BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP.

It was a dumb idea to try and do a nose over feature for jumping cars anyway.
Add better logging of native shape creation/reuse so can  tell the difference.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -215,7 +215,7 @@ 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);
         });
     }

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -1160,8 +1160,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
-                    VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z);
+                    float upVelocity = VehicleVelocity.Z;
+                    VehicleVelocity += new Vector3(0, 0, -upVelocity);
 
+                    /*
                     // If we're pointed up into the air, we should nose down
                     Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
                     // The rotation around the Y axis is pitch up or down
@@ -1175,11 +1177,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                         VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
                                     Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
                     }
-                    else
+                        */
-                    {
+                    VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
-                        VDetailLog("{0},  MoveLinear,limitMotorUp,newVel={1},pntDir={2}",
+                                    Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity);
-                                    Prim.LocalID, VehicleVelocity, pointingDirection);
-                    }
                 }
             }
         }

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -311,7 +311,7 @@ public sealed class BSLinksetCompound : BSLinkset
             else
             {
                 // Rebuild the compound shape with the child removed
-                ScheduleRebuild(child);
+                ScheduleRebuild(LinksetRoot);
             }
         }
         return;

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -442,7 +442,8 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
+    // Create a mesh, hull or native shape.
+    // Return 'true' if the prim's shape was changed.
     public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
@@ -472,7 +473,7 @@ public sealed class BSShapeCollection : IDisposable
             if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
                         prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
 
-            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
+            // It doesn't look like Bullet scales native spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
             {
@@ -484,9 +485,9 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
                                             FixedShapeKey.KEY_SPHERE, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
             if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
@@ -498,9 +499,9 @@ public sealed class BSShapeCollection : IDisposable
                 {
                     ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
                                             FixedShapeKey.KEY_BOX, shapeCallback);
-                    if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
+                                        prim.LocalID, forceRebuild, ret, prim.PhysShape);
             }
         }
 
@@ -513,7 +514,7 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
-    // return 'true' if the shape was changed
+    // return 'true' if the prim's shape was changed.
     public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
 
@@ -921,8 +922,9 @@ public sealed class BSShapeCollection : IDisposable
             }
         }
 
-        // While we figure out the real problem, stick in a simple box for the object.
+        // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
         BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
+        DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
 
         return fillinShape;
     }

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,18 +1,9 @@
 CURRENT PRIORITIES
 =================================================
-Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
-	m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
-	Creation of Neb's terrain made the terrain "disappear". Everything started to fall
-		and then get restored to be above terrain.
-Create tests for different interface components
-	Have test objects/scripts measure themselves and turn color if correct/bad
-	Test functions in SL and calibrate correctness there
-	Create auto rezzer and tracker to run through the tests
 Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
 	Msg Kayaker on OSGrid when working
 Teravus llMoveToTarget script debug
 	Mixing of hover, buoyancy/gravity, moveToTarget, into one force
-Surf board debugging
 Boats floating at proper level
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
@@ -25,8 +16,6 @@ vehicle angular banking
 Avatars walking up stairs (HALF DONE)
     Radius of the capsule affects ability to climb edges.
 Vehicle movement on terrain smoothness
-Surfboard go wonky when turning
-	Angular motor direction is global coordinates rather than local coordinates?
 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)
@@ -43,6 +32,10 @@ Add material densities to the material types
 
 CRASHES
 =================================================
+Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
+	m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
+	Creation of Neb's terrain made the terrain "disappear". Everything started to fall
+		and then get restored to be above terrain.
 20121129.1411: editting/moving phys object across region boundries causes crash
     getPos-> btRigidBody::upcast -> getBodyType -> BOOM
 20121128.1600: mesh object not rezzing (no physics mesh).
@@ -149,6 +142,10 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
 
 MORE
 ======================================================
+Create tests for different interface components
+	Have test objects/scripts measure themselves and turn color if correct/bad
+	Test functions in SL and calibrate correctness there
+	Create auto rezzer and tracker to run through the tests
 Use the HACD convex hull routine in Bullet rather than the C# version.
 Do we need to do convex hulls all the time? Can complex meshes be left meshes?
 	There is some problem with meshes and collisions
@@ -305,3 +302,6 @@ Disable activity of passive linkset children. (DONE)
 	around and need to be phantomized so they don't collide, ...
 Remove HeightmapInfo from terrain specification (DONE)
     Since C++ code does not need terrain height, this structure et al are not needed.
+Surfboard go wonky when turning (DONE)
+	Angular motor direction is global coordinates rather than local coordinates?
+	(Resolution: made angular motor direction correct coordinate system)