BulletSim: fix problem with avatars sinking into the ground.

Change terrain activation state to DISABLE_SIMULATION for better performance.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject
         shapeData.Position = _position;
         shapeData.Rotation = _orientation;
         shapeData.Velocity = _velocity;
-        shapeData.Size = Scale;
+        shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
         shapeData.Scale = Scale;
         shapeData.Mass = _mass;
         shapeData.Buoyancy = _buoyancy;
@@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject
         ForcePosition = _position;
         // Set the velocity and compute the proper friction
         ForceVelocity = _velocity;
+
         BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin);
         BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
         BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
         if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject
         OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
         BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
 
+        // Make so capsule does not fall over
+        BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
+
         BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
         BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
 
-        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
         BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
 
         // Do this after the object has been added to the world
@@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject
     }
     // No one calls this method so I don't know what it could possibly mean
     public override bool Stopped { get { return false; } }
+
     public override OMV.Vector3 Size {
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            return _size;
+            // return _size;
+            return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
         }
 
         set {
@@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject
 
         }
     }
+
     public override OMV.Vector3 Scale { get; set; }
+
     public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
@@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject
 
 
     // Check that the current position is sane and, if not, modify the position to make it so.
-    // Check for being below terrain and being out of bounds.
+    // Check for being below terrain or on water.
     // Returns 'true' of the position was made sane by some action.
     private bool PositionSanityCheck()
     {
@@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject
     }
 
     // Avatars don't do vehicles
-    public override int VehicleType { get { return 0; } set { return; } }
+    public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
     public override void VehicleFloatParam(int param, float value) { }
     public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject
         newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
         newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
 
-        // From the total height, remote the capsule half spheres that are at each end
+        // From the total height, remove the capsule half spheres that are at each end
-        newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
+        newScale.Z = size.Z- (newScale.X + newScale.Y);
-        // newScale.Z = (size.Z * 2f);
         Scale = newScale;
     }
 
@@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject
             BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
         }
 
-        // Tell the linkset about this
+        // Tell the linkset about value changes
         Linkset.UpdateProperties(this);
 
         // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     {
         if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
         {
-            // swizzle a new list into the list location so we can process what's there
             int taintCount = m_taintsToProcessPerStep;
             TaintCallbackEntry oneCallback = new TaintCallbackEntry();
             while (_taintedObjects.Count > 0 && taintCount-- > 0)
@@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 {
                     try
                     {
-                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
+                        DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
                         oneCallback.callback();
                     }
                     catch (Exception e)

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable
         if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
             newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType);
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
+                        , shapeType);
             DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
         }
         else
@@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable
                 // If the collisionObject is not the correct type for solidness, rebuild what's there
                 mustRebuild = true;
             }
-
         }
 
         if (mustRebuild || forceRebuild)

OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs

@@ -333,8 +333,8 @@ public class BSTerrainManager
 
                 // Make sure the new shape is processed.
                 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
-                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
+                // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
-                // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+                BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
 
                 m_terrainModified = true;
             };