BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from individual sub-classes and up to parent BSPhysObject class.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -584,18 +584,6 @@ public sealed class BSCharacter : BSPhysObject
         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;
@@ -769,22 +757,26 @@ public sealed class BSCharacter : BSPhysObject
 
             OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
 
-            // If falling, we keep the world's downward vector no matter what the other axis specify.
+            // Check for cases to turn off the motor.
-            if (!Flying && !IsColliding)
+            if (
-            {
+                // If the walking motor is all done, turn it off
-                stepVelocity.Z = entprop.Velocity.Z;
+                (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) )
-                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);
             }
+            else
+            {
+                // If the motor is not being turned off...
+                // 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);
+                }
+            }
 
             _velocity = stepVelocity;
             entprop.Velocity = _velocity;

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -182,9 +182,40 @@ public abstract class BSPhysObject : PhysicsActor
     protected long CollidingStep { get; set; }
     // The simulation step that last had a collision with the ground
     protected long CollidingGroundStep { get; set; }
+    // The simulation step that last collided with an object
+    protected long CollidingObjectStep { get; set; }
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
 
+    public override bool IsColliding {
+        get { return (CollidingStep == PhysicsScene.SimulationStep); }
+        set {
+            if (value)
+                CollidingStep = PhysicsScene.SimulationStep;
+            else
+                CollidingStep = 0;
+            }
+    }
+    public override bool CollidingGround {
+        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
+        set
+        {
+            if (value)
+                CollidingGroundStep = PhysicsScene.SimulationStep;
+            else
+                CollidingGroundStep = 0;
+        }
+    }
+    public override bool CollidingObj {
+        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
+        set { 
+            if (value)
+                CollidingObjectStep = PhysicsScene.SimulationStep;
+            else
+                CollidingObjectStep = 0;
+        }
+    }
+
     // The collisions that have been collected this tick
     protected CollisionEventUpdate CollisionCollection;
 
@@ -196,12 +227,16 @@ public abstract class BSPhysObject : PhysicsActor
     {
         bool ret = false;
 
-        // The following lines make IsColliding() and IsCollidingGround() work
+        // The following lines make IsColliding(), CollidingGround() and CollidingObj work
         CollidingStep = PhysicsScene.SimulationStep;
         if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
         {
             CollidingGroundStep = PhysicsScene.SimulationStep;
         }
+        else
+        {
+            CollidingObjectStep = PhysicsScene.SimulationStep;
+        }
 
         // prims in the same linkset cannot collide with each other
         if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -915,18 +915,6 @@ public sealed class BSPrim : BSPhysObject
         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 bool IsPhantom {
         get {
             // SceneObjectPart removes phantom objects from the physics scene
@@ -1006,12 +994,12 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 PIDTarget {
         set { _PIDTarget = value; }
     }
-    public override bool PIDActive {
-        set { _usePID = value; }
-    }
     public override float PIDTau {
         set { _PIDTau = value; }
     }
+    public override bool PIDActive {
+        set { _usePID = value; }
+    }
 
     // Used for llSetHoverHeight and maybe vehicle height
     // Hover Height will override MoveTo target's Z

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -2,9 +2,10 @@ CURRENT PRIORITIES
 =================================================
 Redo BulletSimAPI to allow native C# implementation of Bullet option.
 Avatar movement
-	flying into a wall doesn't stop avatar who keeps appearing to move through the obsticle
+	flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle
 	walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
 	avatar capsule rotation completed
+llMoveToTarget
 Enable vehicle border crossings (at least as poorly as ODE)
 	Terrain skirts
 	Avatar created in previous region and not new region when crossing border