = false;
-        BSConstraint foundConstraint = null;
-
-        uint lookingID1 = body1.ID;
-        uint lookingID2 = body2.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
-                    || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
-                {
-                    foundConstraint = constrain;
-                    found = true;
-                    break;
-                }
-            }
-        }
-        returnConstraint = foundConstraint;
-        return found;
-    }
-
-    // Remove any constraint between the passed bodies.
-    // Presumed there is only one such constraint possible.
-    // Return 'true' if a constraint was found and destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            BSConstraint constrain;
-            if (this.TryGetConstraint(body1, body2, out constrain))
-            {
-                // remove the constraint from our collection
-                RemoveAndDestroyConstraint(constrain);
-                ret = true;
-            }
-        }
-
-        return ret;
-    }
-
-    // The constraint MUST exist in the collection
-    public bool RemoveAndDestroyConstraint(BSConstraint constrain)
-    {
-        lock (m_constraints)
-        {
-            // remove the constraint from our collection
-            m_constraints.Remove(constrain);
-        }
-        // tell the engine that all its structures need to be freed
-        constrain.Dispose();
-        // we destroyed something
-        return true;
-    }
-
-    // Remove all constraints that reference the passed body.
-    // Return 'true' if any constraints were destroyed.
-    public bool RemoveAndDestroyConstraint(BulletBody body1)
-    {
-        List<BSConstraint> toRemove = new List<BSConstraint>();
-        uint lookingID = body1.ID;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
-                {
-                    toRemove.Add(constrain);
-                }
-            }
-            foreach (BSConstraint constrain in toRemove)
-            {
-                m_constraints.Remove(constrain);
-                constrain.Dispose();
-            }
-        }
-        return (toRemove.Count > 0);
-    }
-
-    public bool RecalculateAllConstraints()
-    {
-        bool ret = false;
-        lock (m_constraints)
-        {
-            foreach (BSConstraint constrain in m_constraints)
-            {
-                constrain.CalculateTransforms();
-                ret = true;
-            }
-        }
-        return ret;
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs

@@ -1,57 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintHinge : BSConstraint
-{
-    public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
-
-    public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 pivotInA, Vector3 pivotInB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
-    {
-        m_world = world;
-        m_body1 = obj1;
-        m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-        m_enabled = true;
-    }
-
-}
-
-}

OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs

@@ -1,329 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// A BSPrim can get individual information about its linkedness attached
-//    to it through an instance of a subclass of LinksetInfo.
-// Each type of linkset will define the information needed for its type.
-public abstract class BSLinksetInfo
-{
-    public virtual void Clear() { }
-}
-
-public abstract class BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET]";
-
-    public enum LinksetImplementation
-    {
-        Constraint   = 0,   // linkset tied together with constraints
-        Compound     = 1,   // linkset tied together as a compound object
-        Manual       = 2    // linkset tied together manually (code moves all the pieces)
-    }
-    // Create the correct type of linkset for this child
-    public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
-    {
-        BSLinkset ret = null;
-
-        switch ((int)BSParam.LinksetImplementation)
-        {
-            case (int)LinksetImplementation.Constraint:
-                ret = new BSLinksetConstraints(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Compound:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-            case (int)LinksetImplementation.Manual:
-                // ret = new BSLinksetManual(physScene, parent);
-                break;
-            default:
-                ret = new BSLinksetCompound(physScene, parent);
-                break;
-        }
-        return ret;
-    }
-
-    public BSPhysObject LinksetRoot { get; protected set; }
-
-    public BSScene PhysicsScene { get; private set; }
-
-    static int m_nextLinksetID = 1;
-    public int LinksetID { get; private set; }
-
-    // The children under the root in this linkset.
-    protected HashSet<BSPhysObject> m_children;
-
-    // We lock the diddling of linkset classes to prevent any badness.
-    // This locks the modification of the instances of this class. Changes
-    //    to the physical representation is done via the tainting mechenism.
-    protected object m_linksetActivityLock = new Object();
-
-    // Some linksets have a preferred physical shape.
-    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    {
-        return BSPhysicsShapeType.SHAPE_UNKNOWN;
-    }
-
-    // We keep the prim's mass in the linkset structure since it could be dependent on other prims
-    public float LinksetMass { get; protected set; }
-
-    public virtual bool LinksetIsColliding { get { return false; } }
-
-    public OMV.Vector3 CenterOfMass
-    {
-        get { return ComputeLinksetCenterOfMass(); }
-    }
-
-    public OMV.Vector3 GeometricCenter
-    {
-        get { return ComputeLinksetGeometricCenter(); }
-    }
-
-    protected BSLinkset(BSScene scene, BSPhysObject parent)
-    {
-        // A simple linkset of one (no children)
-        LinksetID = m_nextLinksetID++;
-        // We create LOTS of linksets.
-        if (m_nextLinksetID <= 0)
-            m_nextLinksetID = 1;
-        PhysicsScene = scene;
-        LinksetRoot = parent;
-        m_children = new HashSet<BSPhysObject>();
-        LinksetMass = parent.RawMass;
-        Rebuilding = false;
-    }
-
-    // Link to a linkset where the child knows the parent.
-    // Parent changing should not happen so do some sanity checking.
-    // We return the parent's linkset so the child can track its membership.
-    // Called at runtime.
-    public BSLinkset AddMeToLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            // Don't add the root to its own linkset
-            if (!IsRoot(child))
-                AddChildToLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-        return this;
-    }
-
-    // Remove a child from a linkset.
-    // Returns a new linkset for the child which is a linkset of one (just the
-    //    orphened child).
-    // Called at runtime.
-    public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
-    {
-        lock (m_linksetActivityLock)
-        {
-            if (IsRoot(child))
-            {
-                // Cannot remove the root from a linkset.
-                return this;
-            }
-            RemoveChildFromLinkset(child);
-            LinksetMass = ComputeLinksetMass();
-        }
-
-        // The child is down to a linkset of just itself
-        return BSLinkset.Factory(PhysicsScene, child);
-    }
-
-    // Return 'true' if the passed object is the root object of this linkset
-    public bool IsRoot(BSPhysObject requestor)
-    {
-        return (requestor.LocalID == LinksetRoot.LocalID);
-    }
-
-    public int NumberOfChildren { get { return m_children.Count; } }
-
-    // Return 'true' if this linkset has any children (more than the root member)
-    public bool HasAnyChildren { get { return (m_children.Count > 0); } }
-
-    // Return 'true' if this child is in this linkset
-    public bool HasChild(BSPhysObject child)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            ret = m_children.Contains(child);
-            /* Safer version but the above should work
-            foreach (BSPhysObject bp in m_children)
-            {
-                if (child.LocalID == bp.LocalID)
-                {
-                    ret = true;
-                    break;
-                }
-            }
-             */
-        }
-        return ret;
-    }
-
-    // Perform an action on each member of the linkset including root prim.
-    // Depends on the action on whether this should be done at taint time.
-    public delegate bool ForEachMemberAction(BSPhysObject obj);
-    public virtual bool ForEachMember(ForEachMemberAction action)
-    {
-        bool ret = false;
-        lock (m_linksetActivityLock)
-        {
-            action(LinksetRoot);
-            foreach (BSPhysObject po in m_children)
-            {
-                if (action(po))
-                    break;
-            }
-        }
-        return ret;
-    }
-
-    // I am the root of a linkset and a new child is being added
-    // Called while LinkActivity is locked.
-    protected abstract void AddChildToLinkset(BSPhysObject child);
-    
-    // I am the root of a linkset and one of my children is being removed.
-    // Safe to call even if the child is not really in my linkset.
-    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // May be called at runtime or taint-time.
-    public virtual void Refresh(BSPhysObject requestor)
-    {
-        LinksetMass = ComputeLinksetMass();
-    }
-
-    // Flag denoting the linkset is in the process of being rebuilt.
-    // Used to know not the schedule a rebuild in the middle of a rebuild.
-    protected bool Rebuilding { get; set; }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeDynamic(BSPhysObject child);
-
-    // The object is going static (non-physical). Do any setup necessary
-    //     for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public abstract bool MakeStatic(BSPhysObject child);
-
-    // Called when a parameter update comes from the physics engine for any object
-    //      of the linkset is received.
-    // Passed flag is update came from physics engine (true) or the user (false).
-    // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
-
-    // Routine used when rebuilding the body of the root of the linkset
-    // Destroy all the constraints have have been made to root.
-    // This is called when the root body is changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public abstract bool RemoveBodyDependencies(BSPrim child);
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public abstract void RestoreBodyDependencies(BSPrim child);
-
-    // ================================================================
-    protected virtual float ComputeLinksetMass()
-    {
-        float mass = LinksetRoot.RawMass;
-        if (HasAnyChildren)
-        {
-            lock (m_linksetActivityLock)
-            {
-                foreach (BSPhysObject bp in m_children)
-                {
-                    mass += bp.RawMass;
-                }
-            }
-        }
-        return mass;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position * LinksetRoot.RawMass;
-            float totalMass = LinksetRoot.RawMass;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-                totalMass += bp.RawMass;
-            }
-            if (totalMass != 0f)
-                com /= totalMass;
-        }
-
-        return com;
-    }
-
-    protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
-    {
-        OMV.Vector3 com;
-        lock (m_linksetActivityLock)
-        {
-            com = LinksetRoot.Position;
-
-            foreach (BSPhysObject bp in m_children)
-            {
-                com += bp.Position * bp.RawMass;
-            }
-            com /= (m_children.Count + 1);
-        }
-
-        return com;
-    }
-
-    // Invoke the detailed logger and output something if it's enabled.
-    protected void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs

@@ -1,397 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// When a child is linked, the relationship position of the child to the parent
-//    is remembered so the child's world position can be recomputed when it is
-//    removed from the linkset.
-sealed class BSLinksetCompoundInfo : BSLinksetInfo
-{
-    public OMV.Vector3 OffsetPos;
-    public OMV.Quaternion OffsetRot;
-    public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
-    {
-        OffsetPos = p;
-        OffsetRot = r;
-    }
-    public override void Clear()
-    {
-        OffsetPos = OMV.Vector3.Zero;
-        OffsetRot = OMV.Quaternion.Identity;
-    }
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(OffsetPos.ToString());
-        buff.Append(",r=");
-        buff.Append(OffsetRot.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-};
-
-public sealed class BSLinksetCompound : BSLinkset
-{
-    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
-
-    public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // For compound implimented linksets, if there are children, use compound shape for the root.
-    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
-    { 
-        // Returning 'unknown' means we don't have a preference.
-        BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        if (IsRoot(requestor) && HasAnyChildren)
-        {
-            ret = BSPhysicsShapeType.SHAPE_COMPOUND;
-        }
-        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
-        return ret;
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        // Something changed so do the rebuilding thing
-        // ScheduleRebuild();
-    }
-
-    // Schedule a refresh to happen after all the other taint processing.
-    private void ScheduleRebuild(BSPhysObject requestor)
-    {
-        DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", 
-                            requestor.LocalID, Rebuilding);
-        // When rebuilding, it is possible to set properties that would normally require a rebuild.
-        //    If already rebuilding, don't request another rebuild.
-        if (!Rebuilding)
-        {
-            PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
-            {
-                if (HasAnyChildren)
-                    RecomputeLinksetCompound();
-            });
-        }
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            // The root is going dynamic. Make sure mass is properly set.
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The origional prims are removed from the world as the shape of the root compound
-            //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
-            // We don't want collisions from the old linkset children.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            ret = true;
-        }
-        return ret;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
-        if (IsRoot(child))
-        {
-            ScheduleRebuild(LinksetRoot);
-        }
-        else
-        {
-            // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
-            child.PhysBody.collisionType = CollisionType.LinksetChild;
-
-            // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
-            ret = true;
-        }
-        return ret;
-    }
-
-    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
-    {
-        // The user moving a child around requires the rebuilding of the linkset compound shape
-        // One problem is this happens when a border is crossed -- the simulator implementation
-        //    is to store the position into the group which causes the move of the object
-        //    but it also means all the child positions get updated.
-        //    What would cause an unnecessary rebuild so we make sure the linkset is in a
-        //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) 
-                && !physicalUpdate 
-                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
-        {
-            updated.LinksetInfo = null;
-            ScheduleRebuild(updated);
-        }
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Since we don't keep in world relationships, do nothing unless it's a child changing.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
-
-        if (!IsRoot(child))
-        {
-            // Because it is a convenient time, recompute child world position and rotation based on
-            //    its position in the linkset.
-            RecomputeChildWorldPosition(child, true);
-        }
-
-        // Cannot schedule a refresh/rebuild here because this routine is called when
-        //     the linkset is being rebuilt.
-        // InternalRefresh(LinksetRoot);
-
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    //     this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-    }
-
-    // When the linkset is built, the child shape is added to the compound shape relative to the
-    //    root shape. The linkset then moves around but this does not move the actual child
-    //    prim. The child prim's location must be recomputed based on the location of the root shape.
-    private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
-    {
-        BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
-        if (lci != null)
-        {
-            if (inTaintTime)
-            {
-                OMV.Vector3 oldPos = child.RawPosition;
-                child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-                DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
-                                            child.LocalID, oldPos, lci, child.RawPosition);
-            }
-            else
-            {
-                // TaintedObject is not used here so the raw position is set now and not at taint-time.
-                child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
-                child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
-            }
-        }
-        else
-        {
-            // This happens when children have been added to the linkset but the linkset
-            //     has not been constructed yet. So like, at taint time, adding children to a linkset
-            //     and then changing properties of the children (makePhysical, for instance)
-            //     but the post-print action of actually rebuilding the linkset has not yet happened.
-            // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
-            //                                 LogHeader, child.LocalID);
-            DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
-        }
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Rebuild the compound shape with the new child shape included
-            ScheduleRebuild(child);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in the linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            child.LocalID,
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
-                            child.LocalID, child.PhysBody.ptr.ToString());
-
-            // Cause the child's body to be rebuilt and thus restored to normal operation
-            RecomputeChildWorldPosition(child, false);
-            child.ForceBodyShapeRebuild(false);
-
-            if (!HasAnyChildren)
-            {
-                // The linkset is now empty. The root needs rebuilding.
-                LinksetRoot.ForceBodyShapeRebuild(false);
-            }
-            else
-            {
-                // Rebuild the compound shape with the child removed
-                ScheduleRebuild(child);
-            }
-        }
-        return;
-    }
-
-    // Called before the simulation step to make sure the compound based linkset
-    //    is all initialized.
-    // Constraint linksets are rebuilt every time.
-    // Note that this works for rebuilding just the root after a linkset is taken apart.
-    // Called at taint time!!
-    private void RecomputeLinksetCompound()
-    {
-        try
-        {
-            // Suppress rebuilding while rebuilding
-            Rebuilding = true;
-
-            // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true);
-
-            DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
-
-            // Add a shape for each of the other children in the linkset
-            ForEachMember(delegate(BSPhysObject cPrim)
-            {
-                if (!IsRoot(cPrim))
-                {
-                    // Compute the displacement of the child from the root of the linkset.
-                    // This info is saved in the child prim so the relationship does not
-                    //    change over time and the new child position can be computed
-                    //    when the linkset is being disassembled (the linkset may have moved).
-                    BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
-                    if (lci == null)
-                    {
-                        // Each child position and rotation is given relative to the root.
-                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                        OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
-                        // Save relative position for recomputing child's world position after moving linkset.
-                        lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
-                        cPrim.LinksetInfo = lci;
-                        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
-                    }
-
-                    DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
-                        LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
-
-                    if (cPrim.PhysShape.isNativeShape)
-                    {
-                        // A native shape is turning into a hull collision shape because native
-                        //    shapes are not shared so we have to hullify it so it will be tracked
-                        //    and freed at the correct time. This also solves the scaling problem
-                        //    (native shapes scaled but hull/meshes are assumed to not be).
-                        // TODO: decide of the native shape can just be used in the compound shape.
-                        //    Use call to CreateGeomNonSpecial().
-                        BulletShape saveShape = cPrim.PhysShape;
-                        cPrim.PhysShape.Clear();        // Don't let the create free the child's shape
-                        // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
-                        PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
-                        BulletShape newShape = cPrim.PhysShape;
-                        cPrim.PhysShape = saveShape;
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
-                    }
-                    else
-                    {
-                        // For the shared shapes (meshes and hulls), just use the shape in the child.
-                        // The reference count added here will be decremented when the compound shape
-                        //     is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
-                        if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
-                        {
-                            PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
-                                                LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
-                        }
-                        BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
-                    }
-                }
-                return false;   // 'false' says to move onto the next child in the list
-            });
-
-            // With all of the linkset packed into the root prim, it has the mass of everyone.
-            LinksetMass = LinksetMass;
-            LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
-        }
-        finally
-        {
-            Rebuilding = false;
-        }
-
-        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
-
-        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs

@@ -1,316 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSLinksetConstraints : BSLinkset
-{
-    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
-
-    public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
-    {
-    }
-
-    // When physical properties are changed the linkset needs to recalculate
-    //   its internal properties.
-    // This is queued in the 'post taint' queue so the
-    //   refresh will happen once after all the other taints are applied.
-    public override void Refresh(BSPhysObject requestor)
-    {
-        base.Refresh(requestor);
-
-        // Queue to happen after all the other taint processing
-        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
-            {
-                if (HasAnyChildren && IsRoot(requestor))
-                    RecomputeLinksetConstraints();
-            });
-    }
-
-    // The object is going dynamic (physical). Do any setup necessary
-    //     for a dynamic linkset.
-    // Only the state of the passed object can be modified. The rest of the linkset
-    //     has not yet been fully constructed.
-    // Return 'true' if any properties updated on the passed object.
-    // Called at taint-time!
-    public override bool MakeDynamic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // The object is going static (non-physical). Do any setup necessary for a static linkset.
-    // Return 'true' if any properties updated on the passed object.
-    // This doesn't normally happen -- OpenSim removes the objects from the physical
-    //     world if it is a static linkset.
-    // Called at taint-time!
-    public override bool MakeStatic(BSPhysObject child)
-    {
-        // What is done for each object in BSPrim is what we want.
-        return false;
-    }
-
-    // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
-    {
-        // Nothing to do for constraints on property updates
-    }
-
-    // Routine called when rebuilding the body of some member of the linkset.
-    // Destroy all the constraints have have been made to root and set
-    //     up to rebuild the constraints before the next simulation step.
-    // Returns 'true' of something was actually removed and would need restoring
-    // Called at taint-time!!
-    public override bool RemoveBodyDependencies(BSPrim child)
-    {
-        bool ret = false;
-
-        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString());
-
-        lock (m_linksetActivityLock)
-        {
-            // Just undo all the constraints for this linkset. Rebuild at the end of the step.
-            ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
-            // Cause the constraints, et al to be rebuilt before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return ret;
-    }
-
-    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
-    // this routine will restore the removed constraints.
-    // Called at taint-time!!
-    public override void RestoreBodyDependencies(BSPrim child)
-    {
-        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
-    }
-
-    // ================================================================
-
-    // Add a new child to the linkset.
-    // Called while LinkActivity is locked.
-    protected override void AddChildToLinkset(BSPhysObject child)
-    {
-        if (!HasChild(child))
-        {
-            m_children.Add(child);
-
-            DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            // Cause constraints and assorted properties to be recomputed before the next simulation step.
-            Refresh(LinksetRoot);
-        }
-        return;
-    }
-
-    // Remove the specified child from the linkset.
-    // Safe to call even if the child is not really in my linkset.
-    protected override void RemoveChildFromLinkset(BSPhysObject child)
-    {
-        if (m_children.Remove(child))
-        {
-            BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
-            BSPhysObject childx = child;
-
-            DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
-                            childx.LocalID,
-                            rootx.LocalID, rootx.PhysBody.ptr.ToString(),
-                            childx.LocalID, childx.PhysBody.ptr.ToString());
-
-            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
-            {
-                PhysicallyUnlinkAChildFromRoot(rootx, childx);
-            });
-            // See that the linkset parameters are recomputed at the end of the taint time.
-            Refresh(LinksetRoot);
-        }
-        else
-        {
-            // Non-fatal occurance.
-            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
-        }
-        return;
-    }
-
-    // Create a constraint between me (root of linkset) and the passed prim (the child).
-    // Called at taint time!
-    private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Don't build the constraint when asked. Put it off until just before the simulation step.
-        Refresh(rootPrim);
-    }
-
-    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        // Zero motion for children so they don't interpolate
-        childPrim.ZeroMotion(true);
-
-        // Relative position normalized to the root prim
-        // Essentually a vector pointing from center of rootPrim to center of childPrim
-        OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
-
-        // real world coordinate of midpoint between the two objects
-        OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
-
-        DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
-                                        rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
-                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
-                                        rootPrim.Position, childPrim.Position, midPoint);
-
-        // create a constraint that allows no freedom of movement between the two objects
-        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-
-        BSConstraint6Dof constrain = new BSConstraint6Dof(
-                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
-                            // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
-
-        /* NOTE: below is an attempt to build constraint with full frame computation, etc.
-         *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
-         *     of the objects.
-         * Code left for future programmers.
-        // ==================================================================================
-        // relative position normalized to the root prim
-        OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
-        OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
-
-        // relative rotation of the child to the parent
-        OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
-        OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
-
-        DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
-        BS6DofConstraint constrain = new BS6DofConstraint(
-                        PhysicsScene.World, rootPrim.Body, childPrim.Body,
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(rootPrim.Orientation),
-                        OMV.Vector3.Zero,
-                        OMV.Quaternion.Inverse(childPrim.Orientation),
-                        true,
-                        true
-                        );
-        // ==================================================================================
-        */
-
-        PhysicsScene.Constraints.AddConstraint(constrain);
-
-        // zero linear and angular limits makes the objects unable to move in relation to each other
-        constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-        constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-
-        // tweek the constraint to increase stability
-        constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
-        constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
-                        BSParam.LinkConstraintTransMotorMaxVel,
-                        BSParam.LinkConstraintTransMotorMaxForce);
-        constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
-        if (BSParam.LinkConstraintSolverIterations != 0f)
-        {
-            constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
-        }
-        return constrain;
-    }
-
-    // Remove linkage between the linkset root and a particular child
-    // The root and child bodies are passed in because we need to remove the constraint between
-    //      the bodies that were present at unlink time.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
-    {
-        bool ret = false;
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
-                            rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
-                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
-
-        // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
-        {
-            // Make the child refresh its location
-            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
-            ret = true;
-        }
-
-        return ret;
-    }
-
-    // Remove linkage between myself and any possible children I might have.
-    // Returns 'true' of any constraints were destroyed.
-    // Called at taint time!
-    private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
-    {
-        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-
-        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
-    }
-
-    // Call each of the constraints that make up this linkset and recompute the
-    //    various transforms and variables. Create constraints of not created yet.
-    // Called before the simulation step to make sure the constraint based linkset
-    //    is all initialized.
-    // Called at taint time!!
-    private void RecomputeLinksetConstraints()
-    {
-        float linksetMass = LinksetMass;
-        LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
-
-        // DEBUG: see of inter-linkset collisions are causing problems
-        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
-        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-        DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
-                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass);
-
-        foreach (BSPhysObject child in m_children)
-        {
-            // A child in the linkset physically shows the mass of the whole linkset.
-            // This allows Bullet to apply enough force on the child to move the whole linkset.
-            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
-            child.UpdatePhysicalMassProperties(linksetMass, true);
-
-            BSConstraint constrain;
-            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
-            {
-                // If constraint doesn't exist yet, create it.
-                constrain = BuildConstraint(LinksetRoot, child);
-            }
-            constrain.RecomputeConstraintVariables(linksetMass);
-
-            // DEBUG: see of inter-linkset collisions are causing problems
-            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
-            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
-            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
-        }
-
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs

@@ -1,200 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Reflection;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public struct MaterialAttributes
-{
-    // Material type values that correspond with definitions for LSL
-    public enum Material : int
-    {
-        Stone = 0,
-        Metal,
-        Glass,
-        Wood,
-        Flesh,
-        Plastic,
-        Rubber,
-        Light,
-        // Hereafter are BulletSim additions
-        Avatar,
-        NumberOfTypes   // the count of types in the enum.
-    }
-
-    // Names must be in the order of the above enum.
-    // These names must coorespond to the lower case field names in the MaterialAttributes
-    //     structure as reflection is used to select the field to put the value in.
-    public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
-
-    public MaterialAttributes(string t, float d, float f, float r)
-    {
-        type = t;
-        density = d;
-        friction = f;
-        restitution = r;
-    }
-    public string type;
-    public float density;
-    public float friction;
-    public float restitution;
-}
-
-public static class BSMaterials
-{
-    // Attributes for each material type
-    private static readonly MaterialAttributes[] Attributes;
-
-    // Map of material name to material type code
-    public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
-
-    static BSMaterials()
-    {
-        // Attribute sets for both the non-physical and physical instances of materials.
-        Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
-
-        // Map of name to type code.
-        MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
-        MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
-        MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
-        MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
-        MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
-        MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
-        MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
-        MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
-        MaterialMap.Add("Light", MaterialAttributes.Material.Light);
-        MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
-    }
-
-    // This is where all the default material attributes are defined.
-    public static void InitializeFromDefaults(ConfigurationParameters parms)
-    {
-        // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
-        float dDensity = parms.defaultDensity;
-        float dFriction = parms.defaultFriction;
-        float dRestitution = parms.defaultRestitution;
-        Attributes[(int)MaterialAttributes.Material.Stone] =
-                    new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Metal] =
-                    new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Glass] =
-                    new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood] =
-                    new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Flesh] =
-                    new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Plastic] =
-                    new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Rubber] =
-                    new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Light] =
-                    new MaterialAttributes("light",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Avatar] =
-                    new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
-
-        Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
-        Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
-        Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
-        Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
-        Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
-        Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
-        Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
-                    new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
-    }
-
-    // Under the [BulletSim] section, one can change the individual material
-    //    attribute values. The format of the configuration parameter is:
-    //        <materialName><Attribute>["Physical"] = floatValue
-    //    For instance:
-    //        [BulletSim]
-    //             StoneFriction = 0.2
-    //             FleshRestitutionPhysical = 0.8
-    // Materials can have different parameters for their static and
-    //    physical instantiations. When setting the non-physical value,
-    //    both values are changed. Setting the physical value only changes
-    //    the physical value.
-    public static void InitializefromParameters(IConfig pConfig)
-    {
-        foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
-        {
-            string matName = kvp.Key;
-            foreach (string attribName in MaterialAttributes.MaterialAttribs)
-            {
-                string paramName = matName + attribName;
-                if (pConfig.Contains(paramName))
-                {
-                    float paramValue = pConfig.GetFloat(paramName);
-                    SetAttributeValue((int)kvp.Value, attribName, paramValue);
-                    // set the physical value also
-                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
-                paramName += "Physical";
-                if (pConfig.Contains(paramName))
-                {
-                    float paramValue = pConfig.GetFloat(paramName);
-                    SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
-                }
-            }
-        }
-    }
-
-    // Use reflection to set the value in the attribute structure.
-    private static void SetAttributeValue(int matType, string attribName, float val)
-    {
-        MaterialAttributes thisAttrib = Attributes[matType];
-        FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
-        if (fieldInfo != null)
-        {
-            fieldInfo.SetValue(thisAttrib, val);
-            Attributes[matType] = thisAttrib;
-        }
-    }
-
-    // Given a material type, return a structure of attributes.
-    public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
-    {
-        int ind = (int)type;
-        if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
-        return Attributes[ind];
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs

@@ -1,347 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSMotor
-{
-    // Timescales and other things can be turned off by setting them to 'infinite'.
-    public const float Infinite = 12345.6f;
-    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
-
-    public BSMotor(string useName)
-    {
-        UseName = useName;
-        PhysicsScene = null;
-        Enabled = true;
-    }
-    public virtual bool Enabled { get; set; }
-    public virtual void Reset() { }
-    public virtual void Zero() { }
-    public virtual void GenerateTestOutput(float timeStep) { }
-
-    // A name passed at motor creation for easily identifyable debugging messages.
-    public string UseName { get; private set; }
-
-    // Used only for outputting debug information. Might not be set so check for null.
-    public BSScene PhysicsScene { get; set; }
-    protected void MDetailLog(string msg, params Object[] parms)
-    {
-        if (PhysicsScene != null)
-        {
-            if (PhysicsScene.VehicleLoggingEnabled)
-            {
-                PhysicsScene.DetailLog(msg, parms);
-            }
-        }
-    }
-}
-
-// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-//     the CurrentValue will be held back by FrictionTimeScale.
-// This motor will "zero itself" over time in that the targetValue will
-//    decay to zero and the currentValue will follow it to that zero.
-//    The overall effect is for the returned correction value to go from large
-//    values (the total difference between current and target minus friction)
-//    to small and eventually zero values.
-// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
-
-// For instance, if something is moving at speed X and the desired speed is Y,
-//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
-//    values of CurrentValue are returned that approach the TargetValue.
-// The feature of decaying TargetValue is so vehicles will eventually
-//    come to a stop rather than run forever. This can be disabled by
-//    setting TargetValueDecayTimescale to 'infinite'.
-// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
-public class BSVMotor : BSMotor
-{
-    // public Vector3 FrameOfReference { get; set; }
-    // public Vector3 Offset { get; set; }
-
-    public virtual float TimeScale { get; set; }
-    public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual Vector3 FrictionTimescale { get; set; }
-    public virtual float Efficiency { get; set; }
-
-    public virtual float ErrorZeroThreshold { get; set; }
-
-    public virtual Vector3 TargetValue { get; protected set; }
-    public virtual Vector3 CurrentValue { get; protected set; }
-    public virtual Vector3 LastError { get; protected set; }
-
-    public virtual bool ErrorIsZero
-    { get {
-        return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
-        }
-    }
-
-    public BSVMotor(string useName)
-        : base(useName)
-    {
-        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
-        Efficiency = 1f;
-        FrictionTimescale = BSMotor.InfiniteVector;
-        CurrentValue = TargetValue = Vector3.Zero;
-        ErrorZeroThreshold = 0.001f;
-    }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
-        : this(useName)
-    {
-        TimeScale = timeScale;
-        TargetValueDecayTimeScale = decayTimeScale;
-        FrictionTimescale = frictionTimeScale;
-        Efficiency = efficiency;
-        CurrentValue = TargetValue = Vector3.Zero;
-    }
-    public void SetCurrent(Vector3 current)
-    {
-        CurrentValue = current;
-    }
-    public void SetTarget(Vector3 target)
-    {
-        TargetValue = target;
-    }
-    public override void Zero()
-    {
-        base.Zero();
-        CurrentValue = TargetValue = Vector3.Zero;
-    }
-
-    // Compute the next step and return the new current value
-    public virtual Vector3 Step(float timeStep)
-    {
-        if (!Enabled) return TargetValue;
-
-        Vector3 origTarget = TargetValue;       // DEBUG
-        Vector3 origCurrVal = CurrentValue;     // DEBUG
-
-        Vector3 correction = Vector3.Zero;
-        Vector3 error = TargetValue - CurrentValue;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            correction = Step(timeStep, error);
-
-            CurrentValue += correction;
-
-            // The desired value reduces to zero which also reduces the difference with current.
-            // If the decay time is infinite, don't decay at all.
-            float decayFactor = 0f;
-            if (TargetValueDecayTimeScale != BSMotor.Infinite)
-            {
-                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
-                TargetValue *= (1f - decayFactor);
-            }
-
-            // The amount we can correct the error is reduced by the friction
-            Vector3 frictionFactor = Vector3.Zero;
-            if (FrictionTimescale != BSMotor.InfiniteVector)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
-                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
-                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
-                frictionFactor *= timeStep;
-                CurrentValue *= (Vector3.One - frictionFactor);
-            }
-
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
-                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
-                                timeStep, error, correction);
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
-        }
-        else
-        {
-            // Difference between what we have and target is small. Motor is done.
-            CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
-        }
-
-        return CurrentValue;
-    }
-    public virtual Vector3 Step(float timeStep, Vector3 error)
-    {
-        if (!Enabled) return Vector3.Zero;
-
-        LastError = error;
-        Vector3 returnCorrection = Vector3.Zero;
-        if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            // correction =  error / secondsItShouldTakeToCorrect
-            Vector3 correctionAmount;
-            if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
-                correctionAmount = error * timeStep;
-            else
-                correctionAmount = error / TimeScale * timeStep;
-
-            returnCorrection = correctionAmount;
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
-                                    BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
-        }
-        return returnCorrection;
-    }
-
-    // The user sets all the parameters and calls this which outputs values until error is zero.
-    public override void GenerateTestOutput(float timeStep)
-    {
-        // maximum number of outputs to generate.
-        int maxOutput = 50;
-        MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
-        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 
-                                CurrentValue, TargetValue);
-
-        LastError = BSMotor.InfiniteVector;
-        while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
-        {
-            Vector3 lastStep = Step(timeStep);
-            MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
-                            BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
-        }
-        MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-        
-
-    }
-
-    public override string ToString()
-    {
-        return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
-            UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
-    }
-}
-
-public class BSFMotor : BSMotor
-{
-    public float TimeScale { get; set; }
-    public float DecayTimeScale { get; set; }
-    public float Friction { get; set; }
-    public float Efficiency { get; set; }
-
-    public float Target { get; private set; }
-    public float CurrentValue { get; private set; }
-
-    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
-        : base(useName)
-    {
-    }
-    public void SetCurrent(float target)
-    {
-    }
-    public void SetTarget(float target)
-    {
-    }
-    public virtual float Step(float timeStep)
-    {
-        return 0f;
-    }
-}
-
-// Proportional, Integral, Derivitive Motor
-// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
-public class BSPIDVMotor : BSVMotor
-{
-    // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
-    public Vector3 proportionFactor { get; set; }
-    public Vector3 integralFactor { get; set; }
-    public Vector3 derivFactor { get; set; }
-
-    // Arbritrary factor range.
-    // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
-    public float EfficiencyHigh = 0.4f;
-    public float EfficiencyLow = 4.0f;
-
-    // Running integration of the error
-    Vector3 RunningIntegration { get; set; }
-
-    public BSPIDVMotor(string useName)
-        : base(useName)
-    {
-        proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
-        RunningIntegration = Vector3.Zero;
-        LastError = Vector3.Zero;
-    }
-
-    public override void Zero()
-    {
-        base.Zero();
-    }
-
-    public override float Efficiency
-    {
-        get { return base.Efficiency; }
-        set
-        {
-            base.Efficiency = Util.Clamp(value, 0f, 1f);
-            // Compute factors based on efficiency.
-            // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
-            // If efficiency is low (0f), use a factor value that overcorrects.
-            // TODO: might want to vary contribution of different factor depending on efficiency.
-            float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
-            // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
-            proportionFactor = new Vector3(factor, factor, factor);
-            integralFactor = new Vector3(factor, factor, factor);
-            derivFactor = new Vector3(factor, factor, factor);
-        }
-    }
-
-    // Ignore Current and Target Values and just advance the PID computation on this error.
-    public override Vector3 Step(float timeStep, Vector3 error)
-    {
-        if (!Enabled) return Vector3.Zero;
-
-        // Add up the error so we can integrate over the accumulated errors
-        RunningIntegration += error * timeStep;
-
-        // A simple derivitive is the rate of change from the last error.
-        Vector3 derivFactor = (error - LastError) * timeStep;
-        LastError = error;
-
-        // Correction = -(proportionOfPresentError +      accumulationOfPastError    +     rateOfChangeOfError)
-        Vector3 ret   = -(
-                          error * proportionFactor
-                        + RunningIntegration * integralFactor 
-                        + derivFactor * derivFactor
-                        );
-
-        return ret;
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs

@@ -1,559 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OpenMetaverse;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public static class BSParam
-{
-    // Level of Detail values kept as float because that's what the Meshmerizer wants
-    public static float MeshLOD { get; private set; }
-    public static float MeshMegaPrimLOD { get; private set; }
-    public static float MeshMegaPrimThreshold { get; private set; }
-    public static float SculptLOD { get; private set; }
-
-    public static float MinimumObjectMass { get; private set; }
-    public static float MaximumObjectMass { get; private set; }
-
-    public static float LinearDamping { get; private set; }
-    public static float AngularDamping { get; private set; }
-    public static float DeactivationTime { get; private set; }
-    public static float LinearSleepingThreshold { get; private set; }
-    public static float AngularSleepingThreshold { get; private set; }
-	public static float CcdMotionThreshold { get; private set; }
-	public static float CcdSweptSphereRadius { get; private set; }
-    public static float ContactProcessingThreshold { get; private set; }
-
-    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
-    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
-    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
-
-    public static float TerrainImplementation { get; private set; }
-    public static float TerrainFriction { get; private set; }
-    public static float TerrainHitFraction { get; private set; }
-    public static float TerrainRestitution { get; private set; }
-    public static float TerrainCollisionMargin { get; private set; }
-
-    // Avatar parameters
-    public static float AvatarFriction { get; private set; }
-    public static float AvatarStandingFriction { get; private set; }
-    public static float AvatarDensity { get; private set; }
-    public static float AvatarRestitution { get; private set; }
-    public static float AvatarCapsuleWidth { get; private set; }
-    public static float AvatarCapsuleDepth { get; private set; }
-    public static float AvatarCapsuleHeight { get; private set; }
-	public static float AvatarContactProcessingThreshold { get; private set; }
-
-    public static float VehicleAngularDamping { get; private set; }
-
-    public static float LinksetImplementation { get; private set; }
-    public static float LinkConstraintUseFrameOffset { get; private set; }
-    public static float LinkConstraintEnableTransMotor { get; private set; }
-    public static float LinkConstraintTransMotorMaxVel { get; private set; }
-    public static float LinkConstraintTransMotorMaxForce { get; private set; }
-    public static float LinkConstraintERP { get; private set; }
-    public static float LinkConstraintCFM { get; private set; }
-    public static float LinkConstraintSolverIterations { get; private set; }
-
-    public static float PID_D { get; private set; }    // derivative
-    public static float PID_P { get; private set; }    // proportional
-
-    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
-    public delegate float ParamGet(BSScene scene);
-    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
-    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
-    public struct ParameterDefn
-    {
-        public string name;         // string name of the parameter
-        public string desc;         // a short description of what the parameter means
-        public float defaultValue;  // default value if not specified anywhere else
-        public ParamUser userParam; // get the value from the configuration file
-        public ParamGet getter;     // return the current value stored for this parameter
-        public ParamSet setter;     // set the current value for this parameter
-        public SetOnObject onObject;    // set the value on an object in the physical domain
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = null;
-        }
-        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
-        {
-            name = n;
-            desc = d;
-            defaultValue = v;
-            userParam = u;
-            getter = g;
-            setter = s;
-            onObject = o;
-        }
-    }
-
-    // List of all of the externally visible parameters.
-    // For each parameter, this table maps a text name to getter and setters.
-    // To add a new externally referencable/settable parameter, add the paramter storage
-    //    location somewhere in the program and make an entry in this table with the
-    //    getters and setters.
-    // It is easiest to find an existing definition and copy it.
-    // Parameter values are floats. Booleans are converted to a floating value.
-    //
-    // A ParameterDefn() takes the following parameters:
-    //    -- the text name of the parameter. This is used for console input and ini file.
-    //    -- a short text description of the parameter. This shows up in the console listing.
-    //    -- a default value (float)
-    //    -- a delegate for fetching the parameter from the ini file.
-    //          Should handle fetching the right type from the ini file and converting it.
-    //    -- a delegate for getting the value as a float
-    //    -- a delegate for setting the value from a float
-    //    -- an optional delegate to update the value in the world. Most often used to
-    //          push the new value to an in-world object.
-    //
-    // The single letter parameters for the delegates are:
-    //    s = BSScene
-    //    o = BSPhysObject
-    //    p = string parameter name
-    //    l = localID of referenced object
-    //    v = value (float)
-    //    cf = parameter configuration class (for fetching values from ini file)
-    private static ParameterDefn[] ParameterDefinitions =
-    {
-        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
-            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
-            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
-        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
-            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
-            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
-
-        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
-            8f,
-            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshLOD; },
-            (s,p,l,v) => { MeshLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
-            16f,
-            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimLOD; },
-            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
-        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
-            10f,
-            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
-            (s) => { return MeshMegaPrimThreshold; },
-            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
-        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
-            32f,
-            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
-            (s) => { return SculptLOD; },
-            (s,p,l,v) => { SculptLOD = v; } ),
-
-        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
-            10f,
-            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxSubSteps; },
-            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
-        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
-            1f / 60f,
-            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
-            (s) => { return (float)s.m_fixedTimeStep; },
-            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
-        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
-            2048f,
-            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.m_maxCollisionsPerFrame; },
-            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
-        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
-            8000f,
-            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
-            (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",
-            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; } ),
-        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
-            0.0001f,
-            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MinimumObjectMass; },
-            (s,p,l,v) => { MinimumObjectMass = v; } ),
-        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
-            10000.01f,
-            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
-            (s) => { return (float)MaximumObjectMass; },
-            (s,p,l,v) => { MaximumObjectMass = v; } ),
-
-        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_D; },
-            (s,p,l,v) => { PID_D = v; } ),
-        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
-            (s) => { return (float)PID_P; },
-            (s,p,l,v) => { PID_P = v; } ),
-
-        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
-            0.2f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultFriction; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
-        new ParameterDefn("DefaultDensity", "Density for new objects" ,
-            10.000006836f,  // Aluminum g/cm3
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultDensity; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
-        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].defaultRestitution; },
-            (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
-        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
-            0.04f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].collisionMargin; },
-            (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
-        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-            -9.80665f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].gravity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
-            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
-
-
-        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
-            (s) => { return LinearDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
-        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
-            0f,
-            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
-            (s) => { return AngularDamping; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
-        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
-            0.2f,
-            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
-            (s) => { return DeactivationTime; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, 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) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return LinearSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, 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) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
-            (s) => { return AngularSleepingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, 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) => { CcdMotionThreshold = cf.GetFloat(p, v); },
-            (s) => { return CcdMotionThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
-        new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
-            0f,
-            (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
-            (s) => { return CcdSweptSphereRadius; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, 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) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return ContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, 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.Heightmap,
-            (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
-            (s) => { return TerrainImplementation; },
-            (s,p,l,v) => { TerrainImplementation = v; } ),
-        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
-            (s) => { return TerrainFriction; },
-            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
-        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
-            (s) => { return TerrainHitFraction; },
-            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
-            (s) => { return TerrainRestitution; },
-            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
-        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.04f,
-            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
-            (s) => { return TerrainCollisionMargin; },
-            (s,p,l,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
-
-        new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
-            (s) => { return AvatarFriction; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            10.0f,
-            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
-            (s) => { return AvatarStandingFriction; },
-            (s,p,l,v) => { AvatarStandingFriction = v; } ),
-        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f,
-            (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
-            (s) => { return AvatarDensity; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
-            (s) => { return AvatarRestitution; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleDepth; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
-            (s) => { return AvatarCapsuleHeight; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
-	    new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
-            (s) => { return AvatarContactProcessingThreshold; },
-            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
-
-        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
-            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
-            (s) => { return VehicleAngularDamping; },
-            (s,p,l,v) => { VehicleAngularDamping = v; } ),
-
-	    new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
-	    new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
-            (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
-	    new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
-	    new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
-	    new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
-	    new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
-	    new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
-            ConfigurationParameters.numericFalse,
-            (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
-            (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
-	    new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
-            0f,     // zero says use Bullet default
-            (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
-            (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
-
-	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
-            (s) => { return LinksetImplementation; },
-            (s,p,l,v) => { 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) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintUseFrameOffset; },
-            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
-	    new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
-            (s) => { return LinkConstraintEnableTransMotor; },
-            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
-	    new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxVel; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
-	    new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintTransMotorMaxForce; },
-            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
-	    new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintCFM; },
-            (s,p,l,v) => { LinkConstraintCFM = v; } ),
-	    new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintERP; },
-            (s,p,l,v) => { LinkConstraintERP = v; } ),
-	    new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
-            (s) => { return LinkConstraintSolverIterations; },
-            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
-
-        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
-            0f,
-            (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
-            (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
-            (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
-    };
-
-    // Convert a boolean to our numeric true and false values
-    public static float NumericBool(bool b)
-    {
-        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
-    }
-
-    // Convert numeric true and false values to a boolean
-    public static bool BoolNumeric(float b)
-    {
-        return (b == ConfigurationParameters.numericTrue ? true : false);
-    }
-
-    // Search through the parameter definitions and return the matching
-    //    ParameterDefn structure.
-    // Case does not matter as names are compared after converting to lower case.
-    // Returns 'false' if the parameter is not found.
-    internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
-    {
-        bool ret = false;
-        ParameterDefn foundDefn = new ParameterDefn();
-        string pName = paramName.ToLower();
-
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            if (pName == parm.name.ToLower())
-            {
-                foundDefn = parm;
-                ret = true;
-                break;
-            }
-        }
-        defn = foundDefn;
-        return ret;
-    }
-
-    // Pass through the settable parameters and set the default values
-    internal static void SetParameterDefaultValues(BSScene physicsScene)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
-        }
-    }
-
-    // Get user set values out of the ini file.
-    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
-    {
-        foreach (ParameterDefn parm in ParameterDefinitions)
-        {
-            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
-        }
-    }
-
-    internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
-    // This creates an array in the correct format for returning the list of
-    //    parameters. This is used by the 'list' option of the 'physics' command.
-    internal static void BuildParameterTable()
-    {
-        if (SettableParameters.Length < ParameterDefinitions.Length)
-        {
-            List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
-            for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
-            {
-                ParameterDefn pd = ParameterDefinitions[ii];
-                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
-            }
-
-            // make the list in alphabetical order for estetic reasons
-            entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
-            {
-                return ppe1.name.CompareTo(ppe2.name);
-            });
-
-            SettableParameters = entries.ToArray();
-        }
-    }
-
-
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs

@@ -1,346 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-/*
- * Class to wrap all objects.
- * The rest of BulletSim doesn't need to keep checking for avatars or prims
- *        unless the difference is significant.
- * 
- *  Variables in the physicsl objects are in three forms:
- *      VariableName: used by the simulator and performs taint operations, etc
- *      RawVariableName: direct reference to the BulletSim storage for the variable value
- *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- *  The last two (and certainly the last one) should be referenced only in taint-time.
- */
-
-/*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
- * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
- * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
- * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque              
- */
-
-public abstract class BSPhysObject : PhysicsActor
-{
-    protected BSPhysObject()
-    {
-    }
-    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
-    {
-        PhysicsScene = parentScene;
-        LocalID = localID;
-        PhysObjectName = name;
-        TypeName = typeName;
-
-        Linkset = BSLinkset.Factory(PhysicsScene, this);
-        LastAssetBuildFailed = false;
-
-        // Default material type
-        Material = MaterialAttributes.Material.Wood;
-
-        CollisionCollection = new CollisionEventUpdate();
-        SubscribedEventsMs = 0;
-        CollidingStep = 0;
-        CollidingGroundStep = 0;
-    }
-
-    // Tell the object to clean up.
-    public virtual void Destroy()
-    {
-        UnRegisterAllPreStepActions();
-    }
-
-    public BSScene PhysicsScene { get; protected set; }
-    // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
-    public string PhysObjectName { get; protected set; }
-    public string TypeName { get; protected set; }
-
-    public BSLinkset Linkset { get; set; }
-    public BSLinksetInfo LinksetInfo { get; set; }
-
-    // Return the object mass without calculating it or having side effects
-    public abstract float RawMass { get; }
-    // Set the raw mass but also update physical mass properties (inertia, ...)
-    // 'inWorld' true if the object has already been added to the dynamic world.
-    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
-
-    // The last value calculated for the prim's inertia
-    public OMV.Vector3 Inertia { get; set; }
-
-    // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody PhysBody;
-    // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape PhysShape;
-
-    // 'true' if the mesh's underlying asset failed to build.
-    // This will keep us from looping after the first time the build failed.
-    public bool LastAssetBuildFailed { get; set; }
-
-    // The objects base shape information. Null if not a prim type shape.
-    public PrimitiveBaseShape BaseShape { get; protected set; }
-    // Some types of objects have preferred physical representations.
-    // Returns SHAPE_UNKNOWN if there is no preference.
-    public virtual BSPhysicsShapeType PreferredPhysicalShape
-    {
-        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
-    }
-
-    // When the physical properties are updated, an EntityProperty holds the update values.
-    // Keep the current and last EntityProperties to enable computation of differences
-    //      between the current update and the previous values.
-    public EntityProperties CurrentEntityProperties { get; set; }
-    public EntityProperties LastEntityProperties { get; set; }
-
-    public virtual OMV.Vector3 Scale { get; set; }
-    public abstract bool IsSolid { get; }
-    public abstract bool IsStatic { get; }
-
-    // Materialness
-    public MaterialAttributes.Material Material { get; private set; }
-    public override void SetMaterial(int material)
-    {
-        Material = (MaterialAttributes.Material)material;
-    }
-
-    // Stop all physical motion.
-    public abstract void ZeroMotion(bool inTaintTime);
-    public abstract void ZeroAngularMotion(bool inTaintTime);
-
-    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
-    public virtual void StepVehicle(float timeStep) { }
-
-    // Update the physical location and motion of the object. Called with data from Bullet.
-    public abstract void UpdateProperties(EntityProperties entprop);
-
-    public abstract OMV.Vector3 RawPosition { get; set; }
-    public abstract OMV.Vector3 ForcePosition { get; set; }
-
-    public abstract OMV.Quaternion RawOrientation { get; set; }
-    public abstract OMV.Quaternion ForceOrientation { get; set; }
-
-    // The system is telling us the velocity it wants to move at.
-    // protected OMV.Vector3 m_targetVelocity;  // use the definition in PhysicsActor
-    public override OMV.Vector3 TargetVelocity
-    {
-        get { return m_targetVelocity; }
-        set
-        {
-            m_targetVelocity = value;
-            Velocity = value;
-        }
-    }
-    public abstract OMV.Vector3 ForceVelocity { get; set; }
-
-    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
-
-    public abstract float ForceBuoyancy { get; set; }
-
-    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
-
-    #region Collisions
-
-    // Requested number of milliseconds between collision events. Zero means disabled.
-    protected int SubscribedEventsMs { get; set; }
-    // Given subscription, the time that a collision may be passed up
-    protected int NextCollisionOkTime { get; set; }
-    // The simulation step that last had a collision
-    protected long CollidingStep { get; set; }
-    // The simulation step that last had a collision with the ground
-    protected long CollidingGroundStep { get; set; }
-    // The collision flags we think are set in Bullet
-    protected CollisionFlags CurrentCollisionFlags { get; set; }
-
-    // The collisions that have been collected this tick
-    protected CollisionEventUpdate CollisionCollection;
-
-    // The simulation step is telling this object about a collision.
-    // Return 'true' if a collision was processed and should be sent up.
-    // Called at taint time from within the Step() function
-    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
-                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
-    {
-        bool ret = false;
-
-        // The following lines make IsColliding() and IsCollidingGround() work
-        CollidingStep = PhysicsScene.SimulationStep;
-        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
-        {
-            CollidingGroundStep = PhysicsScene.SimulationStep;
-        }
-
-        // prims in the same linkset cannot collide with each other
-        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
-        {
-            return ret;
-        }
-
-        // if someone has subscribed for collision events....
-        if (SubscribedEvents()) {
-            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
-            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
-                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
-
-            ret = true;
-        }
-        return ret;
-    }
-
-    // Send the collected collisions into the simulator.
-    // Called at taint time from within the Step() function thus no locking problems
-    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
-    // Return 'true' if there were some actual collisions passed up
-    public virtual bool SendCollisions()
-    {
-        bool ret = true;
-        // If the 'no collision' call, force it to happen right now so quick collision_end
-        bool force = (CollisionCollection.Count == 0);
-
-        // throttle the collisions to the number of milliseconds specified in the subscription
-        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
-        {
-            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
-
-            // We are called if we previously had collisions. If there are no collisions
-            //   this time, send up one last empty event so OpenSim can sense collision end.
-            if (CollisionCollection.Count == 0)
-            {
-                // If I have no collisions this time, remove me from the list of objects with collisions.
-                ret = false;
-            }
-
-            // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
-            base.SendCollisionUpdate(CollisionCollection);
-
-            // The CollisionCollection instance is passed around in the simulator.
-            // Make sure we don't have a handle to that one and that a new one is used for next time.
-            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
-            //    a race condition is created for the other users of this instance.
-            CollisionCollection = new CollisionEventUpdate();
-        }
-        return ret;
-    }
-
-    // Subscribe for collision events.
-    // Parameter is the millisecond rate the caller wishes collision events to occur.
-    public override void SubscribeEvents(int ms) {
-        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
-        SubscribedEventsMs = ms;
-        if (ms > 0)
-        {
-            // make sure first collision happens
-            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-
-            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
-            {
-                if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-            });
-        }
-        else
-        {
-            // Subscribing for zero or less is the same as unsubscribing
-            UnSubscribeEvents();
-        }
-    }
-    public override void UnSubscribeEvents() {
-        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
-        SubscribedEventsMs = 0;
-        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
-        {
-            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
-            if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-        });
-    }
-    // Return 'true' if the simulator wants collision events
-    public override bool SubscribedEvents() {
-        return (SubscribedEventsMs > 0);
-    }
-
-    #endregion // Collisions
-
-    #region Per Simulation Step actions
-    // There are some actions that must be performed for a physical object before each simulation step.
-    // These actions are optional so, rather than scanning all the physical objects and asking them
-    //     if they have anything to do, a physical object registers for an event call before the step is performed.
-    // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
-    private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
-    protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
-    {
-        string identifier = op + "-" + id.ToString();
-        RegisteredActions[identifier] = actn;
-        PhysicsScene.BeforeStep += actn;
-        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
-    }
-
-    // Unregister a pre step action. Safe to call if the action has not been registered.
-    protected void UnRegisterPreStepAction(string op, uint id)
-    {
-        string identifier = op + "-" + id.ToString();
-        bool removed = false;
-        if (RegisteredActions.ContainsKey(identifier))
-        {
-            PhysicsScene.BeforeStep -= RegisteredActions[identifier];
-            RegisteredActions.Remove(identifier);
-            removed = true;
-        }
-        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
-    }
-
-    protected void UnRegisterAllPreStepActions()
-    {
-        foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
-        {
-            PhysicsScene.BeforeStep -= kvp.Value;
-        }
-        RegisteredActions.Clear();
-        DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
-    }
-
-    
-    #endregion // Per Simulation Step actions
-
-    // High performance detailed logging routine used by the physical objects.
-    protected void DetailLog(string msg, params Object[] args)
-    {
-        if (PhysicsScene.PhysicsLogging.Enabled)
-            PhysicsScene.DetailLog(msg, args);
-    }
-
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs

@@ -1,81 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-    /// <summary>
-    /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
-    /// This module interfaces to an unmanaged C++ library which makes the
-    /// actual calls into the Bullet physics engine.
-    /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
-    /// The unmanaged library is compiled and linked statically with Bullet
-    /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
-    /// </summary>
-public class BSPlugin : IPhysicsPlugin
-{
-    //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
-    private BSScene _mScene;
-
-    public BSPlugin()
-    {
-    }
-
-    public bool Init()
-    {
-        return true;
-    }
-
-    public PhysicsScene GetScene(String sceneIdentifier)
-    {
-        if (_mScene == null)
-        {
-           
-            // If not Windows, loading is performed by the
-            // Mono loader as specified in
-            // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config".
-
-            _mScene = new BSScene(sceneIdentifier);
-        }
-        return (_mScene);
-    }
-
-    public string GetName()
-    {
-        return ("BulletSimN");
-    }
-
-    public void Dispose()
-    {
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs

@@ -1,957 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading;
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
-using OpenSim.Region.Physics.Manager;
-using Nini.Config;
-using log4net;
-using OpenMetaverse;
-
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Based on material, set density and friction
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-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]";
-
-    // The name of the region we're working for.
-    public string RegionName { get; private set; }
-
-    public string BulletSimVersion = "?";
-
-    public Dictionary<uint, BSPhysObject> PhysObjects;
-    public BSShapeCollection Shapes;
-
-    // Keeping track of the objects with collisions so we can report begin and end of a collision
-    public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
-    public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
-    // Keep track of all the avatars so we can send them a collision event
-    //    every tick so OpenSim will update its animation.
-    private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
-
-    // let my minuions use my logger
-    public ILog Logger { get { return m_log; } }
-
-    public IMesher mesher;
-    public uint WorldID { get; private set; }
-    public BulletWorld World { get; private set; }
-
-    // All the constraints that have been allocated in this instance.
-    public BSConstraintCollection Constraints { get; private set; }
-
-    // Simulation parameters
-    internal int m_maxSubSteps;
-    internal float m_fixedTimeStep;
-    internal long m_simulationStep = 0;
-    public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
-    internal float LastTimeStep { get; private set; }
-
-    // Physical objects can register for prestep or poststep events
-    public delegate void PreStepAction(float timeStep);
-    public delegate void PostStepAction(float timeStep);
-    public event PreStepAction BeforeStep;
-    public event PreStepAction AfterStep;
-
-    // A value of the time now so all the collision and update routines do not have to get their own
-    // Set to 'now' just before all the prims and actors are called for collisions and updates
-    public int SimulationNowTime { get; private set; }
-
-    // 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
-    internal int m_maxCollisionsPerFrame;
-    private List<BulletXNA.CollisionDesc> m_collisionArray;
-    //private GCHandle m_collisionArrayPinnedHandle;
-
-    internal int m_maxUpdatesPerFrame;
-    private List<BulletXNA.EntityProperties> m_updateArray;
-    //private GCHandle m_updateArrayPinnedHandle;
-
-
-    public const uint TERRAIN_ID = 0;       // OpenSim senses terrain with a localID of zero
-    public const uint GROUNDPLANE_ID = 1;
-    public const uint CHILDTERRAIN_ID = 2;  // Terrain allocated based on our mega-prim childre start here
-
-    public float SimpleWaterLevel { get; set; }
-    public BSTerrainManager TerrainManager { get; private set; }
-
-    public ConfigurationParameters Params
-    {
-        get { return UnmanagedParams[0]; }
-    }
-    public Vector3 DefaultGravity
-    {
-        get { return new Vector3(0f, 0f, Params.gravity); }
-    }
-    // Just the Z value of the gravity
-    public float DefaultGravityZ
-    {
-        get { return Params.gravity; }
-    }
-
-    // When functions in the unmanaged code must be called, it is only
-    //   done at a known time just before the simulation step. The taint
-    //   system saves all these function calls and executes them in
-    //   order before the simulation.
-    public delegate void TaintCallback();
-    private struct TaintCallbackEntry
-    {
-        public String ident;
-        public TaintCallback callback;
-        public TaintCallbackEntry(string i, TaintCallback c)
-        {
-            ident = i;
-            callback = c;
-        }
-    }
-    private Object _taintLock = new Object();   // lock for using the next object
-    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.
-    internal ConfigurationParameters[] UnmanagedParams;
-    //GCHandle m_paramsHandle;
-
-    // Handle to the callback used by the unmanaged code to call into the managed code.
-    // Used for debug logging.
-    // Need to store the handle in a persistant variable so it won't be freed.
-    private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
-
-    // Sometimes you just have to log everything.
-    public Logging.LogWriter PhysicsLogging;
-    private bool m_physicsLoggingEnabled;
-    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; }
-    public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
-    #region Construction and Initialization
-    public BSScene(string identifier)
-    {
-        m_initialized = false;
-        // we are passed the name of the region we're working for.
-        RegionName = identifier;
-    }
-
-    public override void Initialise(IMesher meshmerizer, IConfigSource config)
-    {
-        mesher = meshmerizer;
-        _taintOperations = new List<TaintCallbackEntry>();
-        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
-        _postStepOperations = new List<TaintCallbackEntry>();
-        PhysObjects = new Dictionary<uint, BSPhysObject>();
-        Shapes = new BSShapeCollection(this);
-
-        // Allocate pinned memory to pass parameters.
-        UnmanagedParams = new ConfigurationParameters[1];
-        //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
-
-        // Set default values for physics parameters plus any overrides from the ini file
-        GetInitialParameterValues(config);
-
-        // allocate more pinned memory close to the above in an attempt to get the memory all together
-        m_collisionArray = new List<BulletXNA.CollisionDesc>();
-        //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
-        m_updateArray = new List<BulletXNA.EntityProperties>();
-        //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
-
-        // Enable very detailed logging.
-        // By creating an empty logger when not logging, the log message invocation code
-        //     can be left in and every call doesn't have to check for null.
-        if (m_physicsLoggingEnabled)
-        {
-            PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
-            PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
-        }
-        else
-        {
-            PhysicsLogging = new Logging.LogWriter();
-        }
-
-        // If Debug logging level, enable logging from the unmanaged code
-        m_DebugLogCallbackHandle = null;
-        if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
-        {
-            m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
-            if (PhysicsLogging.Enabled)
-                // The handle is saved in a variable to make sure it doesn't get freed after this call
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
-            else
-                m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
-        }
-
-        // Get the version of the DLL
-        // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
-        // BulletSimVersion = BulletSimAPI.GetVersion();
-        // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
-
-        // The bounding box for the simulated world. The origin is 0,0,0 unless we're
-        //    a child in a mega-region.
-        // Bullet actually doesn't care about the extents of the simulated
-        //    area. It tracks active objects no matter where they are.
-        Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-        // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-
-        World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
-                                        m_maxCollisionsPerFrame, ref m_collisionArray,
-                                        m_maxUpdatesPerFrame,ref m_updateArray,
-                                        m_DebugLogCallbackHandle));
-
-        Constraints = new BSConstraintCollection(World);
-
-        TerrainManager = new BSTerrainManager(this);
-        TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
-        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
-        InTaintTime = false;
-        m_initialized = true;
-    }
-
-    // All default parameter values are set here. There should be no values set in the
-    // variable definitions.
-    private void GetInitialParameterValues(IConfigSource config)
-    {
-        ConfigurationParameters parms = new ConfigurationParameters();
-        UnmanagedParams[0] = parms;
-
-        BSParam.SetParameterDefaultValues(this);
-
-        if (config != null)
-        {
-            // If there are specifications in the ini file, use those values
-            IConfig pConfig = config.Configs["BulletSim"];
-            if (pConfig != null)
-            {
-                BSParam.SetParameterConfigurationValues(this, pConfig);
-
-                // Very detailed logging for physics debugging
-                m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
-                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);
-                VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
-                // Do any replacements in the parameters
-                m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
-            }
-
-            // The material characteristics.
-            BSMaterials.InitializeFromDefaults(Params);
-            if (pConfig != null)
-            {
-                // Let the user add new and interesting material property values.
-                BSMaterials.InitializefromParameters(pConfig);
-            }
-        }
-    }
-
-    // A helper function that handles a true/false parameter and returns the proper float number encoding
-    float ParamBoolean(IConfig config, string parmName, float deflt)
-    {
-        float ret = deflt;
-        if (config.Contains(parmName))
-        {
-            ret = ConfigurationParameters.numericFalse;
-            if (config.GetBoolean(parmName, false))
-            {
-                ret = ConfigurationParameters.numericTrue;
-            }
-        }
-        return ret;
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLogger(string msg)
-    {
-        m_log.Debug("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    // Called directly from unmanaged code so don't do much
-    private void BulletLoggerPhysLog(string msg)
-    {
-        DetailLog("[BULLETS UNMANAGED]:" + msg);
-    }
-
-    public override void Dispose()
-    {
-        // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
-        // make sure no stepping happens while we're deleting stuff
-        m_initialized = false;
-
-        foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
-        {
-            kvp.Value.Destroy();
-        }
-        PhysObjects.Clear();
-
-        // Now that the prims are all cleaned up, there should be no constraints left
-        if (Constraints != null)
-        {
-            Constraints.Dispose();
-            Constraints = null;
-        }
-
-        if (Shapes != null)
-        {
-            Shapes.Dispose();
-            Shapes = null;
-        }
-
-        if (TerrainManager != null)
-        {
-            TerrainManager.ReleaseGroundPlaneAndTerrain();
-            TerrainManager.Dispose();
-            TerrainManager = null;
-        }
-
-        // Anything left in the unmanaged code should be cleaned out
-        BulletSimAPI.Shutdown2(World.ptr);
-
-        // Not logging any more
-        PhysicsLogging.Close();
-    }
-    #endregion // Construction and Initialization
-
-    #region Prim and Avatar addition and removal
-
-    public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
-        return null;
-    }
-
-    public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
-    {
-        // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
-        if (!m_initialized) return null;
-
-        BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
-        lock (PhysObjects) PhysObjects.Add(localID, actor);
-
-        // TODO: Remove kludge someday.
-        // We must generate a collision for avatars whether they collide or not.
-        // This is required by OpenSim to update avatar animations, etc.
-        lock (m_avatars) m_avatars.Add(actor);
-
-        return actor;
-    }
-
-    public override void RemoveAvatar(PhysicsActor actor)
-    {
-        // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
-        if (!m_initialized) return;
-
-        BSCharacter bsactor = actor as BSCharacter;
-        if (bsactor != null)
-        {
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
-                // Remove kludge someday
-                lock (m_avatars) m_avatars.Remove(bsactor);
-            }
-            catch (Exception e)
-            {
-                m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsactor.Destroy();
-            // bsactor.dispose();
-        }
-    }
-
-    public override void RemovePrim(PhysicsActor prim)
-    {
-        if (!m_initialized) return;
-
-        BSPrim bsprim = prim as BSPrim;
-        if (bsprim != null)
-        {
-            DetailLog("{0},RemovePrim,call", bsprim.LocalID);
-            // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
-            try
-            {
-                lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
-            }
-            catch (Exception e)
-            {
-                m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
-            }
-            bsprim.Destroy();
-            // bsprim.dispose();
-        }
-        else
-        {
-            m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
-        }
-    }
-
-    public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
-                                              Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
-    {
-        // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
-        if (!m_initialized) return null;
-
-        DetailLog("{0},AddPrimShape,call", localID);
-
-        BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
-        lock (PhysObjects) PhysObjects.Add(localID, prim);
-        return prim;
-    }
-
-    // This is a call from the simulator saying that some physical property has been updated.
-    // The BulletSim driver senses the changing of relevant properties so this taint
-    // information call is not needed.
-    public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
-    #endregion // Prim and Avatar addition and removal
-
-    #region Simulation
-    // Simulate one timestep
-    public override float Simulate(float timeStep)
-    {
-        // prevent simulation until we've been initialized
-        if (!m_initialized) return 5.0f;
-
-        LastTimeStep = timeStep;
-
-        int updatedEntityCount = 0;
-        //Object updatedEntitiesPtr;
-        int collidersCount = 0;
-        //Object collidersPtr;
-
-        int beforeTime = 0;
-        int simTime = 0;
-
-        // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintOperations.Count;
-
-        InTaintTime = true; // Only used for debugging so locking is not necessary.
-
-        ProcessTaints();
-
-        // Some of the physical objects requre individual, pre-step calls
-        TriggerPreStepEvent(timeStep);
-
-        // the prestep actions might have added taints
-        ProcessTaints();
-
-        InTaintTime = false; // Only used for debugging so locking is not necessary.
-
-        // The following 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
-
-        // step the physical world one interval
-        m_simulationStep++;
-        int numSubSteps = 0;
-
-        try
-        {
-            if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
-
-            numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
-                        out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
-
-            if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
-            DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
-                                    DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, 
-                                    updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
-        }
-        catch (Exception e)
-        {
-            m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
-                        LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
-            DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
-                        DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
-            updatedEntityCount = 0;
-            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.
-        SimulationNowTime = Util.EnvironmentTickCount();
-
-        // If there were collisions, process them by sending the event to the prim.
-        // Collisions must be processed before updates.
-        if (collidersCount > 0)
-        {
-            for (int ii = 0; ii < collidersCount; ii++)
-            {
-                uint cA = m_collisionArray[ii].aID;
-                uint cB = m_collisionArray[ii].bID;
-                Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
-                                            m_collisionArray[ii].point.Z);
-                Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
-                                            m_collisionArray[ii].normal.Z); 
-                SendCollision(cA, cB, point, normal, 0.01f);
-                SendCollision(cB, cA, point, -normal, 0.01f);
-            }
-        }
-
-        // The above SendCollision's batch up the collisions on the objects.
-        //      Now push the collisions into the simulator.
-        if (ObjectsWithCollisions.Count > 0)
-        {
-            foreach (BSPhysObject bsp in ObjectsWithCollisions)
-                if (!bsp.SendCollisions())
-                {
-                    // If the object is done colliding, see that it's removed from the colliding list
-                    ObjectsWithNoMoreCollisions.Add(bsp);
-                }
-        }
-
-        // This is a kludge to get avatar movement updates.
-        // 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)
-            if (!ObjectsWithCollisions.Contains(bsp))   // don't call avatars twice
-                bsp.SendCollisions();
-
-        // Objects that are done colliding are removed from the ObjectsWithCollisions list.
-        // Not done above because it is inside an iteration of ObjectWithCollisions.
-        // This complex collision processing is required to create an empty collision
-        //     event call after all collisions have happened on an object. This enables
-        //     the simulator to generate the 'collision end' event.
-        if (ObjectsWithNoMoreCollisions.Count > 0)
-        {
-            foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
-                ObjectsWithCollisions.Remove(po);
-            ObjectsWithNoMoreCollisions.Clear();
-        }
-        // Done with collisions.
-
-        // If any of the objects had updated properties, tell the object it has been changed by the physics engine
-        if (updatedEntityCount > 0)
-        {
-            for (int ii = 0; ii < updatedEntityCount; ii++)
-            {
-
-                BulletXNA.EntityProperties entprop = m_updateArray[ii];
-                BSPhysObject pobj;
-                if (PhysObjects.TryGetValue(entprop.ID, out pobj))
-                {
-                    EntityProperties prop = new EntityProperties()
-                                                {
-                                                    Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
-                                                    ID = entprop.ID,
-                                                    Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
-                                                    Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
-                                                    RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
-                                                    Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
-                                                };
-                    //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
-                    pobj.UpdateProperties(prop);
-                }
-            }
-        }
-
-        TriggerPostStepEvent(timeStep);
-
-        // The following 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
-
-        // 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.
-        // Multiply by 55 to give a nominal frame rate of 55.
-        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
-    }
-
-    // Something has collided
-    private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
-    {
-        if (localID <= TerrainManager.HighestTerrainID)
-        {
-            return;         // don't send collisions to the terrain
-        }
-
-        BSPhysObject collider;
-        if (!PhysObjects.TryGetValue(localID, out collider))
-        {
-            // If the object that is colliding cannot be found, just ignore the collision.
-            DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
-            return;
-        }
-
-        // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
-        BSPhysObject collidee = null;
-        PhysObjects.TryGetValue(collidingWith, out collidee);
-
-        // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
-        if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
-        {
-            // If a collision was posted, remember to send it to the simulator
-            ObjectsWithCollisions.Add(collider);
-        }
-
-        return;
-    }
-
-    #endregion // Simulation
-
-    public override void GetResults() { }
-
-    #region Terrain
-
-    public override void SetTerrain(float[] heightMap) {
-        TerrainManager.SetTerrain(heightMap);
-    }
-
-    public override void SetWaterLevel(float baseheight)
-    {
-        SimpleWaterLevel = baseheight;
-    }
-
-    public override void DeleteTerrain()
-    {
-        // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public override bool SupportsCombining()
-    {
-        return TerrainManager.SupportsCombining();
-    }
-    // This call says I am a child to region zero in a mega-region. 'pScene' is that
-    //    of region zero, 'offset' is my offset from regions zero's origin, and
-    //    'extents' is the largest XY that is handled in my region.
-    public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        TerrainManager.Combine(pScene, offset, extents);
-    }
-
-    // Unhook all the combining that I know about.
-    public override void UnCombine(PhysicsScene pScene)
-    {
-        TerrainManager.UnCombine(pScene);
-    }
-
-    #endregion // Terrain
-
-    public override Dictionary<uint, float> GetTopColliders()
-    {
-        return new Dictionary<uint, float>();
-    }
-
-    public override bool IsThreaded { get { return false;  } }
-
-    #region Taints
-    // The simulation execution order is:
-    // Simulate()
-    //    DoOneTimeTaints
-    //    TriggerPreStepEvent
-    //    DoOneTimeTaints
-    //    Step()
-    //       ProcessAndForwardCollisions
-    //       ProcessAndForwardPropertyUpdates
-    //    TriggerPostStepEvent
-
-    // 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.
-    public void TaintedObject(String ident, TaintCallback callback)
-    {
-        if (!m_initialized) return;
-
-        lock (_taintLock)
-        {
-            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
-        }
-
-        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);
-    }
-
-    private void TriggerPreStepEvent(float timeStep)
-    {
-        PreStepAction actions = BeforeStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    private void TriggerPostStepEvent(float timeStep)
-    {
-        PreStepAction actions = AfterStep;
-        if (actions != null)
-            actions(timeStep);
-
-    }
-
-    // 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.
-    public void ProcessTaints()
-    {
-        ProcessRegularTaints();
-        ProcessPostTaintTaints();
-    }
-
-    private void ProcessRegularTaints()
-    {
-        if (_taintOperations.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
-            List<TaintCallbackEntry> oldList;
-            lock (_taintLock)
-            {
-                oldList = _taintOperations;
-                _taintOperations = new List<TaintCallbackEntry>();
-            }
-
-            foreach (TaintCallbackEntry tcbe in oldList)
-            {
-                try
-                {
-                    DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
-                    tcbe.callback();
-                }
-                catch (Exception e)
-                {
-                    m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
-                }
-            }
-            oldList.Clear();
-        }
-    }
-
-    // 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)
-    {
-        string uniqueIdent = ident + "-" + ID.ToString();
-        lock (_taintLock)
-        {
-            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
-        }
-
-        return;
-    }
-
-    // Taints that happen after the normal taint processing but before the simulation step.
-    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();
-        }
-    }
-
-    // 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(DetailLog);
-        }
-        return InTaintTime;
-    }
-
-    #endregion // Taints
-
-    #region INI and command line parameter processing
-
-    #region IPhysicsParameters
-    // Get the list of parameters this physics engine supports
-    public PhysParameterEntry[] GetParameterList()
-    {
-        BSParam.BuildParameterTable();
-        return BSParam.SettableParameters;
-    }
-
-    // Set parameter on a specific or all instances.
-    // Return 'false' if not able to set the parameter.
-    // Setting the value in the m_params block will change the value the physics engine
-    //   will use the next time since it's pinned and shared memory.
-    // Some of the values require calling into the physics engine to get the new
-    //   value activated ('terrainFriction' for instance).
-    public bool SetPhysicsParameter(string parm, float val, uint localID)
-    {
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            theParam.setter(this, parm, localID, val);
-            ret = true;
-        }
-        return ret;
-    }
-
-    // update all the localIDs specified
-    // 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
-    internal delegate void AssignVal(float x);
-    internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
-    {
-        List<uint> objectIDs = new List<uint>();
-        switch (localID)
-        {
-            case PhysParameterEntry.APPLY_TO_NONE:
-                setDefault(val);            // setting only the default value
-                // This will cause a call into the physical world if some operation is specified (SetOnObject).
-                objectIDs.Add(TERRAIN_ID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            case PhysParameterEntry.APPLY_TO_ALL:
-                setDefault(val);  // setting ALL also sets the default value
-                lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-            default:
-                // setting only one localID
-                objectIDs.Add(localID);
-                TaintedUpdateParameter(parm, objectIDs, val);
-                break;
-        }
-    }
-
-    // schedule the actual updating of the paramter to when the phys engine is not busy
-    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
-    {
-        float xval = val;
-        List<uint> xlIDs = lIDs;
-        string xparm = parm;
-        TaintedObject("BSScene.UpdateParameterSet", delegate() {
-            BSParam.ParameterDefn thisParam;
-            if (BSParam.TryGetParameter(xparm, out thisParam))
-            {
-                if (thisParam.onObject != null)
-                {
-                    foreach (uint lID in xlIDs)
-                    {
-                        BSPhysObject theObject = null;
-                        PhysObjects.TryGetValue(lID, out theObject);
-                        thisParam.onObject(this, theObject, xval);
-                    }
-                }
-            }
-        });
-    }
-
-    // Get parameter.
-    // Return 'false' if not able to get the parameter.
-    public bool GetPhysicsParameter(string parm, out float value)
-    {
-        float val = 0f;
-        bool ret = false;
-        BSParam.ParameterDefn theParam;
-        if (BSParam.TryGetParameter(parm, out theParam))
-        {
-            val = theParam.getter(this);
-            ret = true;
-        }
-        value = val;
-        return ret;
-    }
-
-    #endregion IPhysicsParameters
-
-    #endregion Runtime settable parameters
-
-    // Invoke the detailed logger and output something if it's enabled.
-    public void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes. Gets all the messages written out.
-        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/BulletSNPlugin/BSShapes.cs

@@ -1,208 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSShape
-{
-    public Object ptr { get; set; }
-    public BSPhysicsShapeType type { get; set; }
-    public System.UInt64 key { get; set; }
-    public int referenceCount { get; set; }
-    public DateTime lastReferenced { get; set; }
-
-    public BSShape()
-    {
-        ptr = null;
-        type = BSPhysicsShapeType.SHAPE_UNKNOWN;
-        key = 0;
-        referenceCount = 0;
-        lastReferenced = DateTime.Now;
-    }
-
-    // Get a reference to a physical shape. Create if it doesn't exist
-    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        BSShape ret = null;
-
-        if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
-                                        FixedShapeKey.KEY_CAPSULE);
-            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
-        }
-
-        // Compound shapes are handled special as they are rebuilt from scratch.
-        // This isn't too great a hardship since most of the child shapes will already been created.
-        if (ret == null  && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
-        {
-            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
-            ret = BSShapeCompound.GetReference(prim);
-            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
-        }
-
-        if (ret == null)
-            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
-
-        return ret;
-    }
-    public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-    public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
-    {
-        return null;
-    }
-
-    // Release the use of a physical shape.
-    public abstract void Dereference(BSScene physicsScene);
-
-    // All shapes have a static call to get a reference to the physical shape
-    // protected abstract static BSShape GetReference();
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(key.ToString("X"));
-        buff.Append(",c=");
-        buff.Append(referenceCount.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public class BSShapeNull : BSShape
-{
-    public BSShapeNull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
-}
-
-public class BSShapeNative : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
-    public BSShapeNative() : base()
-    {
-    }
-    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) 
-    {
-        // Native shapes are not shared and are always built anew.
-        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
-    }
-
-    private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
-                    BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
-    {
-        ShapeData nativeShapeData = new ShapeData();
-        nativeShapeData.Type = shapeType;
-        nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;
-        nativeShapeData.MeshKey = (ulong)shapeKey;
-        nativeShapeData.HullKey = (ulong)shapeKey;
-
-       
-        if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
-        {
-            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
-            physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
-        }
-        else
-        {
-            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
-        }
-        if (ptr == null)
-        {
-            physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, prim.LocalID, shapeType);
-        }
-        type = shapeType;
-        key = (UInt64)shapeKey;
-    }
-    // Make this reference to the physical shape go away since native shapes are not shared.
-    public override void Dereference(BSScene physicsScene)
-    {
-        // Native shapes are not tracked and are released immediately
-        physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
-        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
-        ptr = null;
-        // Garbage collection will free up this instance.
-    }
-}
-
-public class BSShapeMesh : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE MESH]";
-    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
-
-    public BSShapeMesh() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeHull : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE HULL]";
-    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
-
-    public BSShapeHull() : base()
-    {
-    }
-    public static BSShape GetReference() { return new BSShapeNull();  }
-    public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeCompound : BSShape
-{
-    private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
-    public BSShapeCompound() : base()
-    {
-    }
-    public static BSShape GetReference(BSPhysObject prim) 
-    { 
-        return new BSShapeNull();
-    }
-    public override void Dereference(BSScene physicsScene) { }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs

@@ -1,175 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainHeightmap : BSTerrainPhys
-{
-    static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
-
-    BulletHeightMapInfo m_mapInfo = null;
-
-    // Constructor to build a default, flat heightmap terrain.
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
-        : base(physicsScene, regionBase, id)
-    {
-        Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
-        Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
-        int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
-        float[] initialMap = new float[totalHeights];
-        for (int ii = 0; ii < totalHeights; ii++)
-        {
-            initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
-        }
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
-        m_mapInfo.minCoords = minTerrainCoords;
-        m_mapInfo.maxCoords = maxTerrainCoords;
-        m_mapInfo.terrainRegionBase = TerrainBase;
-        // Don't have to free any previous since we just got here.
-        BuildHeightmapTerrain();
-    }
-
-    // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
-    //         are the high and low points of the heightmap).
-    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
-                                                    Vector3 minCoords, Vector3 maxCoords)
-        : base(physicsScene, regionBase, id)
-    {
-        m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
-        m_mapInfo.minCoords = minCoords;
-        m_mapInfo.maxCoords = maxCoords;
-        m_mapInfo.minZ = minCoords.Z;
-        m_mapInfo.maxZ = maxCoords.Z;
-        m_mapInfo.terrainRegionBase = TerrainBase;
-
-        // Don't have to free any previous since we just got here.
-        BuildHeightmapTerrain();
-    }
-
-    public override void Dispose()
-    {
-        ReleaseHeightMapTerrain();
-    }
-
-    // Using the information in m_mapInfo, create the physical representation of the heightmap.
-    private void BuildHeightmapTerrain()
-    {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
-                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
-
-        // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
-
-        // The terrain object initial position is at the center of the object
-        Vector3 centerPos;
-        centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
-        centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
-        centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
-
-        m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
-                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
-                                            m_mapInfo.ID, centerPos, Quaternion.Identity));
-
-        // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
-        // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity);
-
-        // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-
-        m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
-        m_mapInfo.terrainBody.ApplyCollisionMask();
-
-        // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
-
-        return;
-    }
-
-    // If there is information in m_mapInfo pointing to physical structures, release same.
-    private void ReleaseHeightMapTerrain()
-    {
-        if (m_mapInfo != null)
-        {
-            if (m_mapInfo.terrainBody.HasPhysicalBody)
-            {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                // Frees both the body and the shape.
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
-            }
-        }
-        m_mapInfo = null;
-    }
-
-    // The passed position is relative to the base of the region.
-    public override float GetTerrainHeightAtXYZ(Vector3 pos)
-    {
-        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
-        int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
-        try
-        {
-            ret = m_mapInfo.heightMap[mapIndex];
-        }
-        catch
-        {
-            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
-                                LogHeader, m_mapInfo.terrainRegionBase, pos);
-            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-        }
-        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/BulletSNPlugin/BSTerrainManager.cs

@@ -1,461 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// The physical implementation of the terrain is wrapped in this class.
-public abstract class BSTerrainPhys : IDisposable
-{
-    public enum TerrainImplementation
-    {
-        Heightmap   = 0,
-        Mesh        = 1
-    }
-
-    public BSScene PhysicsScene { get; private set; }
-    // Base of the region in world coordinates. Coordinates inside the region are relative to this.
-    public Vector3 TerrainBase { get; private set; }
-    public uint ID { get; private set; }
-
-    public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
-    {
-        PhysicsScene = physicsScene;
-        TerrainBase = regionBase;
-        ID = id;
-    }
-    public abstract void Dispose();
-    public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
-    public abstract float GetWaterLevelAtXYZ(Vector3 pos);
-}
-
-// ==========================================================================================
-public sealed class BSTerrainManager : IDisposable
-{
-    static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
-
-    // These height values are fractional so the odd values will be
-    //     noticable when debugging.
-    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.
-    public const float HEIGHT_EQUAL_FUDGE = 0.2f;
-
-    // Until the whole simulator is changed to pass us the region size, we rely on constants.
-    public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
-    // The scene that I am part of
-    private BSScene PhysicsScene { get; set; }
-
-    // The ground plane created to keep thing from falling to infinity.
-    private BulletBody m_groundPlane;
-
-    // If doing mega-regions, if we're region zero we will be managing multiple
-    //    region terrains since region zero does the physics for the whole mega-region.
-    private Dictionary<Vector3, BSTerrainPhys> m_terrains;
-
-    // Flags used to know when to recalculate the height.
-    private bool m_terrainModified = false;
-
-    // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
-    // This is incremented before assigning to new region so it is the last ID allocated.
-    private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
-    public uint HighestTerrainID { get {return m_terrainCount; } }
-
-    // If doing mega-regions, this holds our offset from region zero of
-    //     the mega-regions. "parentScene" points to the PhysicsScene of region zero.
-    private Vector3 m_worldOffset;
-    // If the parent region (region 0), this is the extent of the combined regions
-    //     relative to the origin of region zero
-    private Vector3 m_worldMax;
-    private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
-
-    public BSTerrainManager(BSScene physicsScene)
-    {
-        PhysicsScene = physicsScene;
-        m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
-
-        // Assume one region of default size
-        m_worldOffset = Vector3.Zero;
-        m_worldMax = new Vector3(DefaultRegionSize);
-        MegaRegionParentPhysicsScene = null;
-    }
-
-    public void Dispose()
-    {
-        ReleaseGroundPlaneAndTerrain();
-    }
-
-    // Create the initial instance of terrain and the underlying ground plane.
-    // This is called from the initialization routine so we presume it is
-    //    safe to call Bullet in real time. We hope no one is moving prims around yet.
-    public void CreateInitialGroundPlaneAndTerrain()
-    {
-        // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
-                                    BSParam.TerrainCollisionMargin),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
-        m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
-                        BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
-                                                            Vector3.Zero, Quaternion.Identity));
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
-        // Everything collides with the ground plane.
-        m_groundPlane.collisionType = CollisionType.Groundplane;
-        m_groundPlane.ApplyCollisionMask();
-
-        // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
-        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
-        m_terrains.Add(Vector3.Zero, initialTerrain);
-    }
-
-    // Release all the terrain structures we might have allocated
-    public void ReleaseGroundPlaneAndTerrain()
-    {
-        if (m_groundPlane.HasPhysicalBody)
-        {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
-            {
-                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-            }
-            m_groundPlane.Clear();
-        }
-
-        ReleaseTerrain();
-    }
-
-    // Release all the terrain we have allocated
-    public void ReleaseTerrain()
-    {
-        lock (m_terrains)
-        {
-            foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
-            {
-                kvp.Value.Dispose();
-            }
-            m_terrains.Clear();
-        }
-    }
-
-    // The simulator wants to set a new heightmap for the terrain.
-    public void SetTerrain(float[] heightMap) {
-        float[] localHeightMap = heightMap;
-        // If there are multiple requests for changes to the same terrain between ticks,
-        //      only do that last one.
-        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
-        {
-            if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
-            {
-                // If a child of a mega-region, we shouldn't have any terrain allocated for us
-                ReleaseGroundPlaneAndTerrain();
-                // If doing the mega-prim stuff and we are the child of the zero region,
-                //    the terrain is added to our parent
-                if (MegaRegionParentPhysicsScene is BSScene)
-                {
-                    DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
-                                    BSScene.DetailLogZero, m_worldOffset, m_worldMax);
-                    ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
-                                    BSScene.CHILDTERRAIN_ID, localHeightMap, 
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
-                }
-            }
-            else
-            {
-                // If not doing the mega-prim thing, just change the terrain
-                DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
-
-                UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
-                                    m_worldOffset, m_worldOffset + DefaultRegionSize, true);
-            }
-        });
-    }
-
-    // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
-    //     based on the passed information. The 'id' should be either the terrain id or
-    //     BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
-    //     The latter feature is for creating child terrains for mega-regions.
-    // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
-    //     terrain shape is created and added to the body.
-    //     This call is most often used to update the heightMap and parameters of the terrain.
-    // (The above does suggest that some simplification/refactoring is in order.)
-    // Called during taint-time.
-    private void UpdateTerrain(uint id, float[] heightMap, 
-                            Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
-    {
-        DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
-                            BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
-
-        // Find high and low points of passed heightmap.
-        // The min and max passed in is usually the area objects can be in (maximum
-        //     object height, for instance). The terrain wants the bounding box for the
-        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
-        float minZ = float.MaxValue;
-        float maxZ = float.MinValue;
-        foreach (float height in heightMap)
-        {
-            if (height < minZ) minZ = height;
-            if (height > maxZ) maxZ = height;
-        }
-        if (minZ == maxZ)
-        {
-            // If min and max are the same, reduce min a little bit so a good bounding box is created.
-            minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
-        }
-        minCoords.Z = minZ;
-        maxCoords.Z = maxZ;
-
-        Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
-
-        lock (m_terrains)
-        {
-            BSTerrainPhys terrainPhys;
-            if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
-            {
-                // There is already a terrain in this spot. Free the old and build the new.
-                DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
-                                BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
-
-                // Remove old terrain from the collection
-                m_terrains.Remove(terrainRegionBase);
-                // Release any physical memory it may be using.
-                terrainPhys.Dispose();
-
-                if (MegaRegionParentPhysicsScene == null)
-                {
-                    BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
-                    m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
-                    m_terrainModified = true;
-                }
-                else
-                {
-                    // It's possible that Combine() was called after this code was queued.
-                    // If we are a child of combined regions, we don't create any terrain for us.
-                    DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
-
-                    // Get rid of any terrain that may have been allocated for us.
-                    ReleaseGroundPlaneAndTerrain();
-
-                    // I hate doing this, but just bail
-                    return;
-                }
-            }
-            else
-            {
-                // We don't know about this terrain so either we are creating a new terrain or
-                //    our mega-prim child is giving us a new terrain to add to the phys world
-
-                // if this is a child terrain, calculate a unique terrain id
-                uint newTerrainID = id;
-                if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
-                    newTerrainID = ++m_terrainCount;
-
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
-                                            BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
-                BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
-                m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
-                m_terrainModified = true;
-            }
-        }
-    }
-
-    // TODO: redo terrain implementation selection to allow other base types than heightMap.
-    private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
-    {
-        PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
-                                            LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
-                                            (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
-        BSTerrainPhys newTerrainPhys = null;
-        switch ((int)BSParam.TerrainImplementation)
-        {
-            case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
-                newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
-                                            heightMap, minCoords, maxCoords);
-                break;
-            case (int)BSTerrainPhys.TerrainImplementation.Mesh:
-                newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
-                                            heightMap, minCoords, maxCoords);
-                break;
-            default:
-                PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
-                                            LogHeader, 
-                                            (int)BSParam.TerrainImplementation, 
-                                            BSParam.TerrainImplementation,
-                                            PhysicsScene.RegionName, terrainRegionBase);
-                break;
-        }
-        return newTerrainPhys;
-    }
-
-    // Return 'true' of this position is somewhere in known physical terrain space
-    public bool IsWithinKnownTerrain(Vector3 pos)
-    {
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
-    }
-
-    // Given an X and Y, find the height of the terrain.
-    // Since we could be handling multiple terrains for a mega-region,
-    //    the base of the region is calcuated assuming all regions are
-    //    the same size and that is the default.
-    // Once the heightMapInfo is found, we have all the information to
-    //    compute the offset into the array.
-    private float lastHeightTX = 999999f;
-    private float lastHeightTY = 999999f;
-    private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
-    public float GetTerrainHeightAtXYZ(Vector3 pos)
-    {
-        float tX = pos.X;
-        float tY = pos.Y;
-        // You'd be surprized at the number of times this routine is called
-        //    with the same parameters as last time.
-        if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
-            return lastHeight;
-        m_terrainModified = false;
-
-        lastHeightTX = tX;
-        lastHeightTY = tY;
-        float ret = HEIGHT_GETHEIGHT_RET;
-
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
-        {
-            ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
-                    LogHeader, PhysicsScene.RegionName, tX, tY);
-            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
-                                BSScene.DetailLogZero, pos, terrainBaseXYZ);
-        }
-
-        lastHeight = ret;
-        return ret;
-    }
-
-    public float GetWaterLevelAtXYZ(Vector3 pos)
-    {
-        float ret = WATER_HEIGHT_GETHEIGHT_RET;
-
-        Vector3 terrainBaseXYZ;
-        BSTerrainPhys physTerrain;
-        if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
-        {
-            ret = physTerrain.GetWaterLevelAtXYZ(pos);
-        }
-        else
-        {
-            PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
-                    LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
-        }
-        return ret;
-    }
-
-    // Given an address, return 'true' of there is a description of that terrain and output
-    //    the descriptor class and the 'base' fo the addresses therein.
-    private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
-    {
-        int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
-        int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
-        Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
-
-        BSTerrainPhys physTerrain = null;
-        lock (m_terrains)
-        {
-            m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
-        }
-        outTerrainBase = terrainBaseXYZ;
-        outPhysTerrain = physTerrain;
-        return (physTerrain != null);
-    }
-
-    // Although no one seems to check this, I do support combining.
-    public bool SupportsCombining()
-    {
-        return true;
-    }
-
-    // This routine is called two ways:
-    //    One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
-    //        extent of the combined regions. This is to inform the parent of the size
-    //        of the combined regions.
-    //    and one with 'offset' as the offset of the child region to the base region,
-    //        'pScene' pointing to the parent and 'extents' of zero. This informs the
-    //        child of its relative base and new parent.
-    public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
-    {
-        m_worldOffset = offset;
-        m_worldMax = extents;
-        MegaRegionParentPhysicsScene = pScene;
-        if (pScene != null)
-        {
-            // We are a child.
-            // We want m_worldMax to be the highest coordinate of our piece of terrain.
-            m_worldMax = offset + DefaultRegionSize;
-        }
-        DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
-                        BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
-    }
-
-    // Unhook all the combining that I know about.
-    public void UnCombine(PhysicsScene pScene)
-    {
-        // Just like ODE, we don't do anything yet.
-        DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
-    }
-
-
-    private void DetailLog(string msg, params Object[] args)
-    {
-        PhysicsScene.PhysicsLogging.Write(msg, args);
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs

@@ -1,267 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainMesh : BSTerrainPhys
-{
-    static string LogHeader = "[BULLETSIM TERRAIN MESH]";
-
-    private float[] m_savedHeightMap;
-    int m_sizeX;
-    int m_sizeY;
-
-    BulletShape m_terrainShape;
-    BulletBody m_terrainBody;
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) 
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
-        : base(physicsScene, regionBase, id)
-    {
-    }
-
-    // Create terrain mesh from a heightmap.
-    public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
-                                                    Vector3 minCoords, Vector3 maxCoords)
-        : base(physicsScene, regionBase, id)
-    {
-        int indicesCount;
-        int[] indices;
-        int verticesCount;
-        float[] vertices;
-
-        m_savedHeightMap = initialMap;
-
-        m_sizeX = (int)(maxCoords.X - minCoords.X);
-        m_sizeY = (int)(maxCoords.Y - minCoords.Y);
-
-        if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
-                            m_sizeX, m_sizeY,
-                            (float)m_sizeX, (float)m_sizeY,
-                            Vector3.Zero, 1.0f,
-                            out indicesCount, out indices, out verticesCount, out vertices))
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
-            PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
-                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
-
-        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                                    indicesCount, indices, verticesCount, vertices),
-                                        BSPhysicsShapeType.SHAPE_MESH);
-        if (!m_terrainShape.HasPhysicalShape)
-        {
-            // DISASTER!!
-            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-
-        Vector3 pos = regionBase;
-        Quaternion rot = Quaternion.Identity;
-
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
-        if (!m_terrainBody.HasPhysicalBody)
-        {
-            // DISASTER!!
-            physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
-            // Something is very messed up and a crash is in our future.
-            return;
-        }
-
-        // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
-        // Static objects are not very massive.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
-
-        // Put the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
-
-        // Redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-
-        m_terrainBody.collisionType = CollisionType.Terrain;
-        m_terrainBody.ApplyCollisionMask();
-
-        // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
-    }
-
-    public override void Dispose()
-    {
-        if (m_terrainBody.HasPhysicalBody)
-        {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-            // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-        }
-    }
-
-    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.
-        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
-        int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
-        try
-        {
-            ret = m_savedHeightMap[mapIndex];
-        }
-        catch
-        {
-            // Sometimes they give us wonky values of X and Y. Give a warning and return something.
-            PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
-                                                LogHeader, TerrainBase, pos);
-            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-        }
-        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(
-                                BSScene physicsScene,
-                                float[] heightMap, int sizeX, int sizeY,    // parameters of incoming heightmap
-                                float extentX, float extentY,               // zero based range for output vertices
-                                Vector3 extentBase,                         // base to be added to all vertices
-                                float magnification,                        // number of vertices to create between heightMap coords
-                                out int indicesCountO, out int[] indicesO,
-                                out int verticesCountO, out float[] verticesO)
-    {
-        bool ret = false;
-
-        int indicesCount = 0;
-        int verticesCount = 0;
-        int[] indices = new int[0];
-        float[] vertices = new float[0];
-
-        // Simple mesh creation which assumes magnification == 1.
-        // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
-
-        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
-        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
-        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
-        //    column of vertices are used to complete the triangles of the last row and column
-        //    of the heightmap.
-        try
-        {
-            // One vertice per heightmap value plus the vertices off the top and bottom edge.
-            int totalVertices = (sizeX + 1) * (sizeY + 1);
-            vertices = new float[totalVertices * 3];
-            int totalIndices = sizeX * sizeY * 6;
-            indices = new int[totalIndices];
-
-            float magX = (float)sizeX / extentX;
-            float magY = (float)sizeY / extentY;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
-                                    BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
-            float minHeight = float.MaxValue;
-            // Note that sizeX+1 vertices are created since there is land between this and the next region.
-            for (int yy = 0; yy <= sizeY; yy++)
-            {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
-                {
-                    int offset = yy * sizeX + xx;
-                    // Extend the height with the height from the last row or column
-                    if (yy == sizeY) offset -= sizeX;
-                    if (xx == sizeX) offset -= 1;
-                    float height = heightMap[offset];
-                    minHeight = Math.Min(minHeight, height);
-                    vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
-                    vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
-                    vertices[verticesCount + 2] = height + extentBase.Z;
-                    verticesCount += 3;
-                }
-            }
-            verticesCount = verticesCount / 3;
-
-            for (int yy = 0; yy < sizeY; yy++)
-            {
-                for (int xx = 0; xx < sizeX; xx++)
-                {
-                    int offset = yy * (sizeX + 1) + xx;
-                    // Each vertices is presumed to be the upper left corner of a box of two triangles
-                    indices[indicesCount + 0] = offset;
-                    indices[indicesCount + 1] = offset + 1;
-                    indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
-                    indices[indicesCount + 3] = offset + 1;
-                    indices[indicesCount + 4] = offset + sizeX + 2;
-                    indices[indicesCount + 5] = offset + sizeX + 1;
-                    indicesCount += 6;
-                }
-            }
-
-            ret = true;
-        }
-        catch (Exception e)
-        {
-            physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
-                                                LogHeader, physicsScene.RegionName, extentBase, e);
-        }
-
-        indicesCountO = indicesCount;
-        indicesO = indices;
-        verticesCountO = verticesCount;
-        verticesO = vertices;
-
-        return ret;
-    }
-}
-}

OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs

@@ -1,280 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Text;
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletWorld
-{
-    public BulletWorld(uint worldId, BSScene bss, object xx)
-    {
-        ptr = xx;
-        worldID = worldId;
-        physicsScene = bss;
-    }
-    public object ptr;
-    public uint worldID;
-    // The scene is only in here so very low level routines have a handle to print debug/error messages
-    public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
-    public BulletBody(uint id) : this(id, null)
-    {
-    }
-    public BulletBody(uint id, object xx)
-    {
-        ID = id;
-        ptr = xx;
-        collisionType = CollisionType.Static;
-    }
-    public object ptr;
-    public uint ID;
-    public CollisionType collisionType;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalBody { get { return ptr != null; } }
-
-    // Apply the specificed collision mask into the physical world
-    public void ApplyCollisionMask()
-    {
-        // Should assert the body has been added to the physical world.
-        // (The collision masks are stored in the collision proxy cache which only exists for
-        //    a collision body that is in the world.)
-        BulletSimAPI.SetCollisionGroupMask2(ptr,
-                                BulletSimData.CollisionTypeMasks[collisionType].group,
-                                BulletSimData.CollisionTypeMasks[collisionType].mask);
-    }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<id=");
-        buff.Append(ID.ToString());
-        buff.Append(",p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",c=");
-        buff.Append(collisionType);
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-public struct BulletShape
-{
-    public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
-    {
-    }
-    public BulletShape(object xx, BSPhysicsShapeType typ)
-    {
-        ptr = xx;
-        type = typ;
-        shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
-        isNativeShape = false;
-    }
-    public object ptr;
-    public BSPhysicsShapeType type;
-    public System.UInt64 shapeKey;
-    public bool isNativeShape;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalShape { get { return ptr != null; } }
-
-    public override string ToString()
-    {
-        StringBuilder buff = new StringBuilder();
-        buff.Append("<p=");
-        buff.Append(ptr.ToString());
-        buff.Append(",s=");
-        buff.Append(type.ToString());
-        buff.Append(",k=");
-        buff.Append(shapeKey.ToString("X"));
-        buff.Append(",n=");
-        buff.Append(isNativeShape.ToString());
-        buff.Append(">");
-        return buff.ToString();
-    }
-}
-
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
-    public BulletConstraint(object xx)
-    {
-        ptr = xx;
-    }
-    public object ptr;
-
-    public void Clear()
-    {
-        ptr = null;
-    }
-    public bool HasPhysicalConstraint { get { return ptr != null; } }
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-//      instance of this and C# will pass around pointers rather
-//      than making copies.
-public class BulletHeightMapInfo
-{
-    public BulletHeightMapInfo(uint id, float[] hm, object xx) {
-        ID = id;
-        Ptr = xx;
-        heightMap = hm;
-        terrainRegionBase = OMV.Vector3.Zero;
-        minCoords = new OMV.Vector3(100f, 100f, 25f);
-        maxCoords = new OMV.Vector3(101f, 101f, 26f);
-        minZ = maxZ = 0f;
-        sizeX = sizeY = 256f;
-    }
-    public uint ID;
-    public object Ptr;
-    public float[] heightMap;
-    public OMV.Vector3 terrainRegionBase;
-    public OMV.Vector3 minCoords;
-    public OMV.Vector3 maxCoords;
-    public float sizeX, sizeY;
-    public float minZ, maxZ;
-    public BulletShape terrainShape;
-    public BulletBody terrainBody;
-
-    public float collisionMargin { get; set; }
-}
-
-// The general class of collsion object.
-public enum CollisionType
-{
-    Avatar,
-    Groundplane,
-    Terrain,
-    Static,
-    Dynamic,
-    VolumeDetect,
-    // Linkset, // A linkset should be either Static or Dynamic
-    LinksetChild,
-    Unknown
-};
-
-// Hold specification of group and mask collision flags for a CollisionType
-public struct CollisionTypeFilterGroup
-{
-    public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
-    {
-        type = t;
-        group = g;
-        mask = m;
-    }
-    public CollisionType type;
-    public uint group;
-    public uint mask;
-};
-
-    /* NOTE: old definitions kept for reference. Delete when things are working.
-    // The collsion filters and masked are defined in one place -- don't want them scattered
-    AvatarGroup             = BCharacterGroup,
-    AvatarMask              = BAllGroup,
-    ObjectGroup             = BSolidGroup,
-    ObjectMask              = BAllGroup,
-    StaticObjectGroup       = BStaticGroup,
-    StaticObjectMask        = AvatarGroup | ObjectGroup,    // static things don't interact with much
-    LinksetGroup            = BLinksetGroup,
-    LinksetMask             = BAllGroup,
-    LinksetChildGroup       = BLinksetChildGroup,
-    LinksetChildMask        = BNoneGroup,   // Linkset children disappear from the world
-    VolumeDetectGroup       = BSensorTrigger,
-    VolumeDetectMask        = ~BSensorTrigger,
-    TerrainGroup            = BTerrainGroup,
-    TerrainMask             = BAllGroup & ~BStaticGroup,  // static objects on the ground don't collide
-    GroundPlaneGroup        = BGroundPlaneGroup,
-    GroundPlaneMask         = BAllGroup
-    */
-
-public static class BulletSimData
-{
-
-// Map of collisionTypes to flags for collision groups and masks.
-// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
-//     but, instead, use references to this dictionary. Finding and debugging
-//     collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks 
-            = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
-{
-    { CollisionType.Avatar, 
-                new CollisionTypeFilterGroup(CollisionType.Avatar, 
-                                (uint)CollisionFilterGroups.BCharacterGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
-    },
-    { CollisionType.Groundplane, 
-                new CollisionTypeFilterGroup(CollisionType.Groundplane, 
-                                (uint)CollisionFilterGroups.BGroundPlaneGroup, 
-                                (uint)CollisionFilterGroups.BAllGroup)
-    },
-    { CollisionType.Terrain, 
-                new CollisionTypeFilterGroup(CollisionType.Terrain, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
-                                (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
-    },
-    { CollisionType.Static, 
-                new CollisionTypeFilterGroup(CollisionType.Static, 
-                                (uint)CollisionFilterGroups.BStaticGroup, 
-                                (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
-    },
-    { CollisionType.Dynamic, 
-                new CollisionTypeFilterGroup(CollisionType.Dynamic, 
-                                (uint)CollisionFilterGroups.BSolidGroup, 
-                                (uint)(CollisionFilterGroups.BAllGroup))
-    },
-    { CollisionType.VolumeDetect, 
-                new CollisionTypeFilterGroup(CollisionType.VolumeDetect, 
-                                (uint)CollisionFilterGroups.BSensorTrigger, 
-                                (uint)(~CollisionFilterGroups.BSensorTrigger))
-    },
-    { CollisionType.LinksetChild,
-                new CollisionTypeFilterGroup(CollisionType.LinksetChild, 
-                                (uint)CollisionFilterGroups.BTerrainGroup, 
-                                (uint)(CollisionFilterGroups.BNoneGroup))
-    },
-};
-
-}
-}

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -56,6 +56,7 @@ public sealed class BSCharacter : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
+    private bool _wasWalking;   // 'true' if the avatar was walking/moving last frame
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -83,6 +84,7 @@ public sealed class BSCharacter : BSPhysObject
         _position = pos;
 
         _flying = isFlying;
+        _wasWalking = true;     // causes first step to initialize standing
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
         _buoyancy = ComputeBuoyancyFromFlying(isFlying);
@@ -198,7 +200,48 @@ public sealed class BSCharacter : BSPhysObject
             // TODO: Decide if the step parameters should be changed depending on the avatar's
             //     state (flying, colliding, ...). There is code in ODE to do this.
 
-            OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
+            // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+            //   specified for the avatar is the one that should be used. For falling, if the avatar
+            //   is not flying and is not colliding then it is presumed to be falling and the Z
+            //   component is not fooled with (thus allowing gravity to do its thing).
+            // When the avatar is standing, though, the user has specified a velocity of zero and
+            //   the avatar should be standing. But if the avatar is pushed by something in the world
+            //   (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+            //   move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+            //   errors can creap in and the avatar will slowly float off in some direction.
+            // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+            //   from real pushing.OMV.Vector3.Zero;
+            // The code below keeps setting the velocity to zero hoping the world will keep pushing.
+
+            _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)
+            {
+                // The avatar shouldn't be moving
+                _velocityMotor.Zero();
+                ZeroMotion(true /* inTaintTime */);
+
+                // Standing has more friction on the ground
+                if (_currentFriction != BSParam.AvatarStandingFriction)
+                {
+                    _currentFriction = BSParam.AvatarStandingFriction;
+                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                }
+                DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+
+                _wasWalking = false;
+            }
+            else
+            {
+                OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
+
+                if (_currentFriction != BSParam.AvatarFriction)
+                {
+                    // Probably starting up walking. Set friction to moving friction.
+                    _currentFriction = BSParam.AvatarFriction;
+                    PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+                }
 
                 // If falling, we keep the world's downward vector no matter what the other axis specify.
                 if (!Flying && !IsColliding)
@@ -215,8 +258,10 @@ public sealed class BSCharacter : BSPhysObject
                 // Add special movement force to allow avatars to walk up stepped surfaces.
                 moveForce += WalkUpStairs();
 
-            // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+                DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
                 PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+                _wasWalking = true;
+            }
         });
     }
 
@@ -559,27 +604,6 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
 
             _velocity = value;
-            // Depending on whether the avatar is moving or not, change the friction
-            //    to keep the avatar from slipping around
-            if (_velocity.Length() == 0)
-            {
-                if (_currentFriction != BSParam.AvatarStandingFriction)
-                {
-                    _currentFriction = BSParam.AvatarStandingFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-            else
-            {
-                if (_currentFriction != BSParam.AvatarFriction)
-                {
-                    _currentFriction = BSParam.AvatarFriction;
-                    if (PhysBody.HasPhysicalBody)
-                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
-                }
-            }
-
             PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
             PhysicsScene.PE.Activate(PhysBody, true);
         }
@@ -853,7 +877,14 @@ public sealed class BSCharacter : BSPhysObject
     {
         _position = entprop.Position;
         _orientation = entprop.Rotation;
+
+        // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
+        //    and will send agent updates to the clients if velocity changes by more than
+        //    0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
+        //    extra updates.
+        if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
             _velocity = entprop.Velocity;
+
         _acceleration = entprop.Acceleration;
         _rotationalVelocity = entprop.RotationalVelocity;
 
@@ -868,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject
         CurrentEntityProperties = entprop;
 
         // Tell the linkset about value changes
-        Linkset.UpdateProperties(this, true);
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
         // base.RequestPhysicsterseUpdate();

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
                     pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+                    m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -720,10 +722,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         // Since the computation of terrain height can be a little involved, this routine
         //    is used to fetch the height only once for each vehicle simulation step.
+        Vector3 lastRememberedHeightPos;
         private float GetTerrainHeight(Vector3 pos)
         {
-            if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
+            if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
             {
+                lastRememberedHeightPos = pos;
                 m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
                 m_knownHas |= m_knownChangedTerrainHeight;
             }
@@ -943,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // ==================================================================
             // Clamp high or low velocities
             float newVelocityLengthSq = VehicleVelocity.LengthSquared();
-            if (newVelocityLengthSq > 1000f)
+            if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
             {
                 VehicleVelocity /= VehicleVelocity.Length();
-                VehicleVelocity *= 1000f;
+                VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
             }
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
@@ -957,39 +961,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         public void ComputeLinearVelocity(float pTimestep)
         {
-            Vector3 linearMotorStep = m_linearMotor.Step(pTimestep);
+            // Step the motor from the current value. Get the correction needed this step.
+            Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel);
 
-            // The movement computed in the linear motor is relative to the vehicle
+            // Motor is vehicle coordinates. Rotate it to world coordinates
-            //     coordinates. Rotate the movement to world coordinates.
+            Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation;
-            Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
 
-            // If we're a ground vehicle, don't loose any Z action (like gravity acceleration).
+            // If we're a ground vehicle, don't add any upward Z movement
-            float mixFactor = 1f;   // 1 means use all linear motor Z value, 0 means use all existing Z
             if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
             {
-                if (!Prim.IsColliding)
+                if (linearMotorVelocity.Z > 0f)
-                {
+                    linearMotorVelocity.Z = 0f;
-                    // If a ground vehicle and not on the ground, I want gravity effect
-                    mixFactor = 0.2f;
             }
-            }
-            else
-            {
-                // I'm not a ground vehicle but don't totally loose the effect of the environment
-                mixFactor = 0.8f;
-            }
-            linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
 
-            // What we want to contribute to the vehicle's existing velocity
+            // Add this correction to the velocity to make it faster/slower.
-            Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
+            VehicleVelocity += linearMotorVelocity;
 
-            // Act against the inertia of the vehicle
+            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},correction={2},force={3}",
-            linearMotorForce *= m_vehicleMass;
+                        Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity);
-
-            VehicleAddForceImpulse(linearMotorForce * pTimestep);
-
-            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}",
-                        Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce);
         }
 
         public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1202,62 +1192,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //     set directly on the vehicle.
         private void MoveAngular(float pTimestep)
         {
-            // The user wants this many radians per second angular change?
+            // VehicleRotationalVelocity = Vector3.Zero;
-            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+
+            ComputeAngularTurning(pTimestep);
+
+            ComputeAngularVerticalAttraction();
+
+            ComputeAngularDeflection();
+
+            ComputeAngularBanking();
 
             // ==================================================================
-            // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+            if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            //    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
-            // TODO: This is here because this is where ODE put it but documentation says it
-            //    is a linear effect. Where should this check go?
-            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-            {
-                angularMotorContribution.X = 0f;
-                angularMotorContribution.Y = 0f;
-                VDetailLog("{0},  MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
-            }
-
-            Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-
-            Vector3 deflectionContribution = ComputeAngularDeflection();
-
-            Vector3 bankingContribution = ComputeAngularBanking();
-
-            // ==================================================================
-            m_lastVertAttractor = verticalAttractionContribution;
-
-            m_lastAngularVelocity = angularMotorContribution
-                                    + verticalAttractionContribution
-                                    + deflectionContribution
-                                    + bankingContribution;
-
-            // Add of the above computation are made relative to vehicle coordinates.
-            // Convert to world coordinates.
-            m_lastAngularVelocity *= VehicleOrientation;
-
-            // ==================================================================
-            // Apply the correction velocity.
-            // TODO: Should this be applied as an angular force (torque)?
-            if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
-            {
-                VehicleRotationalVelocity = m_lastAngularVelocity;
-
-                VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
-                                    Prim.LocalID,
-                                    angularMotorContribution, verticalAttractionContribution,
-                                    bankingContribution, deflectionContribution,
-                                    m_lastAngularVelocity
-                                    );
-            }
-            else
             {
                 // The vehicle is not adding anything angular wise.
                 VehicleRotationalVelocity = Vector3.Zero;
                 VDetailLog("{0},  MoveAngular,done,zero", Prim.LocalID);
             }
+            else
+            {
+                VDetailLog("{0},  MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
+            }
 
             // ==================================================================
             //Offset section
@@ -1291,6 +1246,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
 
         }
+
+        private void ComputeAngularTurning(float pTimestep)
+        {
+            // The user wants this many radians per second angular change?
+            Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular);
+
+            // ==================================================================
+            // 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
+            // TODO: This is here because this is where ODE put it but documentation says it
+            //    is a linear effect. Where should this check go?
+            if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+            {
+                angularMotorContribution.X = 0f;
+                angularMotorContribution.Y = 0f;
+            }
+
+            VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation;
+            VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+        }
+
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
         //      Some vehicles, like boats, should always keep their up-side up. This can be done by
         //      enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
@@ -1299,13 +1279,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
         //      efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
         //      efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
-        public Vector3 ComputeAngularVerticalAttraction()
+        public void ComputeAngularVerticalAttraction()
         {
-            Vector3 ret = Vector3.Zero;
-
             // If vertical attaction timescale is reasonable
             if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 vertContribution = Vector3.Zero;
+
                 // Take a vector pointing up and convert it from world to vehicle relative coords.
                 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
 
@@ -1319,37 +1299,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Y error means needed rotation around X axis and visa versa.
                 // Since the error goes from zero to one, the asin is the corresponding angle.
-                ret.X = (float)Math.Asin(verticalError.Y);
+                vertContribution.X = (float)Math.Asin(verticalError.Y);
                 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
-                ret.Y = -(float)Math.Asin(verticalError.X);
+                vertContribution.Y = -(float)Math.Asin(verticalError.X);
 
                 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
                 if (verticalError.Z < 0f)
                 {
-                    ret.X += PIOverFour;
+                    vertContribution.X += PIOverFour;
-                    ret.Y += PIOverFour;
+                    // vertContribution.Y -= PIOverFour;
                 }
 
-                // 'ret' is now the necessary velocity to correct tilt in one second.
+                // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
                 //     Correction happens over a number of seconds.
-                Vector3 unscaledContrib = ret;
+                Vector3 unscaledContrib = vertContribution;     // DEBUG DEBUG
-                ret /= m_verticalAttractionTimescale;
+                vertContribution /= m_verticalAttractionTimescale;
+
+                VehicleRotationalVelocity += vertContribution * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
-                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
+                                Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
             }
-            return ret;
         }
 
-        // Return the angular correction to correct the direction the vehicle is pointing to be
+        // Angular correction to correct the direction the vehicle is pointing to be
         //      the direction is should want to be pointing.
         // The vehicle is moving in some direction and correct its orientation to it is pointing
         //     in that direction.
         // TODO: implement reference frame.
-        public Vector3 ComputeAngularDeflection()
+        public void ComputeAngularDeflection()
         {
-            Vector3 ret = Vector3.Zero;
-
             // Since angularMotorUp and angularDeflection are computed independently, they will calculate
             //     approximately the same X or Y correction. When added together (when contributions are combined)
             //     this creates an over-correction and then wabbling as the target is overshot.
@@ -1357,6 +1336,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
             {
+                Vector3 deflectContribution = Vector3.Zero;
+
                 // The direction the vehicle is moving
                 Vector3 movingDirection = VehicleVelocity;
                 movingDirection.Normalize();
@@ -1382,18 +1363,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
 
                 // Scale the correction by recovery timescale and efficiency
-                ret = (-deflectionError) * m_angularDeflectionEfficiency;
+                deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
-                ret /= m_angularDeflectionTimescale;
+                deflectContribution /= m_angularDeflectionTimescale;
+
+                VehicleRotationalVelocity += deflectContribution * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
-                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+                    Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
                 VDetailLog("{0},  MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
                     Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
             }
-            return ret;
         }
 
-        // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+        // Angular change to rotate the vehicle around the Z axis when the vehicle
         //     is tipped around the X axis.
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
         //      The vertical attractor feature must be enabled in order for the banking behavior to
@@ -1424,12 +1406,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         //      world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
         //      bank quickly then give it a banking timescale of about a second or less, otherwise you can
         //      make a sluggish vehicle by giving it a timescale of several seconds. 
-        public Vector3 ComputeAngularBanking()
+        public void ComputeAngularBanking()
         {
-            Vector3 ret = Vector3.Zero;
-
             if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
+                Vector3 bankingContribution = Vector3.Zero;
+
                 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
                 // As the vehicle rolls to the right or left, the Y value will increase from
                 //     zero (straight up) to 1 or -1 (full tilt right  or left)
@@ -1446,15 +1428,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
 
                 // Build the force vector to change rotation from what it is to what it should be
-                ret.Z = -mixedYawAngle;
+                bankingContribution.Z = -mixedYawAngle;
 
                 // Don't do it all at once.
-                ret /= m_bankingTimescale;
+                bankingContribution /= m_bankingTimescale;
+
+                VehicleRotationalVelocity += bankingContribution * VehicleOrientation;
 
                 VDetailLog("{0},  MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
-                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
+                            Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);
             }
-            return ret;
         }
 
         // This is from previous instantiations of XXXDynamics.cs.

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -252,7 +252,7 @@ public abstract class BSLinkset
     //      of the linkset is received.
     // Passed flag is update came from physics engine (true) or the user (false).
     // Called at taint-time!!
-    public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
+    public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
 
     // Routine used when rebuilding the body of the root of the linkset
     // Destroy all the constraints have have been made to root.

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
         OffsetFromCenterOfMass = p;
         OffsetRot = r;
     }
+    // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
+    public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
+    {
+        // Each child position and rotation is given relative to the center-of-mass.
+        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
+        OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
+        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
+        OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
+
+        // Save relative position for recomputing child's world position after moving linkset.
+        Index = indx;
+        OffsetFromRoot = displacementFromRoot;
+        OffsetFromCenterOfMass = displacementFromCOM;
+        OffsetRot = displacementRot;
+    }
     public override void Clear()
     {
         Index = 0;
@@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset
 
     // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
     // Called at taint-time.
-    public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
     {
         // The user moving a child around requires the rebuilding of the linkset compound shape
         // One problem is this happens when a border is crossed -- the simulator implementation
-        //    is to store the position into the group which causes the move of the object
+        //    stores the position into the group which causes the move of the object
         //    but it also means all the child positions get updated.
         //    What would cause an unnecessary rebuild so we make sure the linkset is in a
         //    region before bothering to do a rebuild.
-        if (!IsRoot(updated) 
+        if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
-                && !physicalUpdate 
-                && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
         {
-            // TODO: replace this with are calculation of the child prim's orientation and pos.
+            // If a child of the linkset is updating only the position or rotation, that can be done
-            // TODO: for the moment, don't rebuild the compound shape.
+            //    without rebuilding the linkset.
-            //    This is often just the car turning its wheels. When we can just reorient the one
+            // If a handle for the child can be fetch, we update the child here. If a rebuild was
-            //    member shape of the compound shape, the overhead of rebuilding won't be a problem.
+            //    scheduled by someone else, the rebuild will just replace this setting.
-            // updated.LinksetInfo = null;
+
-            // ScheduleRebuild(updated);
+            bool updatedChild = false;
+            // Anything other than updating position or orientation usually means a physical update
+            //     and that is caused by us updating the object.
+            if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
+            {
+                // Gather the child info. It might not be there if the linkset is in transition.
+                BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
+                if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
+                {
+                    if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
+                    {
+                        BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
+                        if (linksetChildShape.HasPhysicalShape)
+                        {
+                            // Compute the offset from the center-of-gravity
+                            BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
+                            PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
+                                                                        newLsi.OffsetFromCenterOfMass,
+                                                                        newLsi.OffsetRot,
+                                                                        true /* shouldRecalculateLocalAabb */);
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
+                                                                        updated.LocalID, whichUpdated, newLsi);
+                            updated.LinksetInfo = newLsi;
+                            updatedChild = true;
+                        }
+                        else    // DEBUG DEBUG
+                        {       // DEBUG DEBUG
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
+                                                                        updated.LocalID, linksetChildShape);
+                        }       // DEBUG DEBUG
+                    }
+                    else    // DEBUG DEBUG
+                    {       // DEBUG DEBUG
+                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
+                    }       // DEBUG DEBUG
+                }
+                else    // DEBUG DEBUG
+                {       // DEBUG DEBUG
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}",
+                                updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
+                }       // DEBUG DEBUG
+                if (!updatedChild)
+                {
+                    // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
+                                                                    updated.LocalID, whichUpdated);
+                    updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
+                    ScheduleRebuild(updated);
+                }
+            }
         }
     }
 
@@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset
                     BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
                     if (lci == null)
                     {
-                        // Each child position and rotation is given relative to the center-of-mass.
+                        lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
-                        OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
-                        OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
-                        OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
-                        OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
-                        // Save relative position for recomputing child's world position after moving linkset.
-                        lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
-                        lci.OffsetFromRoot = displacementFromRoot;
                         cPrim.LinksetInfo = lci;
                         DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
                     }

OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs

@@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset
     }
 
     // Called at taint-time!!
-    public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
+    public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
     {
         // Nothing to do for constraints on property updates
     }

OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs

@@ -138,7 +138,8 @@ public class BSVMotor : BSMotor
         CurrentValue = TargetValue = Vector3.Zero;
     }
 
-    // Compute the next step and return the new current value
+    // Compute the next step and return the new current value.
+    // Returns the correction needed to move 'current' to 'target'.
     public virtual Vector3 Step(float timeStep)
     {
         if (!Enabled) return TargetValue;
@@ -148,9 +149,10 @@ public class BSVMotor : BSMotor
 
         Vector3 correction = Vector3.Zero;
         Vector3 error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
-            correction = Step(timeStep, error);
+            correction = StepError(timeStep, error);
 
             CurrentValue += correction;
 
@@ -187,20 +189,31 @@ public class BSVMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = Vector3.Zero;
+            }
             CurrentValue = TargetValue;
-            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
-                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+                        BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
         }
 
-        return CurrentValue;
+        return correction;
     }
-    public virtual Vector3 Step(float timeStep, Vector3 error)
+    // version of step that sets the current value before doing the step
+    public virtual Vector3 Step(float timeStep, Vector3 current)
+    {
+        CurrentValue = current;
+        return Step(timeStep);
+    }
+    public virtual Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 
-        LastError = error;
         Vector3 returnCorrection = Vector3.Zero;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             Vector3 correctionAmount;
@@ -302,9 +315,10 @@ public class BSFMotor : BSMotor
 
         float correction = 0f;
         float error = TargetValue - CurrentValue;
+        LastError = error;
         if (!ErrorIsZero(error))
         {
-            correction = Step(timeStep, error);
+            correction = StepError(timeStep, error);
 
             CurrentValue += correction;
 
@@ -339,6 +353,12 @@ public class BSFMotor : BSMotor
         else
         {
             // Difference between what we have and target is small. Motor is done.
+            if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+            {
+                // The target can step down to nearly zero but not get there.  If close to zero
+                //     it is really zero.
+                TargetValue = 0f;
+            }
             CurrentValue = TargetValue;
             MDetailLog("{0},  BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
                         BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
@@ -347,13 +367,12 @@ public class BSFMotor : BSMotor
         return CurrentValue;
     }
 
-    public virtual float Step(float timeStep, float error)
+    public virtual float StepError(float timeStep, float error)
     {
         if (!Enabled) return 0f;
 
-        LastError = error;
         float returnCorrection = 0f;
-        if (!ErrorIsZero())
+        if (!ErrorIsZero(error))
         {
             // correction =  error / secondsItShouldTakeToCorrect
             float correctionAmount;
@@ -440,8 +459,8 @@ public class BSPIDVMotor : BSVMotor
         }
     }
 
-    // Ignore Current and Target Values and just advance the PID computation on this error.
+    // Advance the PID computation on this error.
-    public override Vector3 Step(float timeStep, Vector3 error)
+    public override Vector3 StepError(float timeStep, Vector3 error)
     {
         if (!Enabled) return Vector3.Zero;
 

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -45,6 +45,9 @@ public static class BSParam
 
     public static float MinimumObjectMass { get; private set; }
     public static float MaximumObjectMass { get; private set; }
+    public static float MaxLinearVelocity { get; private set; }
+    public static float MaxAngularVelocity { get; private set; }
+    public static float MaxAddForceMagnitude { get; private set; }
 
     public static float LinearDamping { get; private set; }
     public static float AngularDamping { get; private set; }
@@ -79,6 +82,8 @@ public static class BSParam
 	public static float AvatarStepApproachFactor { get; private set; }
 	public static float AvatarStepForceFactor { get; private set; }
 
+    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
     public static float VehicleDebuggingEnabled { get; private set; }
 
@@ -103,7 +108,6 @@ public static class BSParam
     public const float MaxDensity = 22587f;
     public const float MinRestitution = 0f;
     public const float MaxRestitution = 1f;
-    public const float MaxAddForceMagnitude = 20f;
 
     // ===========================================================================
     public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
@@ -232,11 +236,7 @@ public static class BSParam
             (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
             (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",
+
-            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; } ),
         new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
             0.0001f,
             (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
@@ -247,6 +247,22 @@ public static class BSParam
             (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
             (s) => { return (float)MaximumObjectMass; },
             (s,p,l,v) => { MaximumObjectMass = v; } ),
+        new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxLinearVelocity; },
+            (s,p,l,v) => { MaxLinearVelocity = v; } ),
+        new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAngularVelocity; },
+            (s,p,l,v) => { MaxAngularVelocity = v; } ),
+        // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
+        new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+            20000.0f,
+            (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
+            (s) => { return (float)MaxAddForceMagnitude; },
+            (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
 
         new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
             2200f,
@@ -423,8 +439,18 @@ public static class BSParam
             (s) => { return AvatarStepForceFactor; },
             (s,p,l,v) => { AvatarStepForceFactor = v; } ),
 
+        new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            1000.0f,
+            (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxLinearVelocity; },
+            (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
+        new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+            12.0f,
+            (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
+            (s) => { return (float)VehicleMaxAngularVelocity; },
+            (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
         new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.95f,
+            0.0f,
             (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
             (s) => { return VehicleAngularDamping; },
             (s,p,l,v) => { VehicleAngularDamping = v; } ),

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
  * BS.ApplyCentralForce BS.ApplyTorque              
  */
 
+// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
+public enum UpdatedProperties : uint
+{
+    Position                = 1 << 0,
+    Orientation             = 1 << 1,
+    Velocity                = 1 << 2,
+    Acceleration            = 1 << 3,
+    RotationalVelocity      = 1 << 4,
+    EntPropUpdates          = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
+}
 public abstract class BSPhysObject : PhysicsActor
 {
     protected BSPhysObject()

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject
             _position = value;
             PositionSanityCheck(false);
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Position, this);
+
             });
         }
     }
@@ -502,6 +503,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setForce", LocalID,
                     delegate(float timeStep)
                     {
+                        if (!IsPhysicallyActive)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+                            return;
+                        }
+
                         DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
                         if (PhysBody.HasPhysicalBody)
                         {
@@ -627,6 +634,12 @@ public sealed class BSPrim : BSPhysObject
                 RegisterPreStepAction("BSPrim.setTorque", LocalID,
                     delegate(float timeStep)
                     {
+                        if (!IsPhysicallyActive)
+                        {
+                            UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+                            return;
+                        }
+
                         if (PhysBody.HasPhysicalBody)
                             AddAngularForce(_torque, false, true);
                     }
@@ -670,12 +683,13 @@ public sealed class BSPrim : BSPhysObject
                 return;
             _orientation = value;
 
-            // A linkset might need to know if a component information changed.
-            Linkset.UpdateProperties(this, false);
-
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
             {
                 ForceOrientation = _orientation;
+
+                // A linkset might need to know if a component information changed.
+                Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+
             });
         }
     }
@@ -977,10 +991,10 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
+            Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 ForceRotationalVelocity = _rotationalVelocity;
             });
         }
@@ -993,7 +1007,9 @@ public sealed class BSPrim : BSPhysObject
             _rotationalVelocity = value;
             if (PhysBody.HasPhysicalBody)
             {
+                DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
                 PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+                // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 ActivateIfPhysical(false);
             }
         }
@@ -1061,10 +1077,16 @@ public sealed class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
                 {
+                    if (!IsPhysicallyActive)
+                    {
+                        UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+                        return;
+                    }
+
                     OMV.Vector3 origPosition = RawPosition;     // DEBUG DEBUG (for printout below)
 
                     // 'movePosition' is where we'd like the prim to be at this moment.
-                    OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+                    OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
 
                     // If we are very close to our target, turn off the movement motor.
                     if (_targetMotor.ErrorIsZero())
@@ -1108,6 +1130,9 @@ public sealed class BSPrim : BSPhysObject
 
                 RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
                 {
+                    if (!IsPhysicallyActive)
+                        return;
+
                     _hoverMotor.SetCurrent(RawPosition.Z);
                     _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
                     float targetHeight = _hoverMotor.Step(timeStep);
@@ -1172,10 +1197,14 @@ public sealed class BSPrim : BSPhysObject
     public override float APIDDamping { set { return; } }
 
     public override void AddForce(OMV.Vector3 force, bool pushforce) {
+        // Per documentation, max force is limited.
+        OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
         // Since this force is being applied in only one step, make this a force per second.
-        OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
+        addForce /= PhysicsScene.LastTimeStep;
-        AddForce(addForce, pushforce, false);
+        AddForce(addForce, pushforce, false /* inTaintTime */);
     }
+
     // Applying a force just adds this to the total force on the object.
     // This added force will only last the next simulation tick.
     public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -1184,9 +1213,9 @@ public sealed class BSPrim : BSPhysObject
         {
             if (force.IsFinite())
             {
-                OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
                 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
 
+                OMV.Vector3 addForce = force;
                 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
                 {
                     // Bullet adds this central force to the total force for this tick
@@ -1621,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
             if (_vehicle.IsActive)
             {
-                entprop.RotationalVelocity = OMV.Vector3.Zero;
+                // entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
             // Assign directly to the local variables so the normal set actions do not happen
@@ -1660,7 +1689,7 @@ public sealed class BSPrim : BSPhysObject
              */
 
         // The linkset implimentation might want to know about this.
-        Linkset.UpdateProperties(this, true);
+        Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
     }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -81,7 +81,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     internal long m_simulationStep = 0;
     internal float NominalFrameRate { get; set; }
     public long SimulationStep { get { return m_simulationStep; } }
-    internal int m_taintsToProcessPerStep;
     internal float LastTimeStep { get; private set; }
 
     // Physical objects can register for prestep or poststep events
@@ -847,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion // Taints
 
-    #region INI and command line parameter processing
-
     #region IPhysicsParameters
     // Get the list of parameters this physics engine supports
     public PhysParameterEntry[] GetParameterList()
@@ -945,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion IPhysicsParameters
 
-    #endregion Runtime settable parameters
-
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,23 +1,20 @@
 CURRENT PRIORITIES
 =================================================
-Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
+Child movement in linkset (don't rebuild linkset)
-	Msg Kayaker on OSGrid when working
+Vehicle angular vertical attraction
+vehicle angular banking
+Center-of-gravity
+Vehicle angular deflection
+	Preferred orientation angular correction fix
+when should angular and linear motor targets be zeroed? when selected?
+	Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
 	Mixing of hover, buoyancy/gravity, moveToTarget, into one force
-Boats floating at proper level
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
 llRotLookAt
 llLookAt
-Vehicle angular vertical attraction
-Vehicle angular deflection
-	Preferred orientation angular correction fix
-vehicle angular banking
 Avatars walking up stairs (HALF DONE)
-    Radius of the capsule affects ability to climb edges.
-Vehicle movement on terrain smoothness
-When is force introduced by SetForce removed? The prestep action could go forever.
-Boats float low in the water (DONE)
 Avatar movement
 	flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
 	walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
@@ -73,8 +70,12 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
 
 GENERAL TODO LIST:
 =================================================
+llMoveToTarget objects are not effected by gravity until target is removed.
 Implement llSetPhysicalMaterial.
+	extend it with Center-of-mass, rolling friction, density
 Implement llSetForceAndTorque.
+Change BSPrim.moveToTarget to used forces rather than changing position
+	Changing position allows one to move through walls
 Implement an avatar mesh shape. The Bullet capsule is way too limited.
 	Consider just hand creating a vertex/index array in a new BSShapeAvatar.
 Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
@@ -311,3 +312,11 @@ Remove HeightmapInfo from terrain specification (DONE)
 Surfboard go wonky when turning (DONE)
 	Angular motor direction is global coordinates rather than local coordinates?
 	(Resolution: made angular motor direction correct coordinate system)
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
+	Msg Kayaker on OSGrid when working
+	(Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
+	same in SL as in OS/BulletSim)
+Boats float low in the water (DONE)
+Boats floating at proper level (DONE)
+When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
+	(Resolution: setForce registers a prestep action which keeps applying the force)

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs

@@ -3364,7 +3364,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (animID == UUID.Zero)
                         presence.Animator.RemoveAnimation(anim);
                     else
-                        presence.Animator.RemoveAnimation(animID);
+                        presence.Animator.RemoveAnimation(animID, true);
                 }
             }
         }
@@ -4923,7 +4923,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
         public LSL_Vector llGetCenterOfMass()
         {
             m_host.AddScriptLPS(1);
-            Vector3 center = m_host.GetGeometricCenter();
+            Vector3 center = m_host.GetCenterOfMass();
             return new LSL_Vector(center.X,center.Y,center.Z);
         }
 
@@ -5793,13 +5793,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 if (parcelOwned && land.LandData.OwnerID == id ||
                                     parcel && land.LandData.GlobalID == id)
                                 {
-                                    result.Add(ssp.UUID.ToString());
+                                    result.Add(new LSL_Key(ssp.UUID.ToString()));
                                 }
                             }
                         }
                         else
                         {
-                            result.Add(ssp.UUID.ToString());
+                            result.Add(new LSL_Key(ssp.UUID.ToString()));
                         }
                     }
                     // Maximum of 100 results
@@ -10590,6 +10590,35 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                             case ScriptBaseClass.OBJECT_PHYSICS_COST:
                                 ret.Add(new LSL_Float(0));
                                 break;
+                            case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+                                ret.Add(new LSL_Float(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_ROOT:
+                                SceneObjectPart p = av.ParentPart;
+                                if (p != null)
+                                {
+                                    ret.Add(new LSL_String(p.ParentGroup.RootPart.UUID.ToString()));
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_String(id));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_PATHFINDING_TYPE: // Pathfinding
+                                ret.Add(new LSL_Integer(ScriptBaseClass.OPT_AVATAR));
+                                break;
+                            case ScriptBaseClass.OBJECT_PHYSICS:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_PHANTOM:
+                                ret.Add(new LSL_Integer(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+                                ret.Add(new LSL_Integer(0));
+                                break;
                             default:
                                 // Invalid or unhandled constant.
                                 ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
@@ -10685,6 +10714,52 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                                 // The value returned in SL for normal prims looks like the prim count
                                 ret.Add(new LSL_Float(0));
                                 break;
+                            case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+                                ret.Add(new LSL_Float(0));
+                                break;
+                            case ScriptBaseClass.OBJECT_ROOT:
+                                ret.Add(new LSL_String(obj.ParentGroup.RootPart.UUID.ToString()));
+                                break;
+                            case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+                                ret.Add(new LSL_Integer(obj.ParentGroup.AttachmentPoint));
+                                break;
+                            case ScriptBaseClass.OBJECT_PATHFINDING_TYPE:
+                                byte pcode = obj.Shape.PCode;
+                                if (obj.ParentGroup.AttachmentPoint != 0
+                                   || pcode == (byte)PCode.Grass
+                                   || pcode == (byte)PCode.Tree
+                                   || pcode == (byte)PCode.NewTree)
+                                {
+                                    ret.Add(new LSL_Integer(ScriptBaseClass.OPT_OTHER));
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(ScriptBaseClass.OPT_LEGACY_LINKSET));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_PHYSICS:
+                                if (obj.ParentGroup.AttachmentPoint != 0)
+                                {
+                                    ret.Add(new LSL_Integer(0)); // Always false if attached
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(obj.ParentGroup.UsesPhysics ? 1 : 0));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_PHANTOM:
+                                if (obj.ParentGroup.AttachmentPoint != 0)
+                                {
+                                    ret.Add(new LSL_Integer(0)); // Always false if attached
+                                }
+                                else
+                                {
+                                    ret.Add(new LSL_Integer(obj.ParentGroup.IsPhantom ? 1 : 0));
+                                }
+                                break;
+                            case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+                                ret.Add(new LSL_Integer(obj.ParentGroup.IsTemporary ? 1 : 0));
+                                break;
                             default:
                                 // Invalid or unhandled constant.
                                 ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs

@@ -986,7 +986,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
                     if (animID == UUID.Zero)
                         target.Animator.RemoveAnimation(animation);
                     else
-                        target.Animator.RemoveAnimation(animID);
+                        target.Animator.RemoveAnimation(animID, true);
                 }
             }
         }

OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs

@@ -556,6 +556,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
         public const int OBJECT_SERVER_COST = 14;
         public const int OBJECT_STREAMING_COST = 15;
         public const int OBJECT_PHYSICS_COST = 16;
+        public const int OBJECT_CHARACTER_TIME = 17;
+        public const int OBJECT_ROOT = 18;
+        public const int OBJECT_ATTACHED_POINT = 19;
+        public const int OBJECT_PATHFINDING_TYPE = 20;
+        public const int OBJECT_PHYSICS = 21;
+        public const int OBJECT_PHANTOM = 22;
+        public const int OBJECT_TEMP_ON_REZ = 23;
+
+        // Pathfinding types
+        public const int OPT_OTHER = -1;
+        public const int OPT_LEGACY_LINKSET = 0;
+        public const int OPT_AVATAR = 1;
+        public const int OPT_CHARACTER = 2;
+        public const int OPT_WALKABLE = 3;
+        public const int OPT_STATIC_OBSTACLE = 4;
+        public const int OPT_MATERIAL_VOLUME = 5;
+        public const int OPT_EXCLUSION_VOLUME = 6;
 
         // for llGetAgentList
         public const int AGENT_LIST_PARCEL = 1;

OpenSim/Region/ScriptEngine/XEngine/XEngine.cs

@@ -1486,6 +1486,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             m_MaxScriptQueue = maxScriptQueue;
 
             STPStartInfo startInfo = new STPStartInfo();
+            startInfo.ThreadPoolName = "XEngine";
             startInfo.IdleTimeout = idleTimeout * 1000; // convert to seconds as stated in .ini
             startInfo.MaxWorkerThreads = maxThreads;
             startInfo.MinWorkerThreads = minThreads;
@@ -1494,7 +1495,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
             startInfo.StartSuspended = true;
 
             m_ThreadPool = new SmartThreadPool(startInfo);
-            m_ThreadPool.Name = "XEngine";
         }
 
         //

TESTING.txt

@@ -1,4 +1,4 @@
-===== The Quick Guide to OpenSim Unit Testing ===
+= The Quick Guide to OpenSim Unit Testing =
 
 == Running Tests ==
 
@@ -58,14 +58,14 @@ Nunit console allows you to execute the nunit tests of assemblies via console.
 Its output will show test failures and successes and a summary of what
 happened.  This is very useful for a quick overview and/or automated testing.
 
-Windows
+=== Windows ===
 Windows version of nunit-console is by default .Net 2.0 if you downloaded the
 .Net 2.0 version  of Nunit.  Be sure to setup your PATH environment variable.
 
-Linux & OSX
+=== Linux & OSX ===
 On these operating systems you will have to use the command "nunit-console2"
 
-Example
+=== Example ===
 
 nunit-console2 OpenSim.Framework.Tests.dll (on linux)
 nunit-console OpenSim.Framework.Tests.dll (on windows)

ThirdParty/SmartThreadPool/STPStartInfo.cs

@@ -32,6 +32,11 @@ namespace Amib.Threading
         /// </summary>
         private ThreadPriority _threadPriority;
 
+        /// <summary>
+        /// The thread pool name. Threads will get names depending on this.
+        /// </summary>
+        private string _threadPoolName;
+
         /// <summary>
         /// If this field is not null then the performance counters are enabled
         /// and use the string as the name of the instance.
@@ -46,6 +51,7 @@ namespace Amib.Threading
             _minWorkerThreads = SmartThreadPool.DefaultMinWorkerThreads;
             _maxWorkerThreads = SmartThreadPool.DefaultMaxWorkerThreads;
             _threadPriority = SmartThreadPool.DefaultThreadPriority;
+            _threadPoolName = SmartThreadPool.DefaultThreadPoolName;
             _pcInstanceName = SmartThreadPool.DefaultPerformanceCounterInstanceName;
             _stackSize = SmartThreadPool.DefaultStackSize;
         }
@@ -56,6 +62,7 @@ namespace Amib.Threading
             _minWorkerThreads = stpStartInfo._minWorkerThreads;
             _maxWorkerThreads = stpStartInfo._maxWorkerThreads;
             _threadPriority = stpStartInfo._threadPriority;
+            _threadPoolName = stpStartInfo._threadPoolName;
             _pcInstanceName = stpStartInfo._pcInstanceName;
             _stackSize = stpStartInfo._stackSize;
         }
@@ -84,6 +91,13 @@ namespace Amib.Threading
             set { _threadPriority = value; }
         }
 
+        public virtual string ThreadPoolName
+        {
+            get { return _threadPoolName; }
+            set { _threadPoolName = value; }
+        }
+
+
         public string PerformanceCounterInstanceName
         {
             get { return _pcInstanceName; }

ThirdParty/SmartThreadPool/SmartThreadPool.cs

@@ -135,6 +135,11 @@ namespace Amib.Threading
         /// </summary>
         public const ThreadPriority DefaultThreadPriority = ThreadPriority.Normal;
 
+        /// <summary>
+        /// The default thread pool name
+        /// </summary>
+        public const string DefaultThreadPoolName = "SmartThreadPool";
+
         #endregion
 
         #region Member Variables
@@ -143,7 +148,7 @@ namespace Amib.Threading
         /// Contains the name of this instance of SmartThreadPool.
         /// Can be changed by the user.
         /// </summary>
-        private string _name = "SmartThreadPool";
+        private string _name = DefaultThreadPoolName;
 
         /// <summary>
         /// Hashtable of all the threads in the thread pool.
@@ -307,6 +312,7 @@ namespace Amib.Threading
 
         private void Initialize()
         {
+            Name = _stpStartInfo.ThreadPoolName;
             ValidateSTPStartInfo();
 
             if (null != _stpStartInfo.PerformanceCounterInstanceName)

bin/OpenSimDefaults.ini

@@ -908,6 +908,19 @@
 
 [BulletSim]
     ; World parameters
+
+    ; There are two bullet physics libraries, bulletunmanaged is the default and is a native c++ dll
+    ; bulletxna is a managed C# dll.  They have comparible functionality..   the c++ is much faster.
+
+    BulletEngine = "bulletunmanaged"
+    ; BulletEngine = "bulletxna"
+
+    ; Terrain Implementation {1|0} 0 for HeightField, 1 for Mesh terrain.  If you're using the bulletxna engine, 
+    ;  you will want to switch to the heightfield option
+
+    TerrainImplementation = 1
+    ; TerrainImplementation = 0
+
     DefaultFriction = 0.20
     DefaultDensity = 10.000006836
     DefaultRestitution = 0.0
@@ -960,6 +973,7 @@
     PhysicsLoggingDir = "."
     VehicleLoggingEnabled = False
     
+
 [RemoteAdmin]
     enabled = false
 
@@ -1109,6 +1123,17 @@
 
     ;exclude_list=User 1,User 2,User 3
 
+    ;;Shows modal alertbox for entering agent on IRC enabled regions
+    ;;
+    ;; Enable Alert, default = false
+    ;alert_show = false
+    ;;
+    ;; Show IRC serverinfo, default = true
+    ;alert_show_serverinfo = true
+    ;;
+    ;alert_msg_pre = "This region is linked to Irc."
+    ;alert_msg_post = "Everything you say in public chat can be listened."
+
 
 ; The following settings control the progression of daytime
 ; in the Sim.  The defaults are the same as the commented out settings

prebuild.xml

@@ -1727,45 +1727,13 @@
       <Configuration name="Debug">
         <Options>
           <OutputPath>../../../../bin/Physics/</OutputPath>
+          <AllowUnsafe>true</AllowUnsafe>
         </Options>
       </Configuration>
       <Configuration name="Release">
         <Options>
           <OutputPath>../../../../bin/Physics/</OutputPath>
-        </Options>
+          <AllowUnsafe>true</AllowUnsafe>
-      </Configuration>
-
-      <ReferencePath>../../../../bin/</ReferencePath>
-      <Reference name="System"/>
-      <Reference name="System.Core"/>
-      <Reference name="System.Xml"/>
-      <Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
-      <Reference name="Nini.dll"  path="../../../../bin/"/>
-      <Reference name="OpenSim.Framework"/>
-      <Reference name="OpenSim.Region.Framework"/>
-      <Reference name="OpenSim.Region.CoreModules"/>
-      <Reference name="OpenSim.Framework.Console"/>
-      <Reference name="OpenSim.Region.Physics.Manager"/>
-      <Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
-      <Reference name="BulletXNA.dll" path="../../../../bin/"/>
-      <Reference name="log4net.dll" path="../../../../bin/"/>
-
-      <Files>
-        <Match pattern="*.cs" recurse="true">
-          <Exclude name="Tests" pattern="Tests"/>
-        </Match>
-      </Files>
-    </Project>
-
-    <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSNPlugin" path="OpenSim/Region/Physics/BulletSNPlugin" type="Library">
-      <Configuration name="Debug">
-        <Options>
-          <OutputPath>../../../../bin/Physics/</OutputPath>
-        </Options>
-      </Configuration>
-      <Configuration name="Release">
-        <Options>
-          <OutputPath>../../../../bin/Physics/</OutputPath>
         </Options>
       </Configuration>