BulletSim: protect prim property setting to remove crash from taints setting properties after the destroy object taint has happened.

OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs

@@ -65,7 +65,7 @@ public abstract class BSMotor
 // Can all the incremental stepping be replaced with motor classes?
 
 // Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue is decays in TargetValueDecayTimeScale and
+// The TargetValue decays in TargetValueDecayTimeScale and
 //     the CurrentValue will be held back by FrictionTimeScale.
 // TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay.
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -249,6 +249,7 @@ public sealed class BSPrim : BSPhysObject
         // Zero some other properties in the physics engine
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
+            if (PhysBody.HasPhysicalBody)
                 BulletSimAPI.ClearAllForces2(PhysBody.ptr);
         });
     }
@@ -259,8 +260,11 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
         {
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
+            if (PhysBody.HasPhysicalBody)
+            {
                 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+            }
         });
     }
 
@@ -297,8 +301,11 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                if (PhysBody.HasPhysicalBody)
+                {
                     BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
                     ActivateIfPhysical(false);
+                }
             });
         }
     }
@@ -415,6 +422,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
+                if (PhysBody.HasPhysicalBody)
                     BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
@@ -509,6 +517,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+                if (PhysBody.HasPhysicalBody)
                     BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
@@ -557,10 +566,13 @@ public sealed class BSPrim : BSPhysObject
             _orientation = value;
             // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
             PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
+            {
+                if (PhysBody.HasPhysicalBody)
                 {
                     // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                     // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                     BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                }
             });
         }
     }
@@ -865,6 +877,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
                 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                if (PhysBody.HasPhysicalBody)
                     BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
@@ -900,10 +913,13 @@ public sealed class BSPrim : BSPhysObject
             _buoyancy = value;
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
+            if (PhysBody.HasPhysicalBody)
+            {
                 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
                 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
             }
         }
+    }
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
@@ -969,6 +985,7 @@ public sealed class BSPrim : BSPhysObject
             }
             DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
+                if (PhysBody.HasPhysicalBody)
                     BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
         });
     }
@@ -980,6 +997,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
         {
             DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
+            if (PhysBody.HasPhysicalBody)
                 BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
         });
     }
@@ -1016,6 +1034,7 @@ public sealed class BSPrim : BSPhysObject
             DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
             if (fSum != OMV.Vector3.Zero)
             {
+                if (PhysBody.HasPhysicalBody)
                     BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
                 _torque = fSum;
             }
@@ -1030,6 +1049,7 @@ public sealed class BSPrim : BSPhysObject
         OMV.Vector3 applyImpulse = impulse;
         PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
         {
+            if (PhysBody.HasPhysicalBody)
                 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
         });
     }

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -11,12 +11,14 @@ CRASHES
 
 VEHICLES TODO LIST:
 =================================================
-Neb car jiggling left and right
+Neb vehicle taking > 25ms of physics time!!
-	Happens on terrain and any other mesh object. Flat cubes are much smoother.
 Vehicles (Move smoothly)
 Add vehicle collisions so IsColliding is properly reported.
 	Needed for banking, limitMotorUp, movementLimiting, ...
 Some vehicles should not be able to turn if no speed or off ground.
+Neb car jiggling left and right
+	Happens on terrain and any other mesh object. Flat cubes are much smoother.
+	This has been reduced but not eliminated.
 For limitMotorUp, use raycast down to find if vehicle is in the air.
 Implement function efficiency for lineaar and angular motion.
 Should vehicle angular/linear movement friction happen after all the components
@@ -30,6 +32,9 @@ Border crossing with linked vehicle causes crash
 
 BULLETSIM TODO LIST:
 =================================================
+Avatar height off after unsitting (float off ground)
+	Editting appearance then moving restores.
+	Must not be initializing height when recreating capsule after unsit.
 Duplicating a physical prim causes old prim to jump away
 	Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
 Disable activity of passive linkset children.