PhysActor update messages working. Avatar and prim neither move nor position correctly

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/PhysEngineToSceneConnector.cs

@@ -12,6 +12,7 @@ using OpenMetaverse.StructuredData;
 using OpenSim.Framework;
 using OpenSim.Services.Interfaces;
 using OpenSim.Framework.Client;
+using OpenSim.Region.Physics.Manager;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
 using OpenSim.Region.Framework.Interfaces;
@@ -74,6 +75,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         private ActorType m_actorType = ActorType.PhysicsEngine;
 
         private bool m_debugWithViewer = false;
+        private long m_messagesSent = 0;
+        private long m_messagesReceived = 0;
 
         private QuarkSubsriptionInfo m_subscribedQuarks; 
         
@@ -165,7 +168,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         {
             RegionSyncMessage msg = new RegionSyncMessage(RegionSyncMessage.MsgType.ActorStatus, Convert.ToString((int)ActorStatus.Sync));
             Send(msg);
-            SendQuarkSubscription();
+            // SendQuarkSubscription();
             Thread.Sleep(100);
             DoInitialSync();
         }
@@ -196,7 +199,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
 
         private void DoInitialSync()
         {
-            m_validLocalScene.DeleteAllSceneObjects();
+            // m_validLocalScene.DeleteAllSceneObjects();
             //m_log.Debug(LogHeader + ": send actor type " + m_actorType);
             //Send(new RegionSyncMessage(RegionSyncMessage.MsgType.ActorType, Convert.ToString((int)m_actorType)));
             //KittyL??? Do we need to send in RegionName?
@@ -204,8 +207,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             //Send(new RegionSyncMessage(RegionSyncMessage.MsgType.RegionName, m_scene.RegionInfo.RegionName));
             //m_log.WarnFormat("Sending region name: \"{0}\"", m_scene.RegionInfo.RegionName);
 
-            Send(new RegionSyncMessage(RegionSyncMessage.MsgType.GetTerrain));
+            // Send(new RegionSyncMessage(RegionSyncMessage.MsgType.GetTerrain));
-            Send(new RegionSyncMessage(RegionSyncMessage.MsgType.GetObjects));
+            // Send(new RegionSyncMessage(RegionSyncMessage.MsgType.GetObjects));
 
             // Register for events which will be forwarded to authoritative scene
             // m_scene.EventManager.OnNewClient += EventManager_OnNewClient;
@@ -229,6 +232,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         public void ReportStatus()
         {
             m_log.WarnFormat("{0} Synchronized to RegionSyncServer at {1}:{2}", LogHeader, m_addr, m_port);
+            m_log.WarnFormat("{0} Received={1}, Sent={2}", LogHeader, m_messagesReceived, m_messagesSent);
             lock (m_syncRoot)
             {
                 //TODO: should be reporting about the information of the objects/scripts
@@ -278,6 +282,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                 try
                 {
                     //lock (m_syncRoot) -- KittyL: why do we need to lock here? We could lock inside HandleMessage if necessary, and lock on different objects for better performance
+                    m_messagesReceived++;
                     HandleMessage(msg);
                 }
                 catch (Exception e)
@@ -310,6 +315,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                 try
                 {
                     m_client.GetStream().Write(data, 0, data.Length);
+                    m_messagesSent++;
                 }
                 // If there is a problem reading from the client, shut 'er down. 
                 // *** Still need to alert the module that it's no longer connected!
@@ -319,79 +325,6 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                 }
             }
         }
-
-        /// <summary>
-        /// Send requests to update object properties in the remote authoratative Scene.
-        /// </summary>
-        /// <param name="primID">UUID of the object</param>
-        /// <param name="pName">name of the property to be updated</param>
-        /// <param name="valParams">parameters of the value of the property</param>
-        /// <returns></returns>
-        public void SendSetPrimProperties(UUID primID, string pName, object val)
-        {
-            OSDMap data = new OSDMap();
-            data["UUID"] = OSD.FromUUID(primID);
-            data["name"] = OSD.FromString(pName);
-            object[] valParams = (object[])val;
-            //data["param"] = OSD.FromString(presence.ControllingClient.LastName);
-            Vector3 pos, vel;
-            switch (pName)
-            {
-                case "object_rez":
-                    //this is to rez an object from the prim's inventory, rather than change the prim's property
-                    if(valParams.Length<5){
-                        m_log.Warn(LogHeader+": values for object's "+pName+" property should include: inventory, pos, velocity, rotation, param");
-                        return;
-                    }
-                    string inventory = (string)valParams[0];
-                    pos = (Vector3)valParams[1];
-                    vel = (Vector3)valParams[2];
-                    Quaternion rot = (Quaternion)valParams[3];
-                    int param = (int)valParams[4];
-                    data["inventory"]=OSD.FromString(inventory);
-                    data["pos"]=OSD.FromVector3(pos);
-                    data["vel"] = OSD.FromVector3(vel);
-                    data["rot"] = OSD.FromQuaternion(rot);
-                    data["param"] = OSD.FromInteger(param);
-                    break;
-                case "color":
-                    if(valParams.Length<2){
-                        m_log.Warn(LogHeader+": values for object's "+pName+" property should include: color-x, color-y, color-z, face");
-                        return;
-                    }
-                    //double cx = (double)valParams[0];
-                    //double cy = (double)valParams[1];
-                    //double cz = (double)valParams[2];
-                    //Vector3 color = new Vector3((float)cx, (float)cy, (float)cz);
-                    Vector3 color = (Vector3)valParams[0];
-                    data["color"] = OSD.FromVector3(color);
-                    data["face"] = OSD.FromInteger((int)valParams[1]);
-
-                    //m_log.DebugFormat("{0}: to set color {1} on face {2} of prim {3}", LogHeader, color.ToString(), (int)valParams[1], primID);
-
-                    break;
-                case "pos":
-                    if (valParams.Length < 1)
-                    {
-                        m_log.Warn(LogHeader + ": values for object's " + pName + " property should include: pos(vector)");
-                        return;
-                    }
-                    //double px = (double)valParams[0];
-                    //double py = (double)valParams[1];
-                    //double pz = (double)valParams[2];
-                    //Vector3 pos = new Vector3((float)px, (float)py, (float)pz);
-                    pos = (Vector3)valParams[0];
-                    data["pos"] = OSD.FromVector3(pos);
-
-                    m_log.DebugFormat("{0}: to set pos {1} for prim {2}", LogHeader, pos.ToString(), primID);
-                    break;
-                default:
-                    //
-                    break;
-            }
-
-            Send(new RegionSyncMessage(RegionSyncMessage.MsgType.SetObjectProperty, OSDParser.SerializeJsonString(data)));
-        }
         #endregion SEND
 
         //KittyL: Has to define SendCoarseLocations() here, since it's defined in IRegionSyncClientModule.
@@ -415,16 +348,9 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                     {
                         return;
                     }
-                case RegionSyncMessage.MsgType.Terrain:
+                case RegionSyncMessage.MsgType.PhysUpdateAttributes:
                     {
-                        //We need to handle terrain differently as we handle objects: we really will set the HeightMap
+                        HandlePhysUpdateAttributes(msg);
-                        //of each local scene that is the shadow copy of its auth. scene.
-                        return;
-                    }
-                case RegionSyncMessage.MsgType.NewObject:
-                case RegionSyncMessage.MsgType.UpdatedObject:
-                    {
-                        HandleAddOrUpdateObjectInLocalScene(msg);
                         return;
                     }
                 default:
@@ -436,6 +362,69 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
 
         }
 
+        /// <summary>
+        /// The physics engine has some updates to the attributes. Unpack the parameters, find the
+        /// correct PhysicsActor and plug in the new values;
+        /// </summary>
+        /// <param name="msg"></param>
+        private void HandlePhysUpdateAttributes(RegionSyncMessage msg)
+        {
+            // TODO: 
+            OSDMap data = RegionSyncUtil.DeserializeMessage(msg, LogHeader);
+            try
+            {
+                uint localID = data["localID"].AsUInteger();
+                // m_log.DebugFormat("{0}: HandlPhysUpdateAttributes for {1}", LogHeader, localID);
+                SceneObjectPart sop = m_validLocalScene.GetSceneObjectPart(localID);
+                if (sop != null)
+                {
+                    sop.PhysActor.Size = data["size"].AsVector3();
+                    sop.PhysActor.Position = data["position"].AsVector3();
+                    sop.PhysActor.Force = data["force"].AsVector3();
+                    sop.PhysActor.Velocity = data["velocity"].AsVector3();
+                    sop.PhysActor.Torque = data["torque"].AsVector3();
+                    sop.PhysActor.Orientation = data["orientantion"].AsQuaternion();
+                    sop.PhysActor.IsPhysical = data["isPhysical"].AsBoolean();  // receive??
+                    sop.PhysActor.Flying = data["flying"].AsBoolean();      // receive??
+                    sop.PhysActor.Kinematic = data["kinematic"].AsBoolean();    // receive??
+                    sop.PhysActor.Buoyancy = (float)(data["buoyancy"].AsReal());
+                    sop.PhysActor.Shape = sop.Shape;
+                }
+                else
+                {
+                    m_log.WarnFormat("{0}: attribute update for unknown localID {1}", LogHeader, localID);
+                    return;
+                }
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("{0}: EXCEPTION processing UpdateAttributes: {1}", LogHeader, e);
+                return;
+            }
+            return;
+        }
+
+        public void SendPhysUpdateAttributes(PhysicsActor pa)
+        {
+            m_log.DebugFormat("{0}: SendPhysUpdateAttributes for {1}", LogHeader, pa.LocalID);
+            OSDMap data = new OSDMap(9);
+            data["localID"] = OSD.FromUInteger(pa.LocalID);
+            data["size"] = OSD.FromVector3(pa.Size);
+            data["position"] = OSD.FromVector3(pa.Position);
+            data["force"] = OSD.FromVector3(pa.Force);
+            data["velocity"] = OSD.FromVector3(pa.Velocity);
+            data["torque"] = OSD.FromVector3(pa.Torque);
+            data["orientation"] = OSD.FromQuaternion(pa.Orientation);
+            data["isPhysical"] = OSD.FromBoolean(pa.IsPhysical);
+            data["flying"] = OSD.FromBoolean(pa.Flying);
+            data["buoyancy"] = OSD.FromReal(pa.Buoyancy);
+
+            RegionSyncMessage rsm = new RegionSyncMessage(RegionSyncMessage.MsgType.PhysUpdateAttributes, 
+                                                                OSDParser.SerializeJsonString(data));
+            Send(rsm);
+            return;
+        }
+
         #region Utility functions
 
         private OSDMap GetOSDMap(string strdata)

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/PhysEngineToSceneConnectorModule.cs

@@ -35,6 +35,7 @@ using OpenSim.Framework.Client;
 using OpenSim.Region.CoreModules.Framework.InterfaceCommander;
 using OpenSim.Region.Framework.Interfaces;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Physics.Manager;
 using log4net;
 using System.Net;
 using System.Net.Sockets;
@@ -51,6 +52,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         private string m_serveraddr;
         private int m_serverport;
         private Scene m_scene;
+        private static List<Scene> m_allScenes = new List<Scene>();
         private ILog m_log;
         private Object m_client_lock = new Object();
         //private PhysEngineToSceneConnector m_scriptEngineToSceneConnector = null;
@@ -64,6 +66,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         private Dictionary<string, PhysEngineToSceneConnector> m_PEToSceneConnectors = new Dictionary<string, PhysEngineToSceneConnector>(); //connector for each auth. scene
         private string LogHeader = "[PhysEngineToSceneConnectorModule]";
         private PhysEngineToSceneConnector m_idlePEToSceneConnector = null;
+        private PhysEngineToSceneConnector m_physEngineToSceneConnector = null;
 
         //quark information
         //private int QuarkInfo.SizeX;
@@ -131,6 +134,12 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             InstallInterfaces();
 
             m_log.Warn(LogHeader + " Initialised");
+
+            // collect all the scenes for later routing
+            if (!m_allScenes.Contains(scene))
+            {
+                m_allScenes.Add(scene);
+            }
         }
 
         public void PostInitialise()
@@ -202,6 +211,49 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             get { return (m_activeActors != 0); }
         }
 
+        /// <summary>
+        /// The scene is unknown by ODE so we have to look through the scenes to
+        /// find the one with this PhysicsActor so we can send the update.
+        /// </summary>
+        /// <param name="pa"></param>
+        public static void RouteUpdate(PhysicsActor pa)
+        {
+            SceneObjectPart sop = null;
+            Scene s = null;
+            foreach (Scene ss in m_allScenes)
+            {
+                try
+                {
+                    sop = ss.GetSceneObjectPart(pa.LocalID);
+                }
+                catch
+                {
+                    sop = null;
+                }
+                if (sop != null)
+                {
+                    s = ss;
+                    break;
+                }
+            }
+            if (s != null)
+            {
+                if (s.PhysEngineToSceneConnectorModule != null)
+                {
+                    s.PhysEngineToSceneConnectorModule.SendUpdate(pa);
+                }
+                else
+                {
+                    Console.WriteLine("RouteUpdate: PhysEngineToSceneConnectorModule is null");
+                }
+            }
+            else
+            {
+                Console.WriteLine("RouteUpdate: no SOP found");
+            }
+            return;
+        }
+
         #endregion
 
 
@@ -218,6 +270,11 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
              */
         }
 
+        public void SendUpdate(PhysicsActor pa)
+        {
+            this.m_physEngineToSceneConnector.SendPhysUpdateAttributes(pa);
+        }
+
         #region Console Command Interface
         //IMPORTANT: these functions should only be actived for the PhysEngineToSceneConnectorModule that is associated with the valid local scene
 
@@ -307,11 +364,11 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         private void InitPhysEngineToSceneConnector(string space)
         {
             
-            PhysEngineToSceneConnector scriptEngineToSceneConnector = new PhysEngineToSceneConnector(m_scene, 
+            m_physEngineToSceneConnector = new PhysEngineToSceneConnector(m_scene, 
                     m_serveraddr, m_serverport, m_debugWithViewer, /* space,*/ m_syncConfig);
-            if (scriptEngineToSceneConnector.Start())
+            if (m_physEngineToSceneConnector.Start())
             {
-                m_PEToSceneConnectors.Add(m_scene.RegionInfo.RegionName, scriptEngineToSceneConnector);
+                m_PEToSceneConnectors.Add(m_scene.RegionInfo.RegionName, m_physEngineToSceneConnector);
             }
         }
 

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/RegionSyncMessage.cs

@@ -108,6 +108,12 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             ScriptStateSyncEnd,
             //Idle script engine overloaded -> overloaded script engine
             ScriptStateSyncRequest,
+            // Physics Engine -> Scene
+            PhysTerseUpdate,
+            PhysOutOfBounds,
+            PhysCollisionUpdate,
+            // Scene -> Physics Engine
+            PhysUpdateAttributes,
         }
         #endregion
 

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/SceneToPhysEngineConnector.cs

@@ -12,6 +12,7 @@ using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Scenes.Serialization;
 using OpenSim.Region.Framework.Interfaces;
+using OpenSim.Region.Physics.Manager;
 using log4net;
 
 namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
@@ -94,7 +95,6 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
 
         public string GetStats()
         {
-            int syncedAvCount;
             string ret;
             //lock (m_syncRoot)
             //    syncedAvCount = m_syncedAvatars.Count;
@@ -103,7 +103,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                 double secondsSinceLastStats = DateTime.Now.Subtract(lastStatTime).TotalSeconds;
                 lastStatTime = DateTime.Now;
 
-                ret = String.Format("[{0,4}/{1,4}], [{2,4}/{3,4}], [{4,4}/{5,4}], [{6,4} ({7,4})], [{8,8} ({9,8:00.00})], [{10,4} ({11,4})], [{12,8} ({13,8:00.00})], [{14,8} ({15,4}]",
+                // ret = String.Format("[{0,4}/{1,4}], [{2,4}/{3,4}], [{4,4}/{5,4}], [{6,4} ({7,4})], [{8,8} ({9,8:00.00})], [{10,4} ({11,4})], [{12,8} ({13,8:00.00})], [{14,8} ({15,4}]",
+                ret = String.Format("[{0,4}/{1,4}], [{2,6}/{3,6}], [{4,4}/{5,4}], [{6,6} ({7,6})], [{8,4} ({9,4})]",
                     //lastTotalCount, totalAvCount, // TOTAL AVATARS
                     //lastLocalCount, syncedAvCount, // LOCAL TO THIS CLIENT VIEW
                     //lastRemoteCount, totalAvCount - syncedAvCount, // REMOTE (SHOULD = TOTAL - LOCAL)
@@ -162,7 +163,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             m_receive_loop.Start();
 
             //tell the remote script engine about the locX, locY of this authoritative scene
-            SendSceneLoc();
+            // SendSceneLoc();
+            m_log.DebugFormat("{0}: SceneToPhysEngineConnector initialized", LogHeader);
         }
 
         // Stop the listening thread, disconnecting the RegionSyncPhysEngine
@@ -258,6 +260,26 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                         return;
                     }
 
+                case RegionSyncMessage.MsgType.PhysTerseUpdate:
+                    {
+                        HandlePhysTerseUpdate(msg);
+                        return;
+                    }
+                case RegionSyncMessage.MsgType.PhysOutOfBounds:
+                    {
+                        HandlePhysOutOfBounds(msg);
+                        return;
+                    }
+                case RegionSyncMessage.MsgType.PhysCollisionUpdate:
+                    {
+                        HandlePhysCollisionUpdate(msg);
+                        return;
+                    }
+                case RegionSyncMessage.MsgType.PhysUpdateAttributes:
+                    {
+                        HandlePhysUpdateAttributes(msg);
+                        return;
+                    }
                 default:
                     {
                         m_log.WarnFormat("{0} Unable to handle unsupported message type", LogHeader);
@@ -266,6 +288,86 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             }
         }
 
+        private void HandlePhysTerseUpdate(RegionSyncMessage msg)
+        {
+            // TODO: 
+            return;
+        }
+
+        private void HandlePhysOutOfBounds(RegionSyncMessage msg)
+        {
+            // TODO: 
+            return;
+        }
+
+        private void HandlePhysCollisionUpdate(RegionSyncMessage msg)
+        {
+            // TODO: 
+            return;
+        }
+
+        /// <summary>
+        /// The physics engine has some updates to the attributes. Unpack the parameters, find the
+        /// correct PhysicsActor and plug in the new values;
+        /// </summary>
+        /// <param name="msg"></param>
+        private void HandlePhysUpdateAttributes(RegionSyncMessage msg)
+        {
+            // TODO: 
+            OSDMap data = RegionSyncUtil.DeserializeMessage(msg, LogHeader);
+            try
+            {
+                uint localID = data["localID"].AsUInteger();
+                m_log.DebugFormat("{0}: received PhysUpdateAttributes for {1}", LogHeader, localID);
+                SceneObjectPart sop = m_scene.GetSceneObjectPart(localID);
+                if (sop != null)
+                {
+                    sop.PhysActor.Size = data["size"].AsVector3();
+                    sop.PhysActor.Position = data["position"].AsVector3();
+                    sop.PhysActor.Force = data["force"].AsVector3();
+                    sop.PhysActor.Velocity = data["velocity"].AsVector3();
+                    sop.PhysActor.Torque = data["torque"].AsVector3();
+                    sop.PhysActor.Orientation = data["orientantion"].AsQuaternion();
+                    sop.PhysActor.IsPhysical = data["isPhysical"].AsBoolean();  // receive??
+                    sop.PhysActor.Flying = data["flying"].AsBoolean();      // receive??
+                    sop.PhysActor.Kinematic = data["kinematic"].AsBoolean();    // receive??
+                    sop.PhysActor.Buoyancy = (float)(data["buoyancy"].AsReal());
+                }
+                else
+                {
+                    m_log.WarnFormat("{0}: attribute update for unknown localID {1}", LogHeader, localID);
+                    return;
+                }
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("{0}: EXCEPTION processing UpdateAttributes: {1}", LogHeader, e);
+                return;
+            }
+            return;
+        }
+
+        public void SendPhysUpdateAttributes(PhysicsActor pa)
+        {
+            // m_log.DebugFormat("{0}: sending PhysUpdateAttributes for {1}", LogHeader, pa.LocalID);
+            OSDMap data = new OSDMap(9);
+            data["localID"] = OSD.FromUInteger(pa.LocalID);
+            data["size"] = OSD.FromVector3(pa.Size);
+            data["position"] = OSD.FromVector3(pa.Position);
+            data["force"] = OSD.FromVector3(pa.Force);
+            data["velocity"] = OSD.FromVector3(pa.Velocity);
+            data["torque"] = OSD.FromVector3(pa.Torque);
+            data["orientation"] = OSD.FromQuaternion(pa.Orientation);
+            data["isPhysical"] = OSD.FromBoolean(pa.IsPhysical);
+            data["flying"] = OSD.FromBoolean(pa.Flying);
+            data["buoyancy"] = OSD.FromReal(pa.Buoyancy);
+
+            RegionSyncMessage rsm = new RegionSyncMessage(RegionSyncMessage.MsgType.PhysUpdateAttributes, 
+                                                                OSDParser.SerializeJsonString(data));
+            Send(rsm);
+            return;
+        }
+
         //For simplicity, we assume the subscription sent by PhysEngine is legistimate (no overlapping with other script engines, etc)
         private void HandleQuarkSubscription(RegionSyncMessage msg)
         {
@@ -335,7 +437,9 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                                 m_tcpclient.GetStream().EndWrite(ar);
                             }
                             catch (Exception)
-                            { }
+                            {
+                                m_log.WarnFormat("{0} Write to output stream failed", LogHeader);
+                            }
                         }
                     }, null);
                 }
@@ -344,6 +448,11 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                     m_log.WarnFormat("{0} Physics Engine has disconnected.", LogHeader);
                 }
             }
+            else
+            {
+                m_log.DebugFormat("{0} Attempt to send with no connection", LogHeader);
+            }
+
         }
 
         public void SendObjectUpdate(RegionSyncMessage.MsgType msgType, SceneObjectGroup sog)

OpenSim/Region/CoreModules/RegionSync/RegionSyncModule/SceneToPhysEngineSyncServer.cs

@@ -6,6 +6,7 @@ using System.Text;
 using System.Collections.Generic;
 using System.Threading;
 using OpenSim.Framework;
+using OpenSim.Region.CoreModules.Framework.InterfaceCommander;
 using OpenSim.Region.Framework.Scenes;
 using OpenSim.Region.Framework.Interfaces;
 using log4net;
@@ -13,6 +14,7 @@ using log4net;
 using OpenMetaverse;
 using OpenMetaverse.StructuredData;
 using OpenSim.Region.Framework.Scenes.Serialization;
+using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
 {
@@ -41,7 +43,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
     }
 
     //Here is the per actor type listening server for physics Engines.
-    public class SceneToPhysEngineSyncServer : ISceneToPhysEngineServer
+    public class SceneToPhysEngineSyncServer : ISceneToPhysEngineServer, ICommandableModule
     {
         #region SceneToPhysEngineSyncServer members
         // Set the addr and port for TcpListener
@@ -61,6 +63,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         // static counters that are used to compute global configuration state
         private static int m_syncServerInitialized = 0;
         private static int m_totalConnections = 0;
+        private static List<Scene> m_allScenes = new List<Scene>();
 
         // The local scene.
         private Scene m_scene;
@@ -74,6 +77,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         private object m_physEngineConnector_lock = new object();
         //private Dictionary<string, SceneToPhysEngineConnector> m_physEngineConnectors = new Dictionary<string, SceneToPhysEngineConnector>();
         private List<SceneToPhysEngineConnector> m_physEngineConnectors = new List<SceneToPhysEngineConnector>();
+        // the last connector created
+        private SceneToPhysEngineConnector m_sceneToPhysEngineConnector = null;
 
         //list of idle physics engines that have registered.
         private List<IdlePhysEngineInfo> m_idlePhysEngineList = new List<IdlePhysEngineInfo>();
@@ -88,27 +93,176 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         //private int QuarkInfo.SizeX;
         //private int QuarkInfo.SizeY;
 
+        #region ICommandableModule Members
+        private readonly Commander m_commander = new Commander("phys");
+        public ICommander CommandInterface
+        {
+            get { return m_commander; }
+        }
+
+        private void InstallInterfaces()
+        {
+            // Command cmdSyncStart = new Command("start", CommandIntentions.COMMAND_HAZARDOUS, SyncStart, "Begins synchronization with RegionSyncServer.");
+            //cmdSyncStart.AddArgument("server_port", "The port of the server to synchronize with", "Integer");
+            
+            // Command cmdSyncStop = new Command("stop", CommandIntentions.COMMAND_HAZARDOUS, SyncStop, "Stops synchronization with RegionSyncServer.");
+            //cmdSyncStop.AddArgument("server_address", "The IP address of the server to synchronize with", "String");
+            //cmdSyncStop.AddArgument("server_port", "The port of the server to synchronize with", "Integer");
+
+            Command cmdSyncStatus = new Command("status", CommandIntentions.COMMAND_HAZARDOUS, SyncStatus, "Displays synchronization status.");
+
+            //The following two commands are more for easier debugging purpose
+            // Command cmdSyncSetQuarks = new Command("quarkSpace", CommandIntentions.COMMAND_HAZARDOUS, SetQuarkList, "Set the set of quarks to subscribe to. For debugging purpose. Should be issued before \"sync start\"");
+            // cmdSyncSetQuarks.AddArgument("quarkSpace", "The (rectangle) space of quarks to subscribe, represented by x0_y0,x1_y1, the left-bottom and top-right corners of the rectangel space", "String");
+
+            // Command cmdSyncSetQuarkSize = new Command("quarksize", CommandIntentions.COMMAND_HAZARDOUS, SetQuarkSize, "Set the size of each quark. For debugging purpose. Should be issued before \"sync quarks\"");
+            // cmdSyncSetQuarkSize.AddArgument("quarksizeX", "The size on x axis of each quark", "Integer");
+            // cmdSyncSetQuarkSize.AddArgument("quarksizeY", "The size on y axis of each quark", "Integer");
+
+            // m_commander.RegisterCommand("start", cmdSyncStart);
+            // m_commander.RegisterCommand("stop", cmdSyncStop);
+            m_commander.RegisterCommand("status", cmdSyncStatus);
+            // m_commander.RegisterCommand("quarkSpace", cmdSyncSetQuarks);
+
+            lock (m_scene)
+            {
+                // Add this to our scene so scripts can call these functions
+                m_scene.RegisterModuleCommander(m_commander);
+            }
+        }
+
+        /// <summary>
+        /// Processes commandline input. Do not call directly.
+        /// </summary>
+        /// <param name="args">Commandline arguments</param>
+        private void EventManager_OnPluginConsole(string[] args)
+        {
+            if (args[0] == "phys")
+            {
+                if (args.Length == 1)
+                {
+                    m_commander.ProcessConsoleCommand("help", new string[0]);
+                    return;
+                }
+
+                string[] tmpArgs = new string[args.Length - 2];
+                int i;
+                for (i = 2; i < args.Length; i++)
+                    tmpArgs[i - 2] = args[i];
+
+                m_commander.ProcessConsoleCommand(args[1], tmpArgs);
+            }
+        }
+
+        private void SyncStart(Object[] args)
+        {
+            return;
+        }
+        private void SyncStop(Object[] args)
+        {
+            return;
+        }
+        private void SyncStatus(Object[] args)
+        {
+            lock (m_physEngineConnector_lock)
+            {
+                if (m_physEngineConnectors.Count == 0)
+                {
+                    m_log.Warn(LogHeader + " Not currently synchronized");
+                    return;
+                }
+                m_log.Warn(LogHeader + " Synchronized");
+                foreach (SceneToPhysEngineConnector pec in m_physEngineConnectors)
+                {
+                    m_log.Warn(pec.GetStats());
+                }
+            }
+        }
+
+        #endregion
+
         // Check if any of the client views are in a connected state
         public bool Synced
         {
-            get
+            get { return (m_physEngineConnectors.Count > 0); }
-            {
-                return (m_physEngineConnectors.Count > 0);
-            }
         }
         public static bool IsPhysEngineScene
         {
-            get { return (m_syncServerInitialized != 0); }
+            get { return (SceneToPhysEngineSyncServer.m_syncServerInitialized > 0); }
+        }
+        public static bool IsPhysEngineScene2()
+        {
+            return (SceneToPhysEngineSyncServer.m_syncServerInitialized > 0);
         }
         public static bool IsActivePhysEngineScene
         {
-            get { return (m_syncServerInitialized != 0 && m_totalConnections != 0); }
+            get {
+                System.Console.WriteLine("IsActivePhysEngineScene: si={0} tc={1}", 
+                    SceneToPhysEngineSyncServer.m_syncServerInitialized, 
+                    SceneToPhysEngineSyncServer.m_totalConnections);
+                return (SceneToPhysEngineSyncServer.m_syncServerInitialized > 0 
+                                && SceneToPhysEngineSyncServer.m_totalConnections > 0); 
+            }
+        }
+        public static bool IsActivePhysEngineScene2()
+        {
+            return (SceneToPhysEngineSyncServer.m_syncServerInitialized > 0 
+                            && SceneToPhysEngineSyncServer.m_totalConnections > 0); 
         }
         public static bool IsPhysEngineActor
         {
             get { return PhysEngineToSceneConnectorModule.IsPhysEngineActor; }
         }
 
+        /// <summary>
+        /// The scene is unknown by ODE so we have to look through the scenes to
+        /// find the one with this PhysicsActor so we can send the update.
+        /// </summary>
+        /// <param name="pa"></param>
+        public static void RouteUpdate(PhysicsActor pa)
+        {
+            SceneObjectPart sop = null;
+            Scene s = null;
+            foreach (Scene ss in m_allScenes)
+            {
+                try
+                {
+                    sop = ss.GetSceneObjectPart(pa.LocalID);
+                }
+                catch
+                {
+                    sop = null;
+                }
+                if (sop != null)
+                {
+                    s = ss;
+                    break;
+                }
+            }
+            if (s != null)
+            {
+                if (s.SceneToPhysEngineSyncServer != null)
+                {
+                    s.SceneToPhysEngineSyncServer.SendUpdate(pa);
+                }
+                else
+                {
+                    Console.WriteLine("RouteUpdate: SceneToPhysEngineSyncServer is no available");
+                }
+            }
+            else
+            {
+                Console.WriteLine("RouteUpdate: no SOP for update");
+            }
+            return;
+        }
+
+        public void SendUpdate(PhysicsActor pa)
+        {
+            // m_log.DebugFormat("{0}: SendUpdate for {1}", LogHeader, pa.LocalID);
+            this.m_sceneToPhysEngineConnector.SendPhysUpdateAttributes(pa);
+        }
+
         #endregion
 
         // Constructor
@@ -126,8 +280,18 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             m_addr = IPAddress.Parse(addr);
             m_port = port;
 
+            m_scene.RegisterModuleInterface<ISceneToPhysEngineServer>(this);
+
+            // remember all the scenes that are configured for connection to physics engine
+            if (!m_allScenes.Contains(m_scene))
+            {
+                m_allScenes.Add(m_scene);
+            }
+
             InitQuarksInScene();
             SubscribeToEvents();
+            m_scene.EventManager.OnPluginConsole += EventManager_OnPluginConsole;
+            InstallInterfaces();
         }
 
 
@@ -142,12 +306,12 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         // Start the server
         public void Start()
         {
+            SceneToPhysEngineSyncServer.m_syncServerInitialized++;
             m_listenerThread = new Thread(new ThreadStart(Listen));
             m_listenerThread.Name = "SceneToPhysEngineSyncServer Listener";
-            m_log.WarnFormat(LogHeader + ": Starting {0} thread", m_listenerThread.Name);
+            m_log.DebugFormat("{0}: Starting {1} thread", LogHeader, m_listenerThread.Name);
             m_listenerThread.Start();
-            //m_log.Warn("[REGION SYNC SERVER] Started");
+            // m_log.DebugFormat("{0}: Started", LogHeader);
-            m_syncServerInitialized++;
         }
 
 
@@ -155,7 +319,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         // Stop the server and disconnect all RegionSyncClients
         public void Shutdown()
         {
-            m_syncServerInitialized--;
+            m_log.DebugFormat("{0}: Shutdown", LogHeader);
+            SceneToPhysEngineSyncServer.m_syncServerInitialized--;
             // Stop the listener and listening thread so no new clients are accepted
             m_listener.Stop();
             m_listenerThread.Abort();
@@ -197,12 +362,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
         {
             lock (m_physEngineConnector_lock)
             {
-                //Dictionary<string, SceneToPhysEngineConnector> currentlist = m_physEngineConnectors;
-                //Dictionary<string, SceneToPhysEngineConnector> newlist = new Dictionary<string, SceneToPhysEngineConnector>(currentlist);
                 m_physEngineConnectors.Add(peConnector);
-                // Threads holding the previous version of the list can keep using it since
+                m_sceneToPhysEngineConnector = peConnector;
-                // they will not hold it for long and get a new copy next time they need to iterate
-                //m_physEngineConnectors = newlist;
             }
         }
 
@@ -237,6 +398,8 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                     TcpClient tcpclient = m_listener.AcceptTcpClient();
                     IPAddress addr = ((IPEndPoint)tcpclient.Client.RemoteEndPoint).Address;
                     int port = ((IPEndPoint)tcpclient.Client.RemoteEndPoint).Port;
+                    SceneToPhysEngineSyncServer.m_totalConnections++;
+                    // m_log.DebugFormat("{0}: m_totalConnections = {1}", LogHeader, SceneToPhysEngineSyncServer.m_totalConnections);
 
                     ActorStatus actorStatus = GetActorStatus(tcpclient);
 
@@ -249,10 +412,11 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
                             break;
                         case ActorStatus.Idle:
                             IdlePhysEngineInfo idleSE = new IdlePhysEngineInfo(tcpclient);
-                            m_log.Debug(": adding an idle SE ("+addr+","+port+")");
+                            m_log.DebugFormat("{0}: adding an idle SE ({1}:{2})", LogHeader, addr, port);
                             m_idlePhysEngineList.Add(idleSE);
                             break;
                         default:
+                            m_log.DebugFormat("{0}: Unknown actor status", LogHeader);
                             break;
                     }
 
@@ -260,7 +424,7 @@ namespace OpenSim.Region.CoreModules.RegionSync.RegionSyncModule
             }
             catch (SocketException e)
             {
-                m_log.WarnFormat(LogHeader + " [Listen] SocketException: {0}", e);
+                m_log.WarnFormat("{0}: [Listen] SocketException: {1}", LogHeader, e);
             }
         }
 

OpenSim/Region/Framework/Interfaces/IPhysEngineToSceneConnectorModule.cs

@@ -30,6 +30,7 @@
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Framework.Interfaces
 {
@@ -40,5 +41,6 @@ namespace OpenSim.Region.Framework.Interfaces
         // static bool IsActivePhysEngineScene { get; }
         // static bool IsPhysEngineActor { get; }
         bool DebugWithViewer { get; }
+        void SendUpdate(PhysicsActor pa);
     }
 }

OpenSim/Region/Framework/Interfaces/ISceneToPhysEngineServer.cs

@@ -30,6 +30,7 @@
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Framework.Scenes;
+using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Framework.Interfaces
 {
@@ -39,5 +40,6 @@ namespace OpenSim.Region.Framework.Interfaces
         // static bool IsPhysEngineScene { get; }
         // static bool IsActivePhysEngineScene { get; }
         // static bool IsPhysEngineActor { get; }
+        void SendUpdate(PhysicsActor pa);
     }
 }

OpenSim/Region/Framework/Scenes/Scene.cs

@@ -415,28 +415,18 @@ namespace OpenSim.Region.Framework.Scenes
         protected ISceneToPhysEngineServer m_sceneToPhysEngineSyncServer = null;
         public ISceneToPhysEngineServer SceneToPhysEngineSyncServer
         {
-            get { return m_sceneToPhysEngineSyncServer; }
+            get 
+            {
+                if (m_sceneToPhysEngineSyncServer == null)
+                {
+                    // kludge since this module is loaded in postInitialize
+                    m_sceneToPhysEngineSyncServer = RequestModuleInterface<ISceneToPhysEngineServer>();
+                }
+                return m_sceneToPhysEngineSyncServer; 
+            }
             set { m_sceneToPhysEngineSyncServer = value; }
         }
 
-        // list of physactors for this scene so we can find them later for remote physics
-        public Dictionary<uint, PhysicsActor> PhysActors = new Dictionary<uint, PhysicsActor>();
-        public void AddPhysActor(uint id, PhysicsActor pActor)
-        {
-            if (PhysActors.ContainsKey(id)) {
-                PhysActors.Remove(id);
-            }
-            PhysActors.Add(id, pActor);
-            return;
-        }
-        public void RemovePhysActor(uint id)
-        {
-            if (PhysActors.ContainsKey(id)) {
-                PhysActors.Remove(id);
-            }
-            return;
-        }
-
         ///////////////////////////////////////////////////////////////////////////////////////////////
 
         //This function should only be called by an actor who's local Scene is just a cache of the authorative Scene.

OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs

@@ -997,7 +997,6 @@ namespace OpenSim.Region.Framework.Scenes
 
                 if (m_rootPart.PhysActor != null)
                 {
-                    Scene.RemovePhysActor(m_rootPart.PhysActor.LocalID);
                     m_scene.PhysicsScene.RemovePrim(m_rootPart.PhysActor);
                     m_rootPart.PhysActor = null;
                 }
@@ -2275,7 +2274,6 @@ namespace OpenSim.Region.Framework.Scenes
 
                 //if (linkPart.PhysActor != null)
                 //{
-                // m_scene.RemovePhysActor(linkPart.PhysActor.LocalID);
                 // m_scene.PhysicsScene.RemovePrim(linkPart.PhysActor);
         
                 //linkPart.PhysActor = null;
@@ -2390,7 +2388,6 @@ namespace OpenSim.Region.Framework.Scenes
 
             if (linkPart.PhysActor != null)
             {
-                m_scene.RemovePhysActor(linkPart.PhysActor.LocalID);
                 m_scene.PhysicsScene.RemovePrim(linkPart.PhysActor);
             }
 

OpenSim/Region/Framework/Scenes/SceneObjectPart.cs

@@ -1492,8 +1492,6 @@ namespace OpenSim.Region.Framework.Scenes
                         PhysActor.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
                         PhysActor.SOPDescription = this.Description;
                         PhysActor.LocalID = LocalId;
-                        // RA: register PhysActor with the scene
-                        ParentGroup.Scene.AddPhysActor(LocalId, PhysActor);
                         DoPhysicsPropertyUpdate(RigidBody, true);
                         PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
                     }
@@ -1756,7 +1754,6 @@ namespace OpenSim.Region.Framework.Scenes
 
 
                         // If we're not what we're supposed to be in the physics scene, recreate ourselves.
-                        //ParentGroup.Scene.RemovePhysActor(PhysActor.LocalID);
                         //m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
                         /// that's not wholesome.  Had to make Scene public
                         //PhysActor = null;
@@ -4286,7 +4283,6 @@ namespace OpenSim.Region.Framework.Scenes
                 AddFlag(PrimFlags.Phantom);
                 if (PhysActor != null)
                 {
-                    ParentGroup.Scene.RemovePhysActor(PhysActor.LocalID);
                     m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
                     /// that's not wholesome.  Had to make Scene public
                     PhysActor = null;
@@ -4312,8 +4308,6 @@ namespace OpenSim.Region.Framework.Scenes
                     if (pa != null)
                     {
                         pa.LocalID = LocalId;
-                        // RA: register PhysActor with scene
-                        ParentGroup.Scene.AddPhysActor(LocalId, PhysActor);
                         DoPhysicsPropertyUpdate(UsePhysics, true);
                         if (m_parentGroup != null)
                         {

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -115,6 +115,39 @@ namespace OpenSim.Region.Physics.Manager
         }
     }
 
+    /// <summary>
+    /// Structure to hold previous values of the PhysicsActor. This is used to see
+    /// if the values changed before sending updates to the Physics Engine.
+    /// </summary>
+    public struct PhysActorLastValues
+    {
+        public uint localID;
+        public Vector3 size;
+        public Vector3 position;
+        public Vector3 force;
+        public Vector3 velocity;
+        public Vector3 torque;
+        public Quaternion orientation;
+        public Boolean isPhysical;
+        public Boolean flying;
+        public double buoyancy;
+        public bool Changed(PhysicsActor pa)
+        {
+            bool ret = false;
+            if (localID != pa.LocalID) { localID = pa.LocalID; ret = true; }
+            if (size != pa.Size) { size = pa.Size; ret = true; }
+            if (position != pa.Position) { position = pa.Position; ret = true; }
+            if (force != pa.Force) { force = pa.Force; ret = true; }
+            if (velocity != pa.Velocity) { velocity = pa.Velocity; ret = true; }
+            if (torque != pa.Torque) { torque = pa.Torque; ret = true; }
+            if (orientation != pa.Orientation) { orientation = pa.Orientation; ret = true; }
+            if (isPhysical != pa.IsPhysical) { isPhysical = pa.IsPhysical; ret = true; }
+            if (flying != pa.Flying) { flying = pa.Flying; ret = true; }
+            if (buoyancy != pa.Buoyancy) { buoyancy = pa.Buoyancy; ret = true; }
+            return ret;
+        }
+    }
+
     public abstract class PhysicsActor
     {
         public delegate void RequestTerseUpdate();
@@ -144,6 +177,7 @@ namespace OpenSim.Region.Physics.Manager
 
         // RA: used to be abstract but changed to allow 'get' without changing all the phys engines
         public virtual uint LocalID { set { return; } get { return 0; } }
+        public PhysActorLastValues lastValues;
 
         public abstract bool Grabbed { set; }
 

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -32,6 +32,7 @@ using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.CoreModules.RegionSync.RegionSyncModule;
 using log4net;
 
 namespace OpenSim.Region.Physics.OdePlugin
@@ -202,6 +203,19 @@ namespace OpenSim.Region.Physics.OdePlugin
             m_name = avName;
         }
 
+        public override void RequestPhysicsterseUpdate()
+        {
+            if (PhysEngineToSceneConnectorModule.IsPhysEngineActor)
+            {
+                m_log.DebugFormat("[ODE CHARACTER]: Sending terse update for {0}", LocalID);
+                PhysEngineToSceneConnectorModule.RouteUpdate(this);
+            }
+            else
+            {
+                base.RequestPhysicsterseUpdate();
+            }
+        }
+
         public override int PhysicsActorType
         {
             get { return (int) ActorTypes.Agent; }

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -47,7 +47,9 @@ using log4net;
 using OpenMetaverse;
 using Ode.NET;
 using OpenSim.Framework;
+using OpenSim.Region.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.CoreModules.RegionSync.RegionSyncModule;
 
 namespace OpenSim.Region.Physics.OdePlugin
 {
@@ -252,6 +254,18 @@ namespace OpenSim.Region.Physics.OdePlugin
             //  don't do .add() here; old geoms get recycled with the same hash
         }
 
+        public override void RequestPhysicsterseUpdate()
+        {
+            if (PhysEngineToSceneConnectorModule.IsPhysEngineActor)
+            {
+                PhysEngineToSceneConnectorModule.RouteUpdate(this);
+            }
+            else
+            {
+                base.RequestPhysicsterseUpdate();
+            }
+        }
+
         public override int PhysicsActorType
         {
             get { return (int) ActorTypes.Prim; }
@@ -2641,7 +2655,7 @@ Console.WriteLine(" JointCreateFixed");
                             _position = l_position;
                             //_parent_scene.remActivePrim(this);
                             if (_parent == null)
-                                base.RequestPhysicsterseUpdate();
+                                RequestPhysicsterseUpdate();
                             return;
                         }
                         else
@@ -2676,7 +2690,7 @@ Console.WriteLine(" JointCreateFixed");
                         m_rotationalVelocity.Z = 0;
 
                         if (_parent == null)
-                            base.RequestPhysicsterseUpdate();
+                            RequestPhysicsterseUpdate();
 
                         m_throttleUpdates = false;
                         throttleCounter = 0;
@@ -2729,7 +2743,7 @@ Console.WriteLine(" JointCreateFixed");
 
                             if (_parent == null)
                             {
-                                base.RequestPhysicsterseUpdate();
+                                RequestPhysicsterseUpdate();
                             }
 
                             m_lastUpdateSent = true;
@@ -2741,7 +2755,7 @@ Console.WriteLine(" JointCreateFixed");
                         {
                             if (_parent == null)
                             {
-                                base.RequestPhysicsterseUpdate();
+                                RequestPhysicsterseUpdate();
                             }
                         }
 
@@ -2776,7 +2790,7 @@ Console.WriteLine(" JointCreateFixed");
                         {
                             if (_parent == null)
                             {
-                                base.RequestPhysicsterseUpdate();
+                                RequestPhysicsterseUpdate();
                             }
                         }
                         else

OpenSim/Region/Physics/PEPlugin/PECharacter.cs

@@ -77,6 +77,8 @@ public class PECharacter : PhysicsActor
                     float capsule_radius, float tensor, float density, float height_fudge_factor, 
                     float walk_divisor, float rundivisor)
     {
+        _position = pos;
+        _size = size;
         return;
     }
 
@@ -123,7 +125,7 @@ public class PECharacter : PhysicsActor
     public override Vector3 Position { 
         get { return _position; } 
         set { _position = value; 
-            // m_log.Debug("[RPE] PEChar set Position");
+            // m_log.DebugFormat("[RPE] PEChar set Position: {0}", _position);
             Prop.Set(_localID, PropType.Position, _position);
         } 
     }
@@ -155,6 +157,7 @@ public class PECharacter : PhysicsActor
     public override Vector3 Velocity { 
         get { return _velocity; } 
         set { _velocity = value; 
+            m_log.Debug("[RPE] PEChar set Velocity");
             Prop.Set(_localID, PropType.Velocity, _velocity);
         } 
     }

OpenSim/Region/Physics/PEPlugin/PEPrim.cs

@@ -78,6 +78,9 @@ public sealed class PEPrim : PhysicsActor
     public PEPrim(String primName, PEScene parent_scene, Vector3 pos, Vector3 size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
     {
+        _position = pos;
+        _size = size;
+        _orientation = rotation;
         // SendCreatePrim(primName, parent_scene, pos, size, rotation, mesh, pbs, pisPhysical, dode);
     }
     

OpenSim/Region/Physics/PEPlugin/PEScene.cs

@@ -30,6 +30,8 @@ using log4net;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
 using OpenMetaverse;
+using OpenSim.Region.Framework;
+using OpenSim.Region.CoreModules.RegionSync.RegionSyncModule;
 
 namespace OpenSim.Region.Physics.PEPlugin
 {
@@ -98,6 +100,29 @@ public class PEScene : PhysicsScene
 
     public override float Simulate(float timeStep)
     {
+        // if we are a physics engine server, send update information
+        if (SceneToPhysEngineSyncServer.IsPhysEngineScene2())
+        {
+            if (SceneToPhysEngineSyncServer.IsActivePhysEngineScene2())
+            {
+                // m_log.DebugFormat("[RPE]: Simulate. p={0}, a={1}", m_prims.Count, m_avatars.Count);
+                foreach (PEPrim prim in m_prims)
+                {
+                    if (prim.lastValues.Changed(prim))
+                    {
+                        SceneToPhysEngineSyncServer.RouteUpdate(prim);
+                    }
+                }
+                foreach (PECharacter actor in m_avatars)
+                {
+                    m_log.DebugFormat("[RPE]: Simulate. p={0}, a={1}", m_prims.Count, m_avatars.Count);
+                    SceneToPhysEngineSyncServer.RouteUpdate(actor);
+                }
+            }
+            return 60f;
+        }
+        /*
+        // code borrowed from BasicPhysics to do just avatar movement
         foreach (PECharacter actor in m_avatars)
         {
             Vector3 actorPosition = actor.Position;
@@ -146,6 +171,7 @@ public class PEScene : PhysicsScene
             actor.Position = actorPosition;
             actor.Velocity = actorVelocity;
         }
+         */
         return 60f; // returns frames per second
     }
 

prebuild.xml

@@ -534,6 +534,7 @@
       <Reference name="Nini.dll" />
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Region.Framework"/>
       <Reference name="OpenSim.Framework.Console"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="Ode.NET.dll" />
@@ -565,6 +566,7 @@
       <Reference name="OpenMetaverseTypes.dll"/>
       <Reference name="Nini.dll" />
       <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"/>
@@ -3180,6 +3182,8 @@
       <Reference name="Nini.dll" />
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Framework.Console"/>
+      <Reference name="OpenSim.Region.CoreModules"/>
+      <Reference name="OpenSim.Region.Framework"/>
       <Reference name="OpenSim.Region.Physics.Manager"/>
       <Reference name="Ode.NET.dll" />
       <Reference name="nunit.framework.dll" />