BulletSim: add ini file and command line parameters to control

dumping of physical vehicle parameters (out of Bullet) on each
simulation step and to optionally scale vehicle angular velocity
by the time step. The latter looks to be part of a difference
between angular parameters for ODE and BulletSim. SL docs say
angular velocity is measured in radians/timeScale. Not sure if this
is different than what ODE does.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
                 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
 
-                VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
+                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
-                                Prim.LocalID, friction, localInertia, angularDamping);
+                                Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
             }
             else
             {
@@ -1057,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // TODO: Should this be applied as an angular force (torque)?
             if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
             {
-                Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep;
+                // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
+                Vector3 scaledCorrection = m_lastAngularCorrection;
+                if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
+                    scaledCorrection *= pTimestep;
                 VehicleRotationalVelocity = scaledCorrection;
 
                 VDetailLog("{0},  MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     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; }
+    public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
 
     #region Construction and Initialization
     public BSScene(string identifier)
@@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 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);
@@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         try
         {
-            // if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            if (VehiclePhysicalLoggingEnabled) DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
             DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
                         DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
-            // if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
+            if (VehiclePhysicalLoggingEnabled) DumpVehicles();  // DEBUG
         }
         catch (Exception e)
         {
@@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].vehicleAngularDamping; },
             (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
+        new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
+            (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
+            (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
 
 	    new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable
         BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
         newShape.shapeKey = newHullKey;
 
-        return newShape;        // 'true' means a new shape has been added to this prim
+        return newShape;
     }
 
     // Callback from convex hull creater with a newly created hull.

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -38,7 +38,8 @@ Disable activity of passive linkset children.
 Scenes with hundred of thousands of static objects take a lot of physics CPU time.
 BSPrim.Force should set a continious force on the prim. The force should be
 	applied each tick.  Some limits?
-Single prim vehicles don't seem to properly vehiclize.
+Linksets should allow collisions to individual children
+	Add LocalID to children shapes in LinksetCompound and create events for individuals
 Gun sending shooter flying.
 Collision margin (gap between physical objects lying on each other)
 Boundry checking (crashes related to crossing boundry)
@@ -146,3 +147,5 @@ Light cycle falling over when driving (Resolution: implemented VerticalAttractor
 Light cycle not banking	(Resolution: It doesn't. Banking is roll adding yaw.)
 Package Bullet source mods for Bullet internal stats output
 	(Resolution: move code into WorldData.h rather than relying on patches)
+Single prim vehicles don't seem to properly vehiclize.
+	(Resolution: mass was not getting set properly for single prim linksets)