Merge branch 'master' of /home/opensim/var/repo/opensim

CONTRIBUTORS.txt

@@ -182,12 +182,14 @@ what it is today.
 
 This software uses components from the following developers:
 * Sleepycat Software (Berkeley DB)
+* Aurora-Sim (http://aurora-sim.org)
 * SQLite (Public Domain)
 * XmlRpcCS (http://xmlrpccs.sf.net/)
 * MySQL, Inc. (MySQL Connector/NET)
 * NUnit (http://www.nunit.org)
 * AGEIA Inc. (PhysX)
 * Russel L. Smith (ODE)
+* Erwin Coumans (Bullet)
 * Prebuild (http://sourceforge.net/projects/dnpb/)
 * LibOpenMetaverse (http://lib.openmetaverse.org/)
 * DotNetOpenMail v0.5.8b (http://dotnetopenmail.sourceforge.net)

OpenSim/Data/IXInventoryData.cs

@@ -116,7 +116,22 @@ namespace OpenSim.Data
         /// <returns>true if the delete was successful, false if it was not</returns>
         bool DeleteItems(string[] fields, string[] vals);
 
-        bool MoveItem(string id, string newParent);
+        /// <summary>
+        /// Move an item to another folder.
+        /// </summary>
+        /// <returns>/returns>
+        /// <param name='id'>UUID of the item</param>
+        /// <param name='newParent'>UUID of the new parent folder.</param>
+        bool MoveItem(string id, string newParentFolderID);
+
+        /// <summary>
+        /// Move a folder to another folder.
+        /// </summary>
+        /// <returns>/returns>
+        /// <param name='id'>UUID of the item</param>
+        /// <param name='newParent'>UUID of the new parent folder.</param>
+        bool MoveFolder(string id, string newParentFolderID);
+
         XInventoryItem[] GetActiveGestures(UUID principalID);
         int GetAssetPermissions(UUID principalID, UUID assetID);
     }

OpenSim/Data/MSSQL/MSSQLXInventoryData.cs

@@ -43,12 +43,12 @@ namespace OpenSim.Data.MSSQL
 //        private static readonly ILog m_log = LogManager.GetLogger(
 //                MethodBase.GetCurrentMethod().DeclaringType);
 
-        private MSSQLGenericTableHandler<XInventoryFolder> m_Folders;
+        private MSSQLFolderHandler m_Folders;
         private MSSQLItemHandler m_Items;
 
         public MSSQLXInventoryData(string conn, string realm)
         {
-            m_Folders = new MSSQLGenericTableHandler<XInventoryFolder>(
+            m_Folders = new MSSQLFolderHandler(
                     conn, "inventoryfolders", "InventoryStore");
             m_Items = new MSSQLItemHandler(
                     conn, "inventoryitems", String.Empty);
@@ -85,6 +85,7 @@ namespace OpenSim.Data.MSSQL
         {
             return m_Folders.Delete(field, val);
         }
+
         public bool DeleteFolders(string[] fields, string[] vals)
         {
             return m_Folders.Delete(fields, vals);
@@ -94,15 +95,22 @@ namespace OpenSim.Data.MSSQL
         {
             return m_Items.Delete(field, val);
         }
+
         public bool DeleteItems(string[] fields, string[] vals)
         {
             return m_Items.Delete(fields, vals);
         }
+
         public bool MoveItem(string id, string newParent)
         {
             return m_Items.MoveItem(id, newParent);
         }
 
+        public bool MoveFolder(string id, string newParent)
+        {
+            return m_Folders.MoveFolder(id, newParent);
+        }
+
         public XInventoryItem[] GetActiveGestures(UUID principalID)
         {
             return m_Items.GetActiveGestures(principalID);
@@ -124,6 +132,7 @@ namespace OpenSim.Data.MSSQL
         public bool MoveItem(string id, string newParent)
         {
             using (SqlConnection conn = new SqlConnection(m_ConnectionString))
+            {
                 using (SqlCommand cmd = new SqlCommand())
                 {
 
@@ -135,10 +144,12 @@ namespace OpenSim.Data.MSSQL
                     return cmd.ExecuteNonQuery() == 0 ? false : true;
                 }
             }
+        }
 
         public XInventoryItem[] GetActiveGestures(UUID principalID)
         {
             using (SqlConnection conn = new SqlConnection(m_ConnectionString))
+            {
                 using (SqlCommand cmd = new SqlCommand())
                 {
                     cmd.CommandText = String.Format("select * from inventoryitems where avatarId = @uuid and assetType = @type and flags = 1", m_Realm);
@@ -150,10 +161,12 @@ namespace OpenSim.Data.MSSQL
                     return DoQuery(cmd);
                 }
             }
+        }
 
         public int GetAssetPermissions(UUID principalID, UUID assetID)
         {
             using (SqlConnection conn = new SqlConnection(m_ConnectionString))
+            {
                 using (SqlCommand cmd = new SqlCommand())
                 {
                     cmd.CommandText = String.Format("select bit_or(inventoryCurrentPermissions) as inventoryCurrentPermissions from inventoryitems where avatarID = @PrincipalID and assetID = @AssetID group by assetID", m_Realm);
@@ -176,12 +189,16 @@ namespace OpenSim.Data.MSSQL
 
                 }
             }
+        }
+
         public override bool Store(XInventoryItem item)
         {
             if (!base.Store(item))
                 return false;
+
             string sql = "update inventoryfolders set version=version+1 where folderID = @folderID";
             using (SqlConnection conn = new SqlConnection(m_ConnectionString))
+            {
                 using (SqlCommand cmd = new SqlCommand(sql, conn))
                 {
                     conn.Open();
@@ -196,7 +213,34 @@ namespace OpenSim.Data.MSSQL
                             return false;
                         }
                 }
+
                 return true;
             }
         }
+    }
+
+    public class MSSQLFolderHandler : MSSQLGenericTableHandler<XInventoryFolder>
+    {
+        public MSSQLFolderHandler(string c, string t, string m) :
+            base(c, t, m)
+        {
+        }
+
+        public bool MoveFolder(string id, string newParentFolderID)
+        {
+            using (SqlConnection conn = new SqlConnection(m_ConnectionString))
+            {
+                using (SqlCommand cmd = new SqlCommand())
+                {
+
+                    cmd.CommandText = String.Format("update {0} set parentFolderID = @ParentFolderID where folderID = @folderID", m_Realm);
+                    cmd.Parameters.Add(m_database.CreateParameter("@ParentFolderID", newParentFolderID));
+                    cmd.Parameters.Add(m_database.CreateParameter("@folderID", id));
+                    cmd.Connection = conn;
+                    conn.Open();
+                    return cmd.ExecuteNonQuery() == 0 ? false : true;
+                }
+            }
+        }
+    }
 }

OpenSim/Data/MySQL/MySQLGenericTableHandler.cs

@@ -219,6 +219,8 @@ namespace OpenSim.Data.MySQL
 
         public virtual bool Store(T row)
         {
+//            m_log.DebugFormat("[MYSQL GENERIC TABLE HANDLER]: Store(T row) invoked");
+
             using (MySqlCommand cmd = new MySqlCommand())
             {
                 string query = "";
@@ -273,6 +275,10 @@ namespace OpenSim.Data.MySQL
 
         public virtual bool Delete(string[] fields, string[] keys)
         {
+//            m_log.DebugFormat(
+//                "[MYSQL GENERIC TABLE HANDLER]: Delete(string[] fields, string[] keys) invoked with {0}:{1}",
+//                string.Join(",", fields), string.Join(",", keys));
+
             if (fields.Length != keys.Length)
                 return false;
 

OpenSim/Data/MySQL/MySQLXInventoryData.cs

@@ -26,9 +26,10 @@
  */
 
 using System;
-using System.Data;
-using System.Reflection;
 using System.Collections.Generic;
+using System.Data;
+using System.Linq;
+using System.Reflection;
 using log4net;
 using MySql.Data.MySqlClient;
 using OpenMetaverse;
@@ -41,12 +42,12 @@ namespace OpenSim.Data.MySQL
     /// </summary>
     public class MySQLXInventoryData : IXInventoryData
     {
-        private MySQLGenericTableHandler<XInventoryFolder> m_Folders;
+        private MySqlFolderHandler m_Folders;
         private MySqlItemHandler m_Items;
 
         public MySQLXInventoryData(string conn, string realm)
         {
-            m_Folders = new MySQLGenericTableHandler<XInventoryFolder>(
+            m_Folders = new MySqlFolderHandler(
                     conn, "inventoryfolders", "InventoryStore");
             m_Items = new MySqlItemHandler(
                     conn, "inventoryitems", String.Empty);
@@ -105,6 +106,11 @@ namespace OpenSim.Data.MySQL
             return m_Items.MoveItem(id, newParent);
         }
 
+        public bool MoveFolder(string id, string newParent)
+        {
+            return m_Folders.MoveFolder(id, newParent);
+        }
+
         public XInventoryItem[] GetActiveGestures(UUID principalID)
         {
             return m_Items.GetActiveGestures(principalID);
@@ -118,22 +124,69 @@ namespace OpenSim.Data.MySQL
 
     public class MySqlItemHandler : MySQLGenericTableHandler<XInventoryItem>
     {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
         public MySqlItemHandler(string c, string t, string m) :
                 base(c, t, m)
         {
         }
 
+        public override bool Delete(string field, string val)
+        {
+            XInventoryItem[] retrievedItems = Get(new string[] { field }, new string[] { val });
+            if (retrievedItems.Length == 0)
+                return false;
+
+            if (!base.Delete(field, val))
+                return false;
+
+            // Don't increment folder version here since Delete(string, string) calls Delete(string[], string[])
+//            IncrementFolderVersion(retrievedItems[0].parentFolderID);
+
+            return true;
+        }
+
+        public override bool Delete(string[] fields, string[] vals)
+        {
+            XInventoryItem[] retrievedItems = Get(fields, vals);
+            if (retrievedItems.Length == 0)
+                return false;
+
+            if (!base.Delete(fields, vals))
+                return false;
+
+            HashSet<UUID> deletedItemFolderUUIDs = new HashSet<UUID>();
+
+            Array.ForEach<XInventoryItem>(retrievedItems, i => deletedItemFolderUUIDs.Add(i.parentFolderID));
+
+            foreach (UUID deletedItemFolderUUID in deletedItemFolderUUIDs)
+                IncrementFolderVersion(deletedItemFolderUUID);
+
+            return true;
+        }
+
         public bool MoveItem(string id, string newParent)
         {
+            XInventoryItem[] retrievedItems = Get(new string[] { "inventoryID" }, new string[] { id });
+            if (retrievedItems.Length == 0)
+                return false;
+
+            UUID oldParent = retrievedItems[0].parentFolderID;
+
             using (MySqlCommand cmd = new MySqlCommand())
             {
-
                 cmd.CommandText = String.Format("update {0} set parentFolderID = ?ParentFolderID where inventoryID = ?InventoryID", m_Realm);
                 cmd.Parameters.AddWithValue("?ParentFolderID", newParent);
                 cmd.Parameters.AddWithValue("?InventoryID", id);
 
-                return ExecuteNonQuery(cmd) == 0 ? false : true;
+                if (ExecuteNonQuery(cmd) == 0)
+                    return false;
             }
+
+            IncrementFolderVersion(oldParent);
+            IncrementFolderVersion(newParent);
+
+            return true;
         }
 
         public XInventoryItem[] GetActiveGestures(UUID principalID)
@@ -184,6 +237,21 @@ namespace OpenSim.Data.MySQL
             if (!base.Store(item))
                 return false;
 
+            IncrementFolderVersion(item.parentFolderID);
+
+            return true;
+        }
+
+        private bool IncrementFolderVersion(UUID folderID)
+        {
+            return IncrementFolderVersion(folderID.ToString());
+        }
+
+        private bool IncrementFolderVersion(string folderID)
+        {
+//            m_log.DebugFormat("[MYSQL ITEM HANDLER]: Incrementing version on folder {0}", folderID);
+//            Util.PrintCallStack();
+            
             using (MySqlConnection dbcon = new MySqlConnection(m_connectionString))
             {
                 dbcon.Open();
@@ -193,7 +261,7 @@ namespace OpenSim.Data.MySQL
                     cmd.Connection = dbcon;
 
                     cmd.CommandText = String.Format("update inventoryfolders set version=version+1 where folderID = ?folderID");
-                    cmd.Parameters.AddWithValue("?folderID", item.parentFolderID.ToString());
+                    cmd.Parameters.AddWithValue("?folderID", folderID);
 
                     try
                     {
@@ -205,8 +273,95 @@ namespace OpenSim.Data.MySQL
                     }
                     cmd.Dispose();
                 }
+
                 dbcon.Close();
             }
+
+            return true;
+        }
+    }
+
+    public class MySqlFolderHandler : MySQLGenericTableHandler<XInventoryFolder>
+    {
+//        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
+        public MySqlFolderHandler(string c, string t, string m) :
+                base(c, t, m)
+        {
+        }
+
+        public bool MoveFolder(string id, string newParentFolderID)
+        {
+            XInventoryFolder[] folders = Get(new string[] { "folderID" }, new string[] { id });
+
+            if (folders.Length == 0)
+                return false;
+
+            UUID oldParentFolderUUID = folders[0].parentFolderID;
+
+            using (MySqlCommand cmd = new MySqlCommand())
+            {
+                cmd.CommandText
+                    = String.Format(
+                        "update {0} set parentFolderID = ?ParentFolderID where folderID = ?folderID", m_Realm);
+                cmd.Parameters.AddWithValue("?ParentFolderID", newParentFolderID);
+                cmd.Parameters.AddWithValue("?folderID", id);
+
+                if (ExecuteNonQuery(cmd) == 0)
+                    return false;
+            }
+
+            IncrementFolderVersion(oldParentFolderUUID);
+            IncrementFolderVersion(newParentFolderID);
+
+            return true;
+        }
+
+        public override bool Store(XInventoryFolder folder)
+        {
+            if (!base.Store(folder))
+                return false;
+
+            IncrementFolderVersion(folder.parentFolderID);
+
+            return true;
+        }
+
+        private bool IncrementFolderVersion(UUID folderID)
+        {
+            return IncrementFolderVersion(folderID.ToString());
+        }
+
+        private bool IncrementFolderVersion(string folderID)
+        {
+//            m_log.DebugFormat("[MYSQL FOLDER HANDLER]: Incrementing version on folder {0}", folderID);
+//            Util.PrintCallStack();
+
+            using (MySqlConnection dbcon = new MySqlConnection(m_connectionString))
+            {
+                dbcon.Open();
+
+                using (MySqlCommand cmd = new MySqlCommand())
+                {
+                    cmd.Connection = dbcon;
+
+                    cmd.CommandText = String.Format("update inventoryfolders set version=version+1 where folderID = ?folderID");
+                    cmd.Parameters.AddWithValue("?folderID", folderID);
+
+                    try
+                    {
+                        cmd.ExecuteNonQuery();
+                    }
+                    catch (Exception)
+                    {
+                        return false;
+                    }
+                    cmd.Dispose();
+                }
+
+                dbcon.Close();
+            }
+
             return true;
         }
     }

OpenSim/Data/SQLite/SQLiteXInventoryData.cs

@@ -47,7 +47,7 @@ namespace OpenSim.Data.SQLite
     {
 //        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
-        private SQLiteGenericTableHandler<XInventoryFolder> m_Folders;
+        private SqliteFolderHandler m_Folders;
         private SqliteItemHandler m_Items;
 
         public SQLiteXInventoryData(string conn, string realm)
@@ -55,7 +55,7 @@ namespace OpenSim.Data.SQLite
             if (Util.IsWindows())
                 Util.LoadArchSpecificWindowsDll("sqlite3.dll");
 
-            m_Folders = new SQLiteGenericTableHandler<XInventoryFolder>(
+            m_Folders = new SqliteFolderHandler(
                     conn, "inventoryfolders", "XInventoryStore");
             m_Items = new SqliteItemHandler(
                     conn, "inventoryitems", String.Empty);
@@ -114,6 +114,11 @@ namespace OpenSim.Data.SQLite
             return m_Items.MoveItem(id, newParent);
         }
 
+        public bool MoveFolder(string id, string newParent)
+        {
+            return m_Folders.MoveFolder(id, newParent);
+        }
+
         public XInventoryItem[] GetActiveGestures(UUID principalID)
         {
             return m_Items.GetActiveGestures(principalID);
@@ -177,4 +182,23 @@ namespace OpenSim.Data.SQLite
             return perms;
         }
     }
+
+    public class SqliteFolderHandler : SQLiteGenericTableHandler<XInventoryFolder>
+    {
+        public SqliteFolderHandler(string c, string t, string m) :
+                base(c, t, m)
+        {
+        }
+
+        public bool MoveFolder(string id, string newParentFolderID)
+        {
+            SqliteCommand cmd = new SqliteCommand();
+
+            cmd.CommandText = String.Format("update {0} set parentFolderID = :ParentFolderID where folderID = :FolderID", m_Realm);
+            cmd.Parameters.Add(new SqliteParameter(":ParentFolderID", newParentFolderID));
+            cmd.Parameters.Add(new SqliteParameter(":FolderID", id));
+
+            return ExecuteNonQuery(cmd, m_Connection) == 0 ? false : true;
+        }
+    }
 }

OpenSim/Region/CoreModules/Avatar/Gods/GodsModule.cs

@@ -121,6 +121,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
 
             if (sp != null || agentID == kickUserID)
             {
+                m_dialogModule = m_scene.RequestModuleInterface<IDialogModule>();
                 if (m_scene.Permissions.IsGod(godID))
                 {
                     if (kickflags == 0)
@@ -162,19 +163,26 @@ namespace OpenSim.Region.CoreModules.Avatar.Gods
                     if (kickflags == 1)
                     {
                         sp.AllowMovement = false;
+                        if (m_dialogModule != null)
+                        {
                             m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
                             m_dialogModule.SendAlertToUser(godID, "User Frozen");
                         }
+                    }
                     
                     if (kickflags == 2)
                     {
                         sp.AllowMovement = true;
+                        if (m_dialogModule != null)
+                        {
                             m_dialogModule.SendAlertToUser(agentID, Utils.BytesToString(reason));
                             m_dialogModule.SendAlertToUser(godID, "User Unfrozen");
                         }
                     }
+                }
                 else
                 {
+                    if (m_dialogModule != null)
                         m_dialogModule.SendAlertToUser(godID, "Kick request denied");
                 }
             }

OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiverModule.cs

@@ -210,8 +210,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver
             Guid id, string firstName, string lastName, string invPath, string pass, string savePath,
             Dictionary<string, object> options)
         {
-            if (!ConsoleUtil.CheckFileDoesNotExist(MainConsole.Instance, savePath))
-                return false;
+//            if (!ConsoleUtil.CheckFileDoesNotExist(MainConsole.Instance, savePath))
+//                return false;
 
             if (m_scenes.Count > 0)
             {

OpenSim/Region/CoreModules/Avatar/Inventory/Transfer/InventoryTransferModule.cs

@@ -434,6 +434,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                     scene.SendInventoryUpdate(client, trashFolder, true, true);
                 }
 
+                if (im.dialog == (byte)InstantMessageDialog.InventoryDeclined)
+                {
                     ScenePresence user = scene.GetScenePresence(new UUID(im.toAgentID));
 
                     if (user != null) // Local
@@ -443,7 +445,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Transfer
                     else
                     {
                         if (m_TransferModule != null)
-                        m_TransferModule.SendInstantMessage(im, delegate(bool success) {});
+                            m_TransferModule.SendInstantMessage(im, delegate(bool success) { });
+                    }
                 }
             }
         }

OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs

@@ -259,8 +259,8 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
             if (flags == -1 /* no region in DB */ || (flags & (int)OpenSim.Framework.RegionFlags.Hyperlink) != 0)
             {
                 // this user is going to another grid
-                // check if HyperGrid teleport is allowed, based on user level
-                if (sp.UserLevel < m_levelHGTeleport)
+                // for local users, check if HyperGrid teleport is allowed, based on user level
+                if (Scene.UserManagementModule.IsLocalGridUser(sp.UUID) && sp.UserLevel < m_levelHGTeleport)
                 {
                     m_log.WarnFormat("[HG ENTITY TRANSFER MODULE]: Unable to HG teleport agent due to insufficient UserLevel.");
                     reason = "Hypergrid teleport not allowed";

OpenSim/Region/CoreModules/Framework/InventoryAccess/HGInventoryAccessModule.cs

@@ -92,7 +92,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
                         m_HomeURI = thisModuleConfig.GetString("HomeURI", m_HomeURI);
                         m_OutboundPermission = thisModuleConfig.GetBoolean("OutboundPermission", true);
                         m_ThisGatekeeper = thisModuleConfig.GetString("Gatekeeper", string.Empty);
-                        m_RestrictInventoryAccessAbroad = thisModuleConfig.GetBoolean("RestrictInventoryAccessAbroad", false);
+                        m_RestrictInventoryAccessAbroad = thisModuleConfig.GetBoolean("RestrictInventoryAccessAbroad", true);
                     }
                     else
                         m_log.Warn("[HG INVENTORY ACCESS MODULE]: HGInventoryAccessModule configs not found. ProfileServerURI not set!");
@@ -351,6 +351,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
         private void ProcessInventoryForArriving(IClientAPI client)
         {
+            // No-op for now, but we may need to do something for freign users inventory
         }
 
         //
@@ -397,6 +398,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
 
         private void ProcessInventoryForLeaving(IClientAPI client)
         {
+            // No-op for now
         }
 
         #endregion

OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs

@@ -361,6 +361,22 @@ namespace OpenSim.Region.OptionalModules.Scripting.ScriptModuleComms
             return null;
         }
 
+        /// <summary>
+        /// Get all registered constants
+        /// </summary>
+        public Dictionary<string, object> GetConstants()
+        {
+            Dictionary<string, object> ret = new Dictionary<string, object>();
+
+            lock (m_constants)
+            {
+                foreach (KeyValuePair<string, object> kvp in m_constants)
+                    ret[kvp.Key] = kvp.Value;
+            }
+
+            return ret;
+        }
+
 #endregion
 
     }

OpenSim/Region/CoreModules/World/Archiver/ArchiverModule.cs

@@ -158,8 +158,10 @@ namespace OpenSim.Region.CoreModules.World.Archiver
             else
                 path = DEFAULT_OAR_BACKUP_FILENAME;
 
-            if (!ConsoleUtil.CheckFileDoesNotExist(MainConsole.Instance, path))
-                return;
+            // Not doing this right now as this causes some problems with auto-backup systems.  Maybe a force flag is
+            // needed
+//            if (!ConsoleUtil.CheckFileDoesNotExist(MainConsole.Instance, path))
+//                return;
 
             ArchiveRegion(path, options);
         }

OpenSim/Region/Framework/Interfaces/IScriptModuleComms.cs

@@ -27,6 +27,7 @@
 
 using System;
 using System.Reflection;
+using System.Collections.Generic;
 using OpenMetaverse;
 
 namespace OpenSim.Region.Framework.Interfaces
@@ -131,6 +132,7 @@ namespace OpenSim.Region.Framework.Interfaces
         /// <param name="cname">Name of constant</param>
         /// <returns>Value of constant or null if none found.</returns>
         object LookupModConstant(string cname);
+        Dictionary<string, object> GetConstants();
 
         // For use ONLY by the script API
         void RaiseEvent(UUID script, string id, string module, string command, string key);

OpenSim/Region/Framework/Scenes/ScenePresence.cs

@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -538,7 +538,7 @@ namespace OpenSim.Region.Framework.Scenes
                 {
                     try
                     {
-                        PhysicsActor.Velocity = value;
+                        PhysicsActor.TargetVelocity = value;
                     }
                     catch (Exception e)
                     {

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -34,7 +34,7 @@ using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSCharacter : BSPhysObject
+public sealed class BSCharacter : BSPhysObject
 {
     private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS CHAR]";
@@ -97,28 +97,14 @@ public class BSCharacter : BSPhysObject
         // set _avatarVolume and _mass based on capsule size, _density and Scale
         ComputeAvatarVolumeAndMass();
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
-                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
-
-        ShapeData shapeData = new ShapeData();
-        shapeData.ID = LocalID;
-        shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
-        shapeData.Position = _position;
-        shapeData.Rotation = _orientation;
-        shapeData.Velocity = _velocity;
-        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;
-        shapeData.Static = ShapeData.numericFalse;
-        shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
-        shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
+                            LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
         // do actual create at taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
-            // New body and shape into BSBody and BSShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
+            // New body and shape into PhysBody and PhysShape
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
 
             SetPhysicalProperties();
         });
@@ -131,46 +117,45 @@ public class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.Destroy", LocalID);
         PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
         {
-            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
         });
     }
 
     private void SetPhysicalProperties()
     {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
-        ZeroMotion();
+        ZeroMotion(true);
         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);
+        BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
+        BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
+        BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
         if (PhysicsScene.Params.ccdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-            BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
         }
 
-        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
-        BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+        UpdatePhysicalMassProperties(RawMass);
 
         // Make so capsule does not fall over
-        BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
+        BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
 
-        BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Do this after the object has been added to the world
-        BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
+        BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
                         (uint)CollisionFilterGroups.AvatarFilter,
                         (uint)CollisionFilterGroups.AvatarMask);
     }
@@ -196,13 +181,12 @@ public class BSCharacter : BSPhysObject
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
-                            LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
+                            LocalID, Scale, _avatarDensity, _avatarVolume, RawMass);
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
-                OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
-                BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
+                BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
+                UpdatePhysicalMassProperties(RawMass);
             });
 
         }
@@ -214,6 +198,11 @@ public class BSCharacter : BSPhysObject
     {
         set { BaseShape = value; }
     }
+    // I want the physics engine to make an avatar capsule
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+    {
+        get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; }
+    }
 
     public override bool Grabbed {
         set { _grabbed = value; }
@@ -229,23 +218,42 @@ public class BSCharacter : BSPhysObject
     // Do it to the properties so the values get set in the physics engine.
     // Push the setting of the values to the viewer.
     // Called at taint time!
-    public override void ZeroMotion()
+    public override void ZeroMotion(bool inTaintTime)
     {
         _velocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
 
         // Zero some other properties directly into the physics engine
-        BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
-        BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
-        BulletSimAPI.ClearForces2(BSBody.ptr);
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+        });
     }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+
+        PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
+        {
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            // The next also get rid of applied linear force but the linear velocity is untouched.
+            BulletSimAPI.ClearForces2(PhysBody.ptr);
+        });
+    }
+
 
     public override void LockAngularMotion(OMV.Vector3 axis) { return; }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
+            // Don't refetch the position because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
             return _position;
         }
@@ -256,19 +264,19 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
         }
     }
 
@@ -312,15 +320,11 @@ public class BSCharacter : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            BSScene.TaintCallback sanityOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
-            };
-            if (inTaintTime)
-                sanityOperation();
-            else
-                PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            });
             ret = true;
         }
         return ret;
@@ -329,7 +333,14 @@ public class BSCharacter : BSPhysObject
     public override float Mass { get { return _mass; } }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { get {return _mass; } }
+    public override float RawMass { 
+        get {return _mass; }
+    }
+    public override void UpdatePhysicalMassProperties(float physMass)
+    {
+        OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+        BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
+    }
 
     public override OMV.Vector3 Force {
         get { return _force; }
@@ -339,7 +350,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -378,7 +389,7 @@ public class BSCharacter : BSPhysObject
                 if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
                 {
                     _currentFriction = PhysicsScene.Params.avatarStandingFriction;
-                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
             else
@@ -386,15 +397,15 @@ public class BSCharacter : BSPhysObject
                 if (_currentFriction != PhysicsScene.Params.avatarFriction)
                 {
                     _currentFriction = PhysicsScene.Params.avatarFriction;
-                    BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
+                    BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
                 }
             }
             _velocity = value;
             // Remember the set velocity so we can suppress the reduction by friction, ...
             _appliedVelocity = value;
 
-            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
-            BulletSimAPI.Activate2(BSBody.ptr, true);
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
+            BulletSimAPI.Activate2(PhysBody.ptr, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -411,6 +422,11 @@ public class BSCharacter : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get { return _orientation; }
         set {
@@ -419,7 +435,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
             {
                 // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
         }
     }
@@ -428,13 +444,13 @@ public class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -493,9 +509,9 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -528,7 +544,7 @@ public class BSCharacter : BSPhysObject
             DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -574,7 +590,7 @@ public class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
             {
                 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
         else
@@ -642,7 +658,7 @@ public class BSCharacter : BSPhysObject
             // That's just the way they are defined.
             OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
             _velocity = avVel;
-            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
         }
 
         // Tell the linkset about value changes

OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs

@@ -42,6 +42,12 @@ public abstract class BSConstraint : IDisposable
     protected BulletConstraint m_constraint;
     protected bool m_enabled = false;
 
+    public BulletBody Body1 { get { return m_body1; } }
+    public BulletBody Body2 { get { return m_body2; } }
+    public BulletConstraint Constraint { get { return m_constraint; } }
+    public abstract ConstraintType Type { get; }
+    public bool IsEnabled { get { return m_enabled; } }
+
     public BSConstraint()
     {
     }
@@ -64,12 +70,6 @@ public abstract class BSConstraint : IDisposable
         }
     }
 
-    public BulletBody Body1 { get { return m_body1; } }
-    public BulletBody Body2 { get { return m_body2; } }
-    public BulletConstraint Constraint { get { return m_constraint; } }
-    public abstract ConstraintType Type { get; }
-
-
     public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
     {
         bool ret = false;

OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs

@@ -32,14 +32,14 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
-public class BS6DofConstraint : BSConstraint
+public sealed class BSConstraint6Dof : BSConstraint
 {
     private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
 
     public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
 
     // Create a btGeneric6DofConstraint
-    public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1, Quaternion frame1rot,
                     Vector3 frame2, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@@ -58,7 +58,7 @@ public class BS6DofConstraint : BSConstraint
                             obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
     }
 
-    public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     {
@@ -71,8 +71,7 @@ public class BS6DofConstraint : BSConstraint
                             BSScene.DetailLogZero, world.worldID,
                             obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
             world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
-                            "[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
-                            obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
+                            LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
             m_enabled = false;
         }
         else
@@ -135,7 +134,11 @@ public class BS6DofConstraint : BSConstraint
         bool ret = false;
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
+        {
             ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
+                            BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
+        }
         return ret;
     }
 

OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs

@@ -33,7 +33,7 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
-public class BSConstraintCollection : IDisposable
+public sealed class BSConstraintCollection : IDisposable
 {
     // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
     // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
@@ -143,8 +143,6 @@ public class BSConstraintCollection : IDisposable
     // Return 'true' if any constraints were destroyed.
     public bool RemoveAndDestroyConstraint(BulletBody body1)
     {
-        // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID);
-
         List<BSConstraint> toRemove = new List<BSConstraint>();
         uint lookingID = body1.ID;
         lock (m_constraints)

OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs

@@ -32,11 +32,11 @@ using OpenMetaverse;
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
 
-class BSHingeConstraint : BSConstraint
+public sealed class BSConstraintHinge : BSConstraint
 {
     public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
 
-    public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+    public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotInA, Vector3 pivotInB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -36,20 +36,32 @@ public abstract class BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET]";
 
+    public enum LinksetImplementation
+    {
+        Constraint   = 0,   // linkset tied together with constraints
+        Compound     = 1,   // linkset tied together as a compound object
+        Manual       = 2    // linkset tied together manually (code moves all the pieces)
+    }
     // Create the correct type of linkset for this child
     public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
     {
         BSLinkset ret = null;
-        /*
-        if (parent.IsPhysical)
-            ret = new BSLinksetConstraints(physScene, parent);
-        else
-            ret = new BSLinksetManual(physScene, parent);
-         */
 
-        // at the moment, there is only one
+        switch ((int)physScene.Params.linksetImplementation)
+        {
+            case (int)LinksetImplementation.Constraint:
                 ret = new BSLinksetConstraints(physScene, parent);
-
+                break;
+            case (int)LinksetImplementation.Compound:
+                ret = new BSLinksetCompound(physScene, parent);
+                break;
+            case (int)LinksetImplementation.Manual:
+                // ret = new BSLinksetManual(physScene, parent);
+                break;
+            default:
+                ret = new BSLinksetCompound(physScene, parent);
+                break;
+        }
         return ret;
     }
 
@@ -61,33 +73,39 @@ public abstract class BSLinkset
     public int LinksetID { get; private set; }
 
     // The children under the root in this linkset.
-    // There are two lists of children: the current children at runtime
-    //    and the children at taint-time. For instance, if you delink a
-    //    child from the linkset, the child is removed from m_children
-    //    but the constraint won't be removed until taint time.
-    //    Two lists lets this track the 'current' children and
-    //    the physical 'taint' children separately.
-    // After taint processing and before the simulation step, these
-    //    two lists must be the same.
     protected HashSet<BSPhysObject> m_children;
-    protected HashSet<BSPhysObject> m_taintChildren;
 
     // We lock the diddling of linkset classes to prevent any badness.
     // This locks the modification of the instances of this class. Changes
     //    to the physical representation is done via the tainting mechenism.
     protected object m_linksetActivityLock = new Object();
 
+    // Some linksets have a preferred physical shape.
+    // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
+    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    {
+        return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+    }
+
+    // Linksets move around the children so the linkset might need to compute the child position
+    public virtual OMV.Vector3 Position(BSPhysObject member)
+        { return member.RawPosition; }
+    public virtual OMV.Quaternion Orientation(BSPhysObject member)
+        { return member.RawOrientation; }
+    // TODO: does this need to be done for Velocity and RotationalVelocityy?
+    
     // We keep the prim's mass in the linkset structure since it could be dependent on other prims
     protected float m_mass;
     public float LinksetMass
     {
         get
         {
-            m_mass = ComputeLinksetMass();
             return m_mass;
         }
     }
 
+    public virtual bool LinksetIsColliding { get { return false; } }
+
     public OMV.Vector3 CenterOfMass
     {
         get { return ComputeLinksetCenterOfMass(); }
@@ -108,8 +126,7 @@ public abstract class BSLinkset
         PhysicsScene = scene;
         LinksetRoot = parent;
         m_children = new HashSet<BSPhysObject>();
-        m_taintChildren = new HashSet<BSPhysObject>();
-        m_mass = parent.MassRaw;
+        m_mass = parent.RawMass;
     }
 
     // Link to a linkset where the child knows the parent.
@@ -123,6 +140,7 @@ public abstract class BSLinkset
             // Don't add the root to its own linkset
             if (!IsRoot(child))
                 AddChildToLinkset(child);
+            m_mass = ComputeLinksetMass();
         }
         return this;
     }
@@ -140,8 +158,8 @@ public abstract class BSLinkset
                 // Cannot remove the root from a linkset.
                 return this;
             }
-
             RemoveChildFromLinkset(child);
+            m_mass = ComputeLinksetMass();
         }
 
         // The child is down to a linkset of just itself
@@ -165,9 +183,8 @@ public abstract class BSLinkset
         bool ret = false;
         lock (m_linksetActivityLock)
         {
-            if (m_children.Contains(child))
-                    ret = true;
-            /*
+            ret = m_children.Contains(child);
+            /* Safer version but the above should work
             foreach (BSPhysObject bp in m_children)
             {
                 if (child.LocalID == bp.LocalID)
@@ -181,10 +198,36 @@ public abstract class BSLinkset
         return ret;
     }
 
+    // Perform an action on each member of the linkset including root prim.
+    // Depends on the action on whether this should be done at taint time.
+    public delegate bool ForEachMemberAction(BSPhysObject obj);
+    public virtual bool ForEachMember(ForEachMemberAction action)
+    {
+        bool ret = false;
+        lock (m_linksetActivityLock)
+        {
+            action(LinksetRoot);
+            foreach (BSPhysObject po in m_children)
+            {
+                if (action(po))
+                    break;
+            }
+        }
+        return ret;
+    }
+
+    // I am the root of a linkset and a new child is being added
+    // Called while LinkActivity is locked.
+    protected abstract void AddChildToLinkset(BSPhysObject child);
+
+    // I am the root of a linkset and one of my children is being removed.
+    // Safe to call even if the child is not really in my linkset.
+    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
+
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
-    // May be called at runtime or taint-time (just pass the appropriate flag).
-    public abstract void Refresh(BSPhysObject requestor, bool inTaintTime);
+    // May be called at runtime or taint-time.
+    public abstract void Refresh(BSPhysObject requestor);
 
     // The object is going dynamic (physical). Do any setup necessary
     //     for a dynamic linkset.
@@ -218,17 +261,17 @@ public abstract class BSLinkset
     public abstract void RestoreBodyDependencies(BSPrim child);
 
     // ================================================================
-    // Below this point is internal magic
-
     protected virtual float ComputeLinksetMass()
     {
-        float mass;
+        float mass = LinksetRoot.RawMass;
+        if (HasAnyChildren)
+        {
             lock (m_linksetActivityLock)
             {
-            mass = LinksetRoot.MassRaw;
-            foreach (BSPhysObject bp in m_taintChildren)
+                foreach (BSPhysObject bp in m_children)
                 {
-                mass += bp.MassRaw;
+                    mass += bp.RawMass;
+                }
             }
         }
         return mass;
@@ -239,13 +282,13 @@ public abstract class BSLinkset
         OMV.Vector3 com;
         lock (m_linksetActivityLock)
         {
-            com = LinksetRoot.Position * LinksetRoot.MassRaw;
-            float totalMass = LinksetRoot.MassRaw;
+            com = LinksetRoot.Position * LinksetRoot.RawMass;
+            float totalMass = LinksetRoot.RawMass;
 
-            foreach (BSPhysObject bp in m_taintChildren)
+            foreach (BSPhysObject bp in m_children)
             {
-                com += bp.Position * bp.MassRaw;
-                totalMass += bp.MassRaw;
+                com += bp.Position * bp.RawMass;
+                totalMass += bp.RawMass;
             }
             if (totalMass != 0f)
                 com /= totalMass;
@@ -261,31 +304,16 @@ public abstract class BSLinkset
         {
             com = LinksetRoot.Position;
 
-            foreach (BSPhysObject bp in m_taintChildren)
+            foreach (BSPhysObject bp in m_children)
             {
-                com += bp.Position * bp.MassRaw;
+                com += bp.Position * bp.RawMass;
             }
-            com /= (m_taintChildren.Count + 1);
+            com /= (m_children.Count + 1);
         }
 
         return com;
     }
 
-    // I am the root of a linkset and a new child is being added
-    // Called while LinkActivity is locked.
-    protected abstract void AddChildToLinkset(BSPhysObject child);
-
-    // Forcefully removing a child from a linkset.
-    // This is not being called by the child so we have to make sure the child doesn't think
-    //    it's still connected to the linkset.
-    // Normal OpenSimulator operation will never do this because other SceneObjectPart information
-    //    also has to be updated (like pointer to prim's parent).
-    protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild);
-
-    // I am the root of a linkset and one of my children is being removed.
-    // Safe to call even if the child is not really in my linkset.
-    protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
     // Invoke the detailed logger and output something if it's enabled.
     protected void DetailLog(string msg, params Object[] args)
     {

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -0,0 +1,275 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSLinksetCompound : BSLinkset
+{
+    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
+
+    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
+    {
+        base.Initialize(scene, parent);
+    }
+
+    // For compound implimented linksets, if there are children, use compound shape for the root.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
+    { 
+        ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+        if (IsRoot(requestor) && HasAnyChildren)
+        {
+            ret = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
+        }
+        // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
+        return ret;
+    }
+
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // This is queued in the 'post taint' queue so the
+    //   refresh will happen once after all the other taints are applied.
+    public override void Refresh(BSPhysObject requestor)
+    {
+        // External request for Refresh (from BSPrim) is not necessary
+        // InternalRefresh(requestor);
+    }
+
+    private void InternalRefresh(BSPhysObject requestor)
+    {
+        DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
+        // Queue to happen after all the other taint processing
+        PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
+        {
+            if (IsRoot(requestor) && HasAnyChildren)
+                RecomputeLinksetCompound();
+        });
+    }
+
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public override bool MakeDynamic(BSPhysObject child)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (!IsRoot(child))
+        {
+            // Physical children are removed from the world as the shape ofthe root compound
+            //     shape takes over.
+            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            ret = true;
+        }
+        return ret;
+    }
+
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
+    // Called at taint-time!
+    public override bool MakeStatic(BSPhysObject child)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
+        if (!IsRoot(child))
+        {
+            // The non-physical children can come back to life.
+            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            // Don't force activation so setting of DISABLE_SIMULATION can stay.
+            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            ret = true;
+        }
+        return ret;
+    }
+
+    // Called at taint-time!!
+    public override void UpdateProperties(BSPhysObject updated)
+    {
+        // Nothing to do for constraints on property updates
+    }
+
+    // The children move around in relationship to the root.
+    // Just grab the current values of wherever it is right now.
+    public override OMV.Vector3 Position(BSPhysObject member)
+    {
+        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
+    }
+
+    public override OMV.Quaternion Orientation(BSPhysObject member)
+    {
+        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
+    }
+
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Since we don't keep in world relationships, do nothing unless it's a child changing.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public override bool RemoveBodyDependencies(BSPrim child)
+    {
+        bool ret = false;
+
+        DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
+
+        if (!IsRoot(child))
+        {
+            // Cause the current shape to be freed and the new one to be built.
+            InternalRefresh(LinksetRoot);
+            ret = true;
+        }
+
+        return ret;
+    }
+
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public override void RestoreBodyDependencies(BSPrim child)
+    {
+        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+    }
+
+    // ================================================================
+
+    // Add a new child to the linkset.
+    // Called while LinkActivity is locked.
+    protected override void AddChildToLinkset(BSPhysObject child)
+    {
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+
+            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+
+            // Cause constraints and assorted properties to be recomputed before the next simulation step.
+            InternalRefresh(LinksetRoot);
+        }
+        return;
+    }
+
+    // Remove the specified child from the linkset.
+    // Safe to call even if the child is not really in my linkset.
+    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    {
+        if (m_children.Remove(child))
+        {
+            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+                            child.LocalID,
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
+                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+
+            // Cause the child's body to be rebuilt and thus restored to normal operation
+            child.ForceBodyShapeRebuild(false);
+
+            if (!HasAnyChildren)
+            {
+                // The linkset is now empty. The root needs rebuilding.
+                LinksetRoot.ForceBodyShapeRebuild(false);
+            }
+            else
+            {
+                // Schedule a rebuild of the linkset  before the next simulation tick.
+                InternalRefresh(LinksetRoot);
+            }
+        }
+        return;
+    }
+
+    // Called before the simulation step to make sure the compound based linkset
+    //    is all initialized.
+    // Constraint linksets are rebuilt every time.
+    // Note that this works for rebuilding just the root after a linkset is taken apart.
+    // Called at taint time!!
+    private void RecomputeLinksetCompound()
+    {
+        // Cause the root shape to be rebuilt as a compound object with just the root in it
+        LinksetRoot.ForceBodyShapeRebuild(true);
+
+        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
+                        LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
+
+        // Add a shape for each of the other children in the linkset
+        ForEachMember(delegate(BSPhysObject cPrim)
+        {
+            if (!IsRoot(cPrim))
+            {
+                // Each child position and rotation is given relative to the root.
+                OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
+                OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
+                OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
+
+                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
+                    LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);
+
+                if (cPrim.PhysShape.isNativeShape)
+                {
+                    // Native shapes are not shared so we need to create a new one.
+                    // A mesh or hull is created because scale is not available on a native shape.
+                    //     (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
+                    BulletShape saveShape = cPrim.PhysShape;
+                    cPrim.PhysShape.ptr = IntPtr.Zero;  // Don't let the create free the child's shape
+                    PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
+                    BulletShape newShape = cPrim.PhysShape;
+                    cPrim.PhysShape = saveShape;
+                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
+                }
+                else
+                {
+                    // For the shared shapes (meshes and hulls), just use the shape in the child.
+                    if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
+                    {
+                        PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
+                                            LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
+                    }
+                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
+                }
+            }
+            return false;   // 'false' says to move onto the next child in the list
+        });
+
+        // With all of the linkset packed into the root prim, it has the mass of everyone.
+        float linksetMass = LinksetMass;
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+
+        BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
+
+        // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+
+    }
+}
+}

OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs

@@ -32,7 +32,7 @@ using OMV = OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSLinksetConstraints : BSLinkset
+public sealed class BSLinksetConstraints : BSLinkset
 {
     // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
 
@@ -43,23 +43,16 @@ public class BSLinksetConstraints : BSLinkset
 
     // When physical properties are changed the linkset needs to recalculate
     //   its internal properties.
-    // May be called at runtime or taint-time (just pass the appropriate flag).
-    public override void Refresh(BSPhysObject requestor, bool inTaintTime)
+    // This is queued in the 'post taint' queue so the
+    //   refresh will happen once after all the other taints are applied.
+    public override void Refresh(BSPhysObject requestor)
     {
-        // If there are no children or not root, I am not the one that recomputes the constraints
-        if (!HasAnyChildren || !IsRoot(requestor))
-            return;
-
-        BSScene.TaintCallback refreshOperation = delegate()
+        // Queue to happen after all the other taint processing
+        PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
             {
-                RecomputeLinksetConstraintVariables();
-                DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
-                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
-            };
-        if (inTaintTime)
-            refreshOperation();
-        else
-            PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
+                if (HasAnyChildren && IsRoot(requestor))
+                    RecomputeLinksetConstraints();
+            });
     }
 
     // The object is going dynamic (physical). Do any setup necessary
@@ -74,9 +67,10 @@ public class BSLinksetConstraints : BSLinkset
         return false;
     }
 
-    // The object is going static (non-physical). Do any setup necessary
-    //     for a static linkset.
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
     // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
     // Called at taint-time!
     public override bool MakeStatic(BSPhysObject child)
     {
@@ -90,35 +84,36 @@ public class BSLinksetConstraints : BSLinkset
         // Nothing to do for constraints on property updates
     }
 
-    // Routine used when rebuilding the body of the root of the linkset
-    // Destroy all the constraints have have been made to root.
-    // This is called when the root body is changing.
-    // Returns 'true' of something eas actually removed and would need restoring
+    // The children of the linkset are moved around by the constraints.
+    // Just grab the current values of wherever it is right now.
+    public override OMV.Vector3 Position(BSPhysObject member)
+    {
+        return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
+    }
+
+    public override OMV.Quaternion Orientation(BSPhysObject member)
+    {
+        return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
+    }
+
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Destroy all the constraints have have been made to root and set
+    //     up to rebuild the constraints before the next simulation step.
+    // Returns 'true' of something was actually removed and would need restoring
     // Called at taint-time!!
     public override bool RemoveBodyDependencies(BSPrim child)
     {
         bool ret = false;
 
+        DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+
         lock (m_linksetActivityLock)
         {
-            if (IsRoot(child))
-            {
-                // If the one with the dependency is root, must undo all children
-                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
-                                                child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
-
+            // Just undo all the constraints for this linkset. Rebuild at the end of the step.
             ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
-            }
-            else
-            {
-                DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
-                                                child.LocalID,
-                                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
-                                                child.LocalID, child.BSBody.ptr.ToString("X"));
-                // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
-                // Despite the function name, this removes any link to the specified object.
-                ret = PhysicallyUnlinkAllChildrenFromRoot(child);
-            }
+            // Cause the constraints, et al to be rebuilt before the next simulation step.
+            Refresh(LinksetRoot);
         }
         return ret;
     }
@@ -128,32 +123,12 @@ public class BSLinksetConstraints : BSLinkset
     // Called at taint-time!!
     public override void RestoreBodyDependencies(BSPrim child)
     {
-        lock (m_linksetActivityLock)
-        {
-            if (IsRoot(child))
-            {
-                DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
-                                                child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
-                foreach (BSPhysObject bpo in m_taintChildren)
-                {
-                    PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
-                }
-            }
-            else
-            {
-                DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
-                                                LinksetRoot.LocalID,
-                                                LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
-                                                child.LocalID, child.BSBody.ptr.ToString("X"));
-                PhysicallyLinkAChildToRoot(LinksetRoot, child);
-            }
-        }
+        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
     }
 
     // ================================================================
-    // Below this point is internal magic
 
-    // I am the root of a linkset and a new child is being added
+    // Add a new child to the linkset.
     // Called while LinkActivity is locked.
     protected override void AddChildToLinkset(BSPhysObject child)
     {
@@ -161,39 +136,15 @@ public class BSLinksetConstraints : BSLinkset
         {
             m_children.Add(child);
 
-            BSPhysObject rootx = LinksetRoot; // capture the root as of now
-            BSPhysObject childx = child;
+            DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
 
-            DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
-            PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
-            {
-                DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
-                                rootx.LocalID,
-                                rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
-                                childx.LocalID, childx.BSBody.ptr.ToString("X"));
-                // Since this is taint-time, the body and shape could have changed for the child
-                rootx.ForcePosition = rootx.Position;   // DEBUG
-                childx.ForcePosition = childx.Position;   // DEBUG
-                PhysicallyLinkAChildToRoot(rootx, childx);
-                m_taintChildren.Add(child);
-            });
+            // Cause constraints and assorted properties to be recomputed before the next simulation step.
+            Refresh(LinksetRoot);
         }
         return;
     }
 
-    // Forcefully removing a child from a linkset.
-    // This is not being called by the child so we have to make sure the child doesn't think
-    //    it's still connected to the linkset.
-    // Normal OpenSimulator operation will never do this because other SceneObjectPart information
-    //    also has to be updated (like pointer to prim's parent).
-    protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild)
-    {
-        pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild);
-        RemoveChildFromLinkset(pchild);
-    }
-
-    // I am the root of a linkset and one of my children is being removed.
+    // Remove the specified child from the linkset.
     // Safe to call even if the child is not really in my linkset.
     protected override void RemoveChildFromLinkset(BSPhysObject child)
     {
@@ -202,22 +153,21 @@ public class BSLinksetConstraints : BSLinkset
             BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
             BSPhysObject childx = child;
 
-            DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+            DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
                             childx.LocalID,
-                            rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
-                            childx.LocalID, childx.BSBody.ptr.ToString("X"));
+                            rootx.LocalID, rootx.PhysBody.ptr.ToString("X"),
+                            childx.LocalID, childx.PhysBody.ptr.ToString("X"));
 
-            PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
+            PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
             {
-                m_taintChildren.Remove(child);
                 PhysicallyUnlinkAChildFromRoot(rootx, childx);
-                RecomputeLinksetConstraintVariables();
             });
-
+            // See that the linkset parameters are recomputed at the end of the taint time.
+            Refresh(LinksetRoot);
         }
         else
         {
-            // This will happen if we remove the root of the linkset first. Non-fatal occurance.
+            // Non-fatal occurance.
             // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
         }
         return;
@@ -226,9 +176,15 @@ public class BSLinksetConstraints : BSLinkset
     // Create a constraint between me (root of linkset) and the passed prim (the child).
     // Called at taint time!
     private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
+    {
+        // Don't build the constraint when asked. Put it off until just before the simulation step.
+        Refresh(rootPrim);
+    }
+
+    private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
         // Zero motion for children so they don't interpolate
-        childPrim.ZeroMotion();
+        childPrim.ZeroMotion(true);
 
         // Relative position normalized to the root prim
         // Essentually a vector pointing from center of rootPrim to center of childPrim
@@ -237,22 +193,23 @@ public class BSLinksetConstraints : BSLinkset
         // real world coordinate of midpoint between the two objects
         OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
 
-        DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+        DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
                                         rootPrim.LocalID,
-                                        rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
-                                        childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
+                                        rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
+                                        childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"),
                                         rootPrim.Position, childPrim.Position, midPoint);
 
         // create a constraint that allows no freedom of movement between the two objects
         // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
 
-        BS6DofConstraint constrain = new BS6DofConstraint(
-                            PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
+        BSConstraint6Dof constrain = new BSConstraint6Dof(
+                            PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
+                            // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
 
         /* NOTE: below is an attempt to build constraint with full frame computation, etc.
          *     Using the midpoint is easier since it lets the Bullet code manipulate the transforms
          *     of the objects.
-         * Code left as a warning to future programmers.
+         * Code left for future programmers.
         // ==================================================================================
         // relative position normalized to the root prim
         OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -262,20 +219,13 @@ public class BSLinksetConstraints : BSLinkset
         OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
         OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
 
-        // create a constraint that allows no freedom of movement between the two objects
-        // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-        DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+        DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
         BS6DofConstraint constrain = new BS6DofConstraint(
                         PhysicsScene.World, rootPrim.Body, childPrim.Body,
                         OMV.Vector3.Zero,
                         OMV.Quaternion.Inverse(rootPrim.Orientation),
                         OMV.Vector3.Zero,
                         OMV.Quaternion.Inverse(childPrim.Orientation),
-                        // A point half way between the parent and child
-                        // childRelativePosition/2,
-                        // childRelativeRotation,
-                        // childRelativePosition/2,
-                        // inverseChildRelativeRotation,
                         true,
                         true
                         );
@@ -298,25 +248,26 @@ public class BSLinksetConstraints : BSLinkset
         {
             constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
         }
+        return constrain;
     }
 
-    // Remove linkage between myself and a particular child
+    // Remove linkage between the linkset root and a particular child
     // The root and child bodies are passed in because we need to remove the constraint between
-    //      the bodies that were at unlink time.
+    //      the bodies that were present at unlink time.
     // Called at taint time!
     private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
     {
         bool ret = false;
-        DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
+        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
                             rootPrim.LocalID,
-                            rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
-                            childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
+                            rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"),
+                            childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"));
 
         // Find the constraint for this link and get rid of it from the overall collection and from my list
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
+        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
         {
             // Make the child refresh its location
-            BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+            BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
             ret = true;
         }
 
@@ -324,62 +275,53 @@ public class BSLinksetConstraints : BSLinkset
     }
 
     // Remove linkage between myself and any possible children I might have.
+    // Returns 'true' of any constraints were destroyed.
     // Called at taint time!
     private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
     {
-        DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
-        bool ret = false;
+        DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
 
-        if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
-        {
-            ret = true;
-        }
-        return ret;
+        return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
     }
 
     // Call each of the constraints that make up this linkset and recompute the
-    //    various transforms and variables. Used when objects are added or removed
-    //    from a linkset to make sure the constraints know about the new mass and
-    //    geometry.
-    // Must only be called at taint time!!
-    private void RecomputeLinksetConstraintVariables()
+    //    various transforms and variables. Create constraints of not created yet.
+    // Called before the simulation step to make sure the constraint based linkset
+    //    is all initialized.
+    // Called at taint time!!
+    private void RecomputeLinksetConstraints()
     {
         float linksetMass = LinksetMass;
-        foreach (BSPhysObject child in m_taintChildren)
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+
+        // DEBUG: see of inter-linkset collisions are causing problems
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+        DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+
+        foreach (BSPhysObject child in m_children)
         {
+            // A child in the linkset physically shows the mass of the whole linkset.
+            // This allows Bullet to apply enough force on the child to move the whole linkset.
+            // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
+            child.UpdatePhysicalMassProperties(linksetMass);
+
             BSConstraint constrain;
-            if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
+            if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
             {
-                // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
-                //         LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
+                // If constraint doesn't exist yet, create it.
+                constrain = BuildConstraint(LinksetRoot, child);
+            }
             constrain.RecomputeConstraintVariables(linksetMass);
-            }
-            else
-            {
-                // Non-fatal error that happens when children are being added to the linkset but
-                //    their constraints have not been created yet.
-                break;
-            }
+
+            // DEBUG: see of inter-linkset collisions are causing problems
+            // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, 
+            //                 (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+
+            // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr);    // DEBUG DEBUG
         }
 
-        // If the whole linkset is not here, doesn't make sense to recompute linkset wide values
-        if (m_children.Count == m_taintChildren.Count)
-        {
-            // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
-            OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
-            BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
-                                centerOfMass, OMV.Quaternion.Identity);
-            DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
-                                LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
-            foreach (BSPhysObject child in m_taintChildren)
-            {
-                BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
-                                centerOfMass, OMV.Quaternion.Identity);
-            }
-
-            // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr);  // DEBUG DEBUG DEBUG
-        }
-        return;
     }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs

@@ -0,0 +1,104 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSMotor
+{
+    public virtual void Reset() { }
+    public virtual void Zero() { }
+}
+// Can all the incremental stepping be replaced with motor classes?
+public class BSVMotor : BSMotor
+{
+    public Vector3 FrameOfReference { get; set; }
+    public Vector3 Offset { get; set; }
+
+    public float TimeScale { get; set; }
+    public float TargetValueDecayTimeScale { get; set; }
+    public Vector3 CurrentValueReductionTimescale { get; set; }
+    public float Efficiency { get; set; }
+
+    public Vector3 TargetValue { get; private set; }
+    public Vector3 CurrentValue { get; private set; }
+
+
+
+    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        CurrentValueReductionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public Vector3 Step(float timeStep)
+    {
+        if (CurrentValue.LengthSquared() > 0.001f)
+        {
+            // Vector3 origDir = Target;       // DEBUG
+            // Vector3 origVel = CurrentValue;   // DEBUG
+
+            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
+            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
+            CurrentValue += addAmount;
+
+            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+            TargetValue *= (1f - decayFactor);
+
+            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
+            CurrentValue *= (Vector3.One - frictionFactor);
+        }
+        else
+        {
+            // if what remains of direction is very small, zero it.
+            TargetValue = Vector3.Zero;
+            CurrentValue = Vector3.Zero;
+
+            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
+        }
+        return CurrentValue;
+    }
+}
+
+public class BSFMotor : BSMotor
+{
+    public float TimeScale { get; set; }
+    public float DecayTimeScale { get; set; }
+    public float Friction { get; set; }
+    public float Efficiency { get; set; }
+
+    public float Target { get; private set; }
+    public float CurrentValue { get; private set; }
+
+    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
+    {
+    }
+    public void SetCurrent(float target)
+    {
+    }
+    public void SetTarget(float target)
+    {
+    }
+    public float Step(float timeStep)
+    {
+        return 0f;
+    }
+}
+public class BSPIDMotor : BSMotor
+{
+    // TODO: write and use this one
+    BSPIDMotor()
+    {
+    }
+}
+}

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -34,9 +34,17 @@ using OpenSim.Region.Physics.Manager;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-// Class to wrap all objects.
-// The rest of BulletSim doesn't need to keep checking for avatars or prims
-// unless the difference is significant.
+/*
+ * Class to wrap all objects.
+ * The rest of BulletSim doesn't need to keep checking for avatars or prims
+ *        unless the difference is significant.
+ * 
+ *  Variables in the physicsl objects are in three forms:
+ *      VariableName: used by the simulator and performs taint operations, etc
+ *      RawVariableName: direct reference to the BulletSim storage for the variable value
+ *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
+ *  The last two (and certainly the last one) should be referenced only in taint-time.
+ */
 public abstract class BSPhysObject : PhysicsActor
 {
     protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
@@ -63,12 +71,17 @@ public abstract class BSPhysObject : PhysicsActor
     public BSLinkset Linkset { get; set; }
 
     // Return the object mass without calculating it or having side effects
-    public abstract float MassRaw { get; }
+    public abstract float RawMass { get; }
+    // Set the raw mass but also update physical mass properties (inertia, ...)
+    public abstract void UpdatePhysicalMassProperties(float mass);
+
+    // The last value calculated for the prim's inertia
+    public OMV.Vector3 Inertia { get; set; }
 
     // Reference to the physical body (btCollisionObject) of this object
-    public BulletBody BSBody;
+    public BulletBody PhysBody;
     // Reference to the physical shape (btCollisionShape) of this object
-    public BulletShape BSShape;
+    public BulletShape PhysShape;
 
     // 'true' if the mesh's underlying asset failed to build.
     // This will keep us from looping after the first time the build failed.
@@ -76,6 +89,12 @@ public abstract class BSPhysObject : PhysicsActor
 
     // The objects base shape information. Null if not a prim type shape.
     public PrimitiveBaseShape BaseShape { get; protected set; }
+    // Some types of objects have preferred physical representations.
+    // Returns SHAPE_UNKNOWN if there is no preference.
+    public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
+    {
+        get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; }
+    }
 
     // When the physical properties are updated, an EntityProperty holds the update values.
     // Keep the current and last EntityProperties to enable computation of differences
@@ -88,7 +107,8 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract bool IsStatic { get; }
 
     // Stop all physical motion.
-    public abstract void ZeroMotion();
+    public abstract void ZeroMotion(bool inTaintTime);
+    public abstract void ZeroAngularMotion(bool inTaintTime);
 
     // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
     public virtual void StepVehicle(float timeStep) { }
@@ -99,8 +119,10 @@ public abstract class BSPhysObject : PhysicsActor
     // Tell the object to clean up.
     public abstract void Destroy();
 
+    public abstract OMV.Vector3 RawPosition { get; set; }
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    public abstract OMV.Quaternion RawOrientation { get; set; }
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
     public abstract OMV.Vector3 ForceVelocity { get; set; }
@@ -204,7 +226,7 @@ public abstract class BSPhysObject : PhysicsActor
 
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
-                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -218,7 +240,7 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -25,8 +25,6 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Uncomment this it enable code to do all shape an body memory management
-//    in the C# code.
 using System;
 using System.Reflection;
 using System.Collections.Generic;
@@ -111,8 +109,8 @@ public sealed class BSPrim : BSPhysObject
         _mass = CalculateMass();
 
         // No body or shape yet
-        BSBody = new BulletBody(LocalID, IntPtr.Zero);
-        BSShape = new BulletShape(IntPtr.Zero);
+        PhysBody = new BulletBody(LocalID, IntPtr.Zero);
+        PhysShape = new BulletShape(IntPtr.Zero);
 
         DetailLog("{0},BSPrim.constructor,call", LocalID);
         // do the actual object creation at taint time
@@ -120,7 +118,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr);
+            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
         });
     }
 
@@ -145,8 +143,8 @@ public sealed class BSPrim : BSPhysObject
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
-            PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
-            PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
+            PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
+            PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
         });
     }
 
@@ -171,18 +169,18 @@ public sealed class BSPrim : BSPhysObject
             ForceBodyShapeRebuild(false);
         }
     }
+    // Whatever the linkset wants is what I want.
+    public override ShapeData.PhysicsShapeType PreferredPhysicalShape
+        { get { return Linkset.PreferredPhysicalShape(this); } }
+
     public override bool ForceBodyShapeRebuild(bool inTaintTime)
     {
         LastAssetBuildFailed = false;
-        BSScene.TaintCallback rebuildOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
         {
             _mass = CalculateMass();   // changing the shape changes the mass
             CreateGeomAndObject(true);
-        };
-        if (inTaintTime)
-            rebuildOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
+        });
         return true;
     }
     public override bool Grabbed {
@@ -236,14 +234,27 @@ public sealed class BSPrim : BSPhysObject
     // Do it to the properties so the values get set in the physics engine.
     // Push the setting of the values to the viewer.
     // Called at taint time!
-    public override void ZeroMotion()
+    public override void ZeroMotion(bool inTaintTime)
     {
         _velocity = OMV.Vector3.Zero;
         _acceleration = OMV.Vector3.Zero;
         _rotationalVelocity = OMV.Vector3.Zero;
 
-        // Zero some other properties directly into the physics engine
-        BulletSimAPI.ClearForces2(BSBody.ptr);
+        // Zero some other properties in the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        {
+            BulletSimAPI.ClearAllForces2(PhysBody.ptr);
+        });
+    }
+    public override void ZeroAngularMotion(bool inTaintTime)
+    {
+        _rotationalVelocity = OMV.Vector3.Zero;
+        // Zero some other properties in the physics engine
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
+        {
+            BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+        });
     }
 
     public override void LockAngularMotion(OMV.Vector3 axis)
@@ -252,11 +263,16 @@ public sealed class BSPrim : BSPhysObject
         return;
     }
 
+    public override OMV.Vector3 RawPosition
+    {
+        get { return _position; }
+        set { _position = value; }
+    }
     public override OMV.Vector3 Position {
         get {
-            if (!Linkset.IsRoot(this))
             // child prims move around based on their parent. Need to get the latest location
-                _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            if (!Linkset.IsRoot(this))
+                _position = Linkset.Position(this);
 
             // don't do the GetObjectPosition for root elements because this function is called a zillion times
             // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -274,19 +290,21 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
             {
                 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                ActivateIfPhysical(false);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(BSBody.ptr);
+            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            ActivateIfPhysical(false);
         }
     }
 
@@ -311,6 +329,7 @@ public sealed class BSPrim : BSPhysObject
         if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
         {
             float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
+            // TODO: a floating motor so object will bob in the water
             if (Position.Z < waterHeight)
             {
                 _position.Z = waterHeight;
@@ -332,16 +351,11 @@ public sealed class BSPrim : BSPhysObject
         {
             // The new position value must be pushed into the physics engine but we can't
             //    just assign to "Position" because of potential call loops.
-            BSScene.TaintCallback sanityOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 ForcePosition = _position;
-            };
-            if (inTaintTime)
-                sanityOperation();
-            else
-                PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
-
+            });
             ret = true;
         }
         return ret;
@@ -353,13 +367,35 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            // return Linkset.LinksetMass;
-            return _mass;
+            return Linkset.LinksetMass;
+            // return _mass;
         }
     }
 
     // used when we only want this prim's mass and not the linkset thing
-    public override float MassRaw { get { return _mass; }  }
+    public override float RawMass { 
+        get { return _mass; }
+    }
+    // Set the physical mass to the passed mass.
+    // Note that this does not change _mass!
+    public override void UpdatePhysicalMassProperties(float physMass)
+    {
+        if (IsStatic)
+        {
+            Inertia = OMV.Vector3.Zero;
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
+            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+        }
+        else
+        {
+            Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
+            BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
+            BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
+            // center of mass is at the zero of the object
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
+            DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
+        }
+    }
 
     // Is this used?
     public override OMV.Vector3 CenterOfMass
@@ -380,7 +416,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
             {
                 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
-                BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
+                BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
             });
         }
     }
@@ -400,6 +436,7 @@ public sealed class BSPrim : BSPhysObject
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
+                ActivateIfPhysical(false);
             });
         }
     }
@@ -408,6 +445,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
             _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleVectorParam(int param, OMV.Vector3 value)
@@ -415,6 +453,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
             _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
@@ -422,6 +461,7 @@ public sealed class BSPrim : BSPhysObject
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
             _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            ActivateIfPhysical(false);
         });
     }
     public override void VehicleFlags(int param, bool remove)
@@ -436,9 +476,16 @@ public sealed class BSPrim : BSPhysObject
     // Called from Scene when doing simulation step so we're in taint processing time.
     public override void StepVehicle(float timeStep)
     {
-        if (IsPhysical)
+        if (IsPhysical && _vehicle.IsActive)
         {
             _vehicle.Step(timeStep);
+            /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
+            PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
+            {
+                // This resets the interpolation values and recomputes the tensor variables
+                BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
+            });
+             */
         }
     }
 
@@ -463,7 +510,7 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
             {
                 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
-                BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+                BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
             });
         }
     }
@@ -471,12 +518,14 @@ public sealed class BSPrim : BSPhysObject
         get { return _velocity; }
         set {
             _velocity = value;
-            BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
+            BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
         }
     }
     public override OMV.Vector3 Torque {
         get { return _torque; }
-        set { _torque = value;
+        set {
+            _torque = value;
+            AddAngularForce(_torque, false, false);
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
@@ -489,12 +538,17 @@ public sealed class BSPrim : BSPhysObject
         get { return _acceleration; }
         set { _acceleration = value; }
     }
+    public override OMV.Quaternion RawOrientation
+    {
+        get { return _orientation; }
+        set { _orientation = value; }
+    }
     public override OMV.Quaternion Orientation {
         get {
+            // Children move around because tied to parent. Get a fresh value.
             if (!Linkset.IsRoot(this))
             {
-                // Children move around because tied to parent. Get a fresh value.
-                _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+                _orientation = Linkset.Orientation(this);
             }
             return _orientation;
         }
@@ -507,7 +561,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
                 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
             });
         }
     }
@@ -516,13 +570,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
+            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -539,6 +593,8 @@ public sealed class BSPrim : BSPhysObject
                 {
                     // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
                     SetObjectDynamic(true);
+                    // whether phys-to-static or static-to-phys, the object is not moving.
+                    ZeroMotion(true);
                 });
             }
         }
@@ -576,7 +632,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -590,24 +646,25 @@ public sealed class BSPrim : BSPhysObject
         // Make solid or not (do things bounce off or pass through this object).
         MakeSolid(IsSolid);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
+        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
 
         // Collision filter can be set only when the object is in the world
-        if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
+        if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
         {
-            BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
+            BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
         }
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
         //     had been automatically disabled when the mass was set to zero.
-        Linkset.Refresh(this, true);
+        // For compound based linksets, this enables and disables interactions of the children.
+        Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
-                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
+                        LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.
@@ -620,75 +677,74 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            ZeroMotion(true);
             // Center of mass is at the center of the object
-            BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
             // Mass is zero which disables a bunch of physics stuff in Bullet
-            BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
-            // There is no inertia in a static object
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(0f);
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
             // There can be special things needed for implementing linksets
             Linkset.MakeStatic(this);
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
             // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
 
-            BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
         }
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so internal dynamic properties will get computed correctly as they are set
-            BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
-            BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
+            BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
+            BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
-            BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // Since this can be called multiple times, only zero forces when becoming physical
+            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
+            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+
+            // Center of mass is at the center of the object
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
 
             // A dynamic object has mass
-            IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
-            OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
-            BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
-            BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
+            UpdatePhysicalMassProperties(RawMass);
 
             // Set collision detection parameters
             if (PhysicsScene.Params.ccdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
-                BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
+                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
+                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
             }
 
             // Various values for simulation limits
-            BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
-            BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
-            BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
+            BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
+            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+            BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
+            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
             // BulletSimAPI.Activate2(BSBody.ptr, true);
 
-            BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.ObjectMask;
+            PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
         }
     }
 
@@ -698,7 +754,7 @@ public sealed class BSPrim : BSPhysObject
     //     the functions after this one set up the state of a possibly newly created collision body.
     private void MakeSolid(bool makeSolid)
     {
-        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr);
+        CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
         if (makeSolid)
         {
             // Verify the previous code created the correct shape for this type of thing.
@@ -706,7 +762,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -714,22 +770,31 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
-            BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
+            PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
         }
     }
 
+    // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+    //     they need waking up when parameters are changed.
+    // Called in taint-time!!
+    private void ActivateIfPhysical(bool forceIt)
+    {
+        if (IsPhysical)
+            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+    }
+
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
     private void EnableCollisions(bool wantsCollisionEvents)
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -774,9 +839,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
@@ -798,8 +863,8 @@ public sealed class BSPrim : BSPhysObject
             // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
             PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
             {
-                // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
-                BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+                DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+                BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             });
         }
     }
@@ -809,7 +874,7 @@ public sealed class BSPrim : BSPhysObject
         }
         set {
             _rotationalVelocity = value;
-            BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
+            BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
         }
     }
     public override bool Kinematic {
@@ -835,7 +900,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
             // Buoyancy is faked by changing the gravity applied to the object
             float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
-            BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
+            BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
         }
     }
 
@@ -888,7 +953,7 @@ public sealed class BSPrim : BSPhysObject
             m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
             return;
         }
-        BSScene.TaintCallback addForceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
         {
             OMV.Vector3 fSum = OMV.Vector3.Zero;
             lock (m_accumulatedForces)
@@ -900,20 +965,69 @@ public sealed class BSPrim : BSPhysObject
                 }
                 m_accumulatedForces.Clear();
             }
-            // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
-            // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
-            BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
-        };
-        if (inTaintTime)
-            addForceOperation();
-        else
-            PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
+            DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
+            if (fSum != OMV.Vector3.Zero)
+                BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
+        });
     }
 
-    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
-        // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
-        // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
+    public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
+        {
+            DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
+            BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
+        });
     }
+
+    private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
+    public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
+        AddAngularForce(force, pushforce, false);
+    }
+    public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+    {
+        if (force.IsFinite())
+        {
+            // _force += force;
+            lock (m_accumulatedAngularForces)
+                m_accumulatedAngularForces.Add(new OMV.Vector3(force));
+        }
+        else
+        {
+            m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
+            return;
+        }
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
+        {
+            OMV.Vector3 fSum = OMV.Vector3.Zero;
+            lock (m_accumulatedAngularForces)
+            {
+                // Sum the accumulated additional forces for one big force to apply once.
+                foreach (OMV.Vector3 v in m_accumulatedAngularForces)
+                {
+                    fSum += v;
+                }
+                m_accumulatedAngularForces.Clear();
+            }
+            DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
+            if (fSum != OMV.Vector3.Zero)
+            {
+                BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
+                _torque = fSum;
+            }
+        });
+    }
+    // A torque impulse.
+    public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
+    {
+        OMV.Vector3 applyImpulse = impulse;
+        PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
+        {
+            BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
+        });
+    }
+
     public override void SetMomentum(OMV.Vector3 momentum) {
         // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
     }
@@ -1195,9 +1309,7 @@ public sealed class BSPrim : BSPhysObject
 
         returnMass = _density * volume;
 
-        /*
-         * This change means each object keeps its own mass and the Mass property
-         * will return the sum if we're part of a linkset.
+        /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)
         {
             foreach (BSPrim prim in _childrenPrims)
@@ -1217,49 +1329,27 @@ public sealed class BSPrim : BSPhysObject
     }// end CalculateMass
     #endregion Mass Calculation
 
-    // Copy prim's info into the BulletSim shape description structure
-    public void FillShapeInfo(out ShapeData shape)
-    {
-        shape.ID = LocalID;
-        shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
-        shape.Position = _position;
-        shape.Rotation = _orientation;
-        shape.Velocity = _velocity;
-        shape.Size = _size;
-        shape.Scale = Scale;
-        shape.Mass = _isPhysical ? _mass : 0f;
-        shape.Buoyancy = _buoyancy;
-        shape.HullKey = 0;
-        shape.MeshKey = 0;
-        shape.Friction = _friction;
-        shape.Restitution = _restitution;
-        shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
-        shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
-        shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
-    }
     // Rebuild the geometry and object.
     // This is called when the shape changes so we need to recreate the mesh/hull.
     // Called at taint-time!!!
     private void CreateGeomAndObject(bool forceRebuild)
     {
-        ShapeData shapeData;
-        FillShapeInfo(out shapeData);
-
         // If this prim is part of a linkset, we must remove and restore the physical
         //    links if the body is rebuilt.
         bool needToRestoreLinkset = false;
+        bool needToRestoreVehicle = false;
 
         // Create the correct physical representation for this type of object.
-        // Updates BSBody and BSShape with the new information.
+        // Updates PhysBody and PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
         // Returns 'true' if either the body or the shape was changed.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
-                        null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.
             // Remove all the physical dependencies on the old body.
             // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
             needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
+            needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
         });
 
         if (needToRestoreLinkset)
@@ -1267,6 +1357,11 @@ public sealed class BSPrim : BSPhysObject
             // If physical body dependencies were removed, restore them
             Linkset.RestoreBodyDependencies(this);
         }
+        if (needToRestoreVehicle)
+        {
+            // If physical body dependencies were removed, restore them
+            _vehicle.RestoreBodyDependencies(this);
+        }
 
         // Make sure the properties are set on the new object
         UpdatePhysicalParameters();
@@ -1353,8 +1448,9 @@ public sealed class BSPrim : BSPhysObject
 
             PositionSanityCheck(true);
 
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
-                    LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+            OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
+            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
+                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
 
             // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr);   // DEBUG DEBUG DEBUG
 

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -62,7 +62,7 @@ using OpenMetaverse;
 //
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSScene : PhysicsScene, IPhysicsParameters
+public sealed class BSScene : PhysicsScene, IPhysicsParameters
 {
     private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
     private static readonly string LogHeader = "[BULLETS SCENE]";
@@ -116,6 +116,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // True if initialized and ready to do simulation steps
     private bool m_initialized = false;
 
+    // Flag which is true when processing taints.
+    // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
+    public bool InTaintTime { get; private set; }
+
     // Pinned memory used to pass step information between managed and unmanaged
     private int m_maxCollisionsPerFrame;
     private CollisionDesc[] m_collisionArray;
@@ -171,7 +175,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         }
     }
     private Object _taintLock = new Object();   // lock for using the next object
-    private List<TaintCallbackEntry> _taintedObjects;
+    private List<TaintCallbackEntry> _taintOperations;
+    private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
+    private List<TaintCallbackEntry> _postStepOperations;
 
     // A pointer to an instance if this structure is passed to the C++ code
     // Used to pass basic configuration values to the unmanaged code.
@@ -203,7 +209,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     public override void Initialise(IMesher meshmerizer, IConfigSource config)
     {
         mesher = meshmerizer;
-        _taintedObjects = new List<TaintCallbackEntry>();
+        _taintOperations = new List<TaintCallbackEntry>();
+        _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+        _postStepOperations = new List<TaintCallbackEntry>();
         PhysObjects = new Dictionary<uint, BSPhysObject>();
         Shapes = new BSShapeCollection(this);
 
@@ -266,6 +274,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         TerrainManager = new BSTerrainManager(this);
         TerrainManager.CreateInitialGroundPlaneAndTerrain();
 
+        m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation);
+
+        InTaintTime = false;
         m_initialized = true;
     }
 
@@ -475,23 +486,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         if (!m_initialized) return 5.0f;
 
         // update the prim states while we know the physics engine is not busy
-        int numTaints = _taintedObjects.Count;
+        int numTaints = _taintOperations.Count;
         ProcessTaints();
 
         // Some of the prims operate with special vehicle properties
         ProcessVehicles(timeStep);
-        numTaints += _taintedObjects.Count;
         ProcessTaints();    // the vehicles might have added taints
 
         // step the physical world one interval
         m_simulationStep++;
         int numSubSteps = 0;
 
-        // DEBUG
-        // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
-
         try
         {
+            if (VehicleLoggingEnabled) DumpVehicles();  // DEBUG
             if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
 
             numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -500,6 +508,7 @@ public 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
         }
         catch (Exception e)
         {
@@ -511,7 +520,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             collidersCount = 0;
         }
 
-
         // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
 
         // Get a value for 'now' so all the collision and update routines don't have to get their own
@@ -575,6 +583,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        ProcessPostStepTaints();
+
         // This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
         // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
@@ -670,6 +680,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     public override bool IsThreaded { get { return false;  } }
 
+    #region Taints
+
     // Calls to the PhysicsActors can't directly call into the physics engine
     // because it might be busy. We delay changes to a known time.
     // We rely on C#'s closure to save and restore the context for the delegate.
@@ -679,30 +691,51 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
         lock (_taintLock)
         {
-            _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
+            _taintOperations.Add(new TaintCallbackEntry(ident, callback));
         }
 
         return;
     }
 
+    // Sometimes a potentially tainted operation can be used in and out of taint time.
+    // This routine executes the command immediately if in taint-time otherwise it is queued.
+    public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
+    {
+        if (inTaintTime)
+            callback();
+        else
+            TaintedObject(ident, callback);
+    }
+
     // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
     // a callback into itself to do the actual property change. That callback is called
     // here just before the physics engine is called to step the simulation.
     public void ProcessTaints()
     {
-        if (_taintedObjects.Count > 0)  // save allocating new list if there is nothing to process
+        InTaintTime = true;
+        ProcessRegularTaints();
+        ProcessPostTaintTaints();
+        InTaintTime = false;
+    }
+
+    private void ProcessRegularTaints()
     {
+        if (_taintOperations.Count > 0)  // save allocating new list if there is nothing to process
+        {
+            /*
+            // Code to limit the number of taints processed per step. Meant to limit step time.
+            // Unsure if a good idea as code assumes that taints are done before the step.
             int taintCount = m_taintsToProcessPerStep;
             TaintCallbackEntry oneCallback = new TaintCallbackEntry();
-            while (_taintedObjects.Count > 0 && taintCount-- > 0)
+            while (_taintOperations.Count > 0 && taintCount-- > 0)
             {
                 bool gotOne = false;
                 lock (_taintLock)
                 {
-                    if (_taintedObjects.Count > 0)
+                    if (_taintOperations.Count > 0)
                     {
-                        oneCallback = _taintedObjects[0];
-                        _taintedObjects.RemoveAt(0);
+                        oneCallback = _taintOperations[0];
+                        _taintOperations.RemoveAt(0);
                         gotOne = true;
                     }
                 }
@@ -720,13 +753,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                     }
                 }
             }
-            /*
+            if (_taintOperations.Count > 0)
+            {
+                DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
+            }
+             */
             // swizzle a new list into the list location so we can process what's there
             List<TaintCallbackEntry> oldList;
             lock (_taintLock)
             {
-                oldList = _taintedObjects;
-                _taintedObjects = new List<TaintCallbackEntry>();
+                oldList = _taintOperations;
+                _taintOperations = new List<TaintCallbackEntry>();
             }
 
             foreach (TaintCallbackEntry tcbe in oldList)
@@ -742,10 +779,104 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 }
             }
             oldList.Clear();
-             */
         }
     }
 
+    // Schedule an update to happen after all the regular taints are processed.
+    // Note that new requests for the same operation ("ident") for the same object ("ID")
+    //     will replace any previous operation by the same object.
+    public void PostTaintObject(String ident, uint ID, TaintCallback callback)
+    {
+        if (!m_initialized) return;
+
+        string uniqueIdent = ident + "-" + ID.ToString();
+        lock (_taintLock)
+        {
+            _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
+        }
+
+        return;
+    }
+
+    private void ProcessPostTaintTaints()
+    {
+        if (_postTaintOperations.Count > 0)
+        {
+            Dictionary<string, TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _postTaintOperations;
+                _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
+            }
+
+            foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
+                    kvp.Value.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    public void PostStepTaintObject(String ident, TaintCallback callback)
+    {
+        if (!m_initialized) return;
+
+        lock (_taintLock)
+        {
+            _postStepOperations.Add(new TaintCallbackEntry(ident, callback));
+        }
+
+        return;
+    }
+
+    private void ProcessPostStepTaints()
+    {
+        if (_postStepOperations.Count > 0)
+        {
+            List<TaintCallbackEntry> oldList;
+            lock (_taintLock)
+            {
+                oldList = _postStepOperations;
+                _postStepOperations = new List<TaintCallbackEntry>();
+            }
+
+            foreach (TaintCallbackEntry tcbe in oldList)
+            {
+                try
+                {
+                    DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
+                    tcbe.callback();
+                }
+                catch (Exception e)
+                {
+                    m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
+                }
+            }
+            oldList.Clear();
+        }
+    }
+
+    public bool AssertInTaintTime(string whereFrom)
+    {
+        if (!InTaintTime)
+        {
+            DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
+            m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
+            Util.PrintCallStack();
+        }
+        return InTaintTime;
+    }
+
+    #endregion // Taints
+
     #region Vehicles
 
     public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
@@ -916,7 +1047,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return (float)s.m_maxUpdatesPerFrame; },
             (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
         new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
-            100f,
+            500f,
             (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
             (s) => { return (float)s.m_taintsToProcessPerStep; },
             (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
@@ -970,49 +1101,49 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
         new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
             0f,
             (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularDamping; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
         new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
             0.2f,
             (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].deactivationTime; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linearSleepingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
             1.0f,
             (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].angularSleepingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
+            (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
         new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
             0f,     // set to zero to disable
             (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].ccdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].contactProcessingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
+            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
 
         new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.5f,
@@ -1107,6 +1238,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].numberOfSolverIterations; },
             (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
 
+	    new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
+            (float)BSLinkset.LinksetImplementation.Compound,
+            (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return s.m_params[0].linksetImplementation; },
+            (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
 	    new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
             ConfigurationParameters.numericFalse,
             (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
@@ -1128,12 +1264,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
             (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
 	    new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.001f,
+            0.1f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintCFM; },
             (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
 	    new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.8f,
+            0.1f,
             (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].linkConstraintERP; },
             (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
@@ -1259,7 +1395,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     // If the local ID is APPLY_TO_NONE, just change the default value
     // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
     // If the localID is a specific object, apply the parameter change to only that object
-    protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
+    private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
     {
         List<uint> objectIDs = new List<uint>();
         switch (localID)
@@ -1284,7 +1420,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
     }
 
     // schedule the actual updating of the paramter to when the phys engine is not busy
-    protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
+    private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
     {
         float xval = val;
         List<uint> xlIDs = lIDs;
@@ -1326,11 +1462,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     #endregion Runtime settable parameters
 
+    // Debugging routine for dumping detailed physical information for vehicle prims
+    private void DumpVehicles()
+    {
+        foreach (BSPrim prim in m_vehicles)
+        {
+            BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
+            BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
+        }
+    }
+
     // Invoke the detailed logger and output something if it's enabled.
     public void DetailLog(string msg, params Object[] args)
     {
         PhysicsLogging.Write(msg, args);
-        // Add the Flush() if debugging crashes to get all the messages written out.
+        // Add the Flush() if debugging crashes. Gets all the messages written out.
         // PhysicsLogging.Flush();
     }
     // Used to fill in the LocalID when there isn't one. It's the correct number of characters.

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -34,11 +34,11 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSShapeCollection : IDisposable
+public sealed class BSShapeCollection : IDisposable
 {
     private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
 
-    protected BSScene PhysicsScene { get; set; }
+    private BSScene PhysicsScene { get; set; }
 
     private Object m_collectionActivityLock = new Object();
 
@@ -48,6 +48,7 @@ public class BSShapeCollection : IDisposable
         public IntPtr ptr;
         public int referenceCount;
         public DateTime lastReferenced;
+        public UInt64 shapeKey;
     }
 
     // Description of a hull.
@@ -57,6 +58,7 @@ public class BSShapeCollection : IDisposable
         public IntPtr ptr;
         public int referenceCount;
         public DateTime lastReferenced;
+        public UInt64 shapeKey;
     }
 
     // The sharable set of meshes and hulls. Indexed by their shape hash.
@@ -90,9 +92,10 @@ public class BSShapeCollection : IDisposable
     //    remove the physical constraints before the body is destroyed.
     // Called at taint-time!!
     public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
-                    ShapeData shapeData, PrimitiveBaseShape pbs,
                     ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
     {
+        PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
+
         bool ret = false;
 
         // This lock could probably be pushed down lower but building shouldn't take long
@@ -100,41 +103,38 @@ public class BSShapeCollection : IDisposable
         {
             // Do we have the correct geometry for this type of object?
             // Updates prim.BSShape with information/pointers to shape.
-            // CreateGeom returns 'true' of BSShape as changed to a new shape.
-            bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
+            // Returns 'true' of BSShape is changed to a new shape.
+            bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
             // If we had to select a new shape geometry for the object,
             //    rebuild the body around it.
             // Updates prim.BSBody with information/pointers to requested body
+            // Returns 'true' if BSBody was changed.
             bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
-                                    prim.BSShape, shapeData, bodyCallback);
+                                    prim.PhysShape, bodyCallback);
             ret = newGeom || newBody;
         }
-        DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
-                                prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
+        DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
+                                prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
 
         return ret;
     }
 
-    // Track another user of a body
+    // Track another user of a body.
     // We presume the caller has allocated the body.
     // Bodies only have one user so the body is just put into the world if not already there.
     public void ReferenceBody(BulletBody body, bool inTaintTime)
     {
         lock (m_collectionActivityLock)
         {
-            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
-            BSScene.TaintCallback createOperation = delegate()
+            DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
+            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
             {
                 if (!BulletSimAPI.IsInWorld2(body.ptr))
                 {
                     BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
                     DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
                 }
-            };
-            if (inTaintTime)
-                createOperation();
-            else
-                PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
+            });
         }
     }
 
@@ -147,25 +147,23 @@ public class BSShapeCollection : IDisposable
 
         lock (m_collectionActivityLock)
         {
-            BSScene.TaintCallback removeOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
             {
-                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
-                                            body.ID, body.ptr.ToString("X"), inTaintTime);
+                DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
+                                            body.ID, body, inTaintTime);
                 // If the caller needs to know the old body is going away, pass the event up.
                 if (bodyCallback != null) bodyCallback(body);
 
-                // It may have already been removed from the world in which case the next is a NOOP.
+                if (BulletSimAPI.IsInWorld2(body.ptr))
+                {
                     BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                    DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
+                }
 
                 // Zero any reference to the shape so it is not freed when the body is deleted.
                 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
                 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
-            };
-            // If already in taint-time, do the operations now. Otherwise queue for later.
-            if (inTaintTime)
-                removeOperation();
-            else
-                PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
+            });
         }
     }
 
@@ -175,7 +173,7 @@ public class BSShapeCollection : IDisposable
     // Meshes and hulls for the same shape have the same hash key.
     // NOTE that native shapes are not added to the mesh list or removed.
     // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
-    private bool ReferenceShape(BulletShape shape)
+    public bool ReferenceShape(BulletShape shape)
     {
         bool ret = false;
         switch (shape.type)
@@ -193,6 +191,7 @@ public class BSShapeCollection : IDisposable
                 {
                     // This is a new reference to a mesh
                     meshDesc.ptr = shape.ptr;
+                    meshDesc.shapeKey = shape.shapeKey;
                     // We keep a reference to the underlying IMesh data so a hull can be built
                     meshDesc.referenceCount = 1;
                     DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
@@ -215,6 +214,7 @@ public class BSShapeCollection : IDisposable
                 {
                     // This is a new reference to a hull
                     hullDesc.ptr = shape.ptr;
+                    hullDesc.shapeKey = shape.shapeKey;
                     hullDesc.referenceCount = 1;
                     DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
                                 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
@@ -239,7 +239,7 @@ public class BSShapeCollection : IDisposable
         if (shape.ptr == IntPtr.Zero)
             return;
 
-        BSScene.TaintCallback dereferenceOperation = delegate()
+        PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
         {
             if (shape.ptr != IntPtr.Zero)
             {
@@ -261,6 +261,9 @@ public class BSShapeCollection : IDisposable
                         case ShapeData.PhysicsShapeType.SHAPE_MESH:
                             DereferenceMesh(shape, shapeCallback);
                             break;
+                        case ShapeData.PhysicsShapeType.SHAPE_COMPOUND:
+                            DereferenceCompound(shape, shapeCallback);
+                            break;
                         case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
                             break;
                         default:
@@ -268,18 +271,7 @@ public class BSShapeCollection : IDisposable
                     }
                 }
             }
-        };
-        if (inTaintTime)
-        {
-            lock (m_collectionActivityLock)
-            {
-                dereferenceOperation();
-            }
-        }
-        else
-        {
-            PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
-        }
+        });
     }
 
     // Count down the reference count for a mesh shape
@@ -294,8 +286,8 @@ public class BSShapeCollection : IDisposable
             if (shapeCallback != null) shapeCallback(shape);
             meshDesc.lastReferenced = System.DateTime.Now;
             Meshes[shape.shapeKey] = meshDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
-                    BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
+            DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
+                                BSScene.DetailLogZero, shape, meshDesc.referenceCount);
 
         }
     }
@@ -309,11 +301,94 @@ public class BSShapeCollection : IDisposable
         {
             hullDesc.referenceCount--;
             // TODO: release the Bullet storage (aging old entries?)
+
+            // Tell upper layers that, if they have dependencies on this shape, this link is going away
             if (shapeCallback != null) shapeCallback(shape);
+
             hullDesc.lastReferenced = System.DateTime.Now;
             Hulls[shape.shapeKey] = hullDesc;
-            DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
-                    BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
+            DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
+                    BSScene.DetailLogZero, shape, hullDesc.referenceCount);
+        }
+    }
+
+    // Remove a reference to a compound shape.
+    // Taking a compound shape apart is a little tricky because if you just delete the
+    //      physical shape, it will free all the underlying children. We can't do that because
+    //      they could be shared. So, this removes each of the children from the compound and
+    //      dereferences them separately before destroying the compound collision object itself.
+    // Called at taint-time.
+    private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
+    {
+        if (!BulletSimAPI.IsCompound2(shape.ptr))
+        {
+            // Failed the sanity check!!
+            PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
+                                        LogHeader, shape.type, shape.ptr.ToString("X"));
+            DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
+                                        BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X"));
+            return;
+        }
+
+        int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
+        DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
+
+        for (int ii = numChildren - 1; ii >= 0; ii--)
+        {
+            IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
+            DereferenceAnonCollisionShape(childShape);
+        }
+        BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
+    }
+
+    // Sometimes we have a pointer to a collision shape but don't know what type it is.
+    // Figure out type and call the correct dereference routine.
+    // Called at taint-time.
+    private void DereferenceAnonCollisionShape(IntPtr cShape)
+    {
+        MeshDesc meshDesc;
+        HullDesc hullDesc;
+
+        BulletShape shapeInfo = new BulletShape(cShape);
+        if (TryGetMeshByPtr(cShape, out meshDesc))
+        {
+            shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH;
+            shapeInfo.shapeKey = meshDesc.shapeKey;
+        }
+        else
+        {
+            if (TryGetHullByPtr(cShape, out hullDesc))
+            {
+                shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL;
+                shapeInfo.shapeKey = hullDesc.shapeKey;
+            }
+            else
+            {
+                if (BulletSimAPI.IsCompound2(cShape))
+                {
+                    shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
+                }
+                else
+                {
+                    if (BulletSimAPI.IsNativeShape2(cShape))
+                    {
+                        shapeInfo.isNativeShape = true;
+                        shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
+                    }
+                }
+            }
+        }
+
+        DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
+
+        if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN)
+        {
+            DereferenceShape(shapeInfo, true, null);
+        }
+        else
+        {
+            PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
+                                    LogHeader, PhysicsScene.RegionName, cShape.ToString("X"));
         }
     }
 
@@ -325,22 +400,46 @@ public class BSShapeCollection : IDisposable
     // Info in prim.BSShape is updated to the new shape.
     // Returns 'true' if the geometry was rebuilt.
     // Called at taint-time!
-    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
-                            PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
+    private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        bool ret = false;
+        bool haveShape = false;
+
+        if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
+                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
+            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
+            ret = true;
+            haveShape = true;
+        }
+
+        // Compound shapes are handled special as they are rebuilt from scratch.
+        // This isn't too great a hardship since most of the child shapes will already been created.
+        if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
+        {
+            ret = GetReferenceToCompoundShape(prim, shapeCallback);
+            DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
+            haveShape = true;
+        }
+
+        if (!haveShape)
+        {
+            ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
+        }
+
+        return ret;
+    }
+
+    // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
+    private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         bool ret = false;
         bool haveShape = false;
         bool nativeShapePossible = true;
+        PrimitiveBaseShape pbs = prim.BaseShape;
 
-        if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
-        {
-            // an avatar capsule is close to a native shape (it is not shared)
-            ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
-                            ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
-            DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
-            ret = true;
-            haveShape = true;
-        }
         // If the prim attributes are simple, this could be a simple Bullet native shape
         if (!haveShape
                 && pbs != null
@@ -354,98 +453,110 @@ public class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
+            // It doesn't look like Bullet scales spheres so make sure the scales are all equal
             if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
                                 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != shapeData.Size
-                        || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
+                        || prim.Scale != prim.Size
+                        || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
                         )
                 {
-                    ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
+                    ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
                                             ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
                     DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.BSShape);
+                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
             }
-            if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
+            if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != shapeData.Size
-                        || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
+                        || prim.Scale != prim.Size
+                        || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
                         )
                 {
-                    ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
+                    ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX,
                                             ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
                     DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
-                                        prim.LocalID, forceRebuild, prim.BSShape);
+                                        prim.LocalID, forceRebuild, prim.PhysShape);
                 }
             }
         }
+
         // If a simple shape is not happening, create a mesh and possibly a hull.
-        // Note that if it's a native shape, the check for physical/non-physical is not
-        //     made. Native shapes are best used in either case.
         if (!haveShape && pbs != null)
         {
+            ret = CreateGeomMeshOrHull(prim, shapeCallback);
+        }
+
+        return ret;
+    }
+
+    public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+
+        bool ret = false;
+        // Note that if it's a native shape, the check for physical/non-physical is not
+        //     made. Native shapes work in either case.
         if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
         {
             // Update prim.BSShape to reference a hull of this shape.
-                ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
+            ret = GetReferenceToHull(prim,shapeCallback);
             DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
-                                        shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
+                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
         }
         else
         {
-                ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
+            ret = GetReferenceToMesh(prim, shapeCallback);
             DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
-                                        shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
-            }
+                                    prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
         }
         return ret;
     }
 
     // Creates a native shape and assignes it to prim.BSShape.
     // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
-    private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
+    private bool GetReferenceToNativeShape(BSPhysObject prim,
                             ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
                             ShapeDestructionCallback shapeCallback)
     {
         // release any previous shape
-        DereferenceShape(prim.BSShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        shapeData.Type = shapeType;
         // Bullet native objects are scaled by the Bullet engine so pass the size in
-        prim.Scale = shapeData.Size;
-        shapeData.Scale = shapeData.Size;
+        prim.Scale = prim.Size;
 
-        BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
+        BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
         DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
-                                shapeData.ID, newShape, shapeData.Scale);
+                                prim.LocalID, newShape, prim.Scale);
 
-        prim.BSShape = newShape;
+        prim.PhysShape = newShape;
         return true;
     }
 
-    private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
-                        ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
+    private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType,
+                                    ShapeData.FixedShapeKey shapeKey)
     {
         BulletShape newShape;
         // Need to make sure the passed shape information is for the native type.
-        ShapeData nativeShapeData = shapeData;
+        ShapeData nativeShapeData = new ShapeData();
         nativeShapeData.Type = shapeType;
+        nativeShapeData.ID = prim.LocalID;
+        nativeShapeData.Scale = prim.Scale;
+        nativeShapeData.Size = prim.Scale;
         nativeShapeData.MeshKey = (ulong)shapeKey;
         nativeShapeData.HullKey = (ulong)shapeKey;
 
         if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
         {
             newShape = new BulletShape(
-                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
+                        BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
                         , shapeType);
-            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
+            DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {
@@ -454,7 +565,7 @@ public class BSShapeCollection : IDisposable
         if (newShape.ptr == IntPtr.Zero)
         {
             PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
-                                    LogHeader, nativeShapeData.ID, nativeShapeData.Type);
+                                    LogHeader, prim.LocalID, shapeType);
         }
         newShape.shapeKey = (System.UInt64)shapeKey;
         newShape.isNativeShape = true;
@@ -466,33 +577,32 @@ public class BSShapeCollection : IDisposable
     // Dereferences previous shape in BSShape and adds a reference for this new shape.
     // Returns 'true' of a mesh was actually built. Otherwise .
     // Called at taint-time!
-    private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
-                                ShapeDestructionCallback shapeCallback)
+    private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape = new BulletShape(IntPtr.Zero);
 
         float lod;
-        System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
         // if this new shape is the same as last time, don't recreate the mesh
-        if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
+        if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
             return false;
 
-        DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
-                                prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
+        DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
+                                prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
 
         // Since we're recreating new, get rid of the reference to the previous shape
-        DereferenceShape(prim.BSShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
+        newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
         // Take evasive action if the mesh was not constructed.
-        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
+        newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
         // meshes are already scaled by the meshmerizer
         prim.Scale = new OMV.Vector3(1f, 1f, 1f);
-        prim.BSShape = newShape;
+        prim.PhysShape = newShape;
 
         return true;        // 'true' means a new shape has been added to this prim
     }
@@ -526,7 +636,7 @@ public class BSShapeCollection : IDisposable
                     verticesAsFloats[vi++] = vv.Z;
                 }
 
-                // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
+                // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
                 //                  LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
 
                 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
@@ -541,32 +651,31 @@ public class BSShapeCollection : IDisposable
 
     // See that hull shape exists in the physical world and update prim.BSShape.
     // We could be creating the hull because scale changed or whatever.
-    private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
-                                ShapeDestructionCallback shapeCallback)
+    private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
     {
         BulletShape newShape;
 
         float lod;
-        System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
+        System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
 
         // if the hull hasn't changed, don't rebuild it
-        if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
+        if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
             return false;
 
-        DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
-                        prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
+        DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
+                        prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
 
         // Remove usage of the previous shape.
-        DereferenceShape(prim.BSShape, true, shapeCallback);
+        DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
-        newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
+        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
+        newShape = VerifyMeshCreated(newShape, prim);
 
         ReferenceShape(newShape);
 
         // hulls are already scaled by the meshmerizer
         prim.Scale = new OMV.Vector3(1f, 1f, 1f);
-        prim.BSShape = newShape;
+        prim.PhysShape = newShape;
         return true;        // 'true' means a new shape has been added to this prim
     }
 
@@ -685,9 +794,31 @@ public class BSShapeCollection : IDisposable
         return;
     }
 
+    // Compound shapes are always built from scratch.
+    // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
+    private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
+    {
+        // Remove reference to the old shape
+        // Don't need to do this as the shape is freed when the new root shape is created below.
+        // DereferenceShape(prim.PhysShape, true, shapeCallback);
+
+        BulletShape cShape = new BulletShape(
+            BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND);
+
+        // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
+        CreateGeomMeshOrHull(prim, shapeCallback);
+        BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
+        DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
+                                    prim.LocalID, cShape, prim.PhysShape);
+
+        prim.PhysShape = cShape;
+
+        return true;
+    }
+
     // Create a hash of all the shape parameters to be used as a key
     //    for this particular shape.
-    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
+    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
     {
         // level of detail based on size and type of the object
         float lod = PhysicsScene.MeshLOD;
@@ -695,40 +826,40 @@ public class BSShapeCollection : IDisposable
             lod = PhysicsScene.SculptLOD;
 
         // Mega prims usually get more detail because one can interact with shape approximations at this size.
-        float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
+        float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
         if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
             lod = PhysicsScene.MeshMegaPrimLOD;
 
         retLod = lod;
-        return pbs.GetMeshKey(shapeData.Size, lod);
+        return pbs.GetMeshKey(size, lod);
     }
     // For those who don't want the LOD
-    private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
+    private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
     {
         float lod;
-        return ComputeShapeKey(shapeData, pbs, out lod);
+        return ComputeShapeKey(size, pbs, out lod);
     }
 
     // The creation of a mesh or hull can fail if an underlying asset is not available.
     // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
-    //     and 2) the asset cannot be converted (like decompressing JPEG2000s).
-    //     The first case causes the asset to be fetched. The second case just requires
+    //     and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
+    //     The first case causes the asset to be fetched. The second case requires
     //     us to not loop forever.
     // Called after creating a physical mesh or hull. If the physical shape was created,
     //     just return.
-    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
+    private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
     {
         // If the shape was successfully created, nothing more to do
         if (newShape.ptr != IntPtr.Zero)
             return newShape;
 
         // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
-        if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
+        if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
         {
             prim.LastAssetBuildFailed = true;
             BSPhysObject xprim = prim;
             DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
-                            LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
+                            LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
             Util.FireAndForget(delegate
                 {
                     RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@@ -745,7 +876,7 @@ public class BSShapeCollection : IDisposable
                             yprim.BaseShape.SculptData = asset.Data;
                             // This will cause the prim to see that the filler shape is not the right
                             //    one and try again to build the object.
-                            // No race condition with the native sphere setting since the rebuild is at taint time.
+                            // No race condition with the normal shape setting since the rebuild is at taint time.
                             yprim.ForceBodyShapeRebuild(false);
 
                         });
@@ -757,13 +888,13 @@ public class BSShapeCollection : IDisposable
             if (prim.LastAssetBuildFailed)
             {
                 PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
-                                            LogHeader, shapeData.ID, pbs.SculptTexture);
+                                            LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
             }
         }
 
         // While we figure out the real problem, stick a simple native shape on the object.
         BulletShape fillinShape =
-            BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
+            BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
 
         return fillinShape;
     }
@@ -773,18 +904,18 @@ public class BSShapeCollection : IDisposable
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
     private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
-                            ShapeData shapeData, BodyDestructionCallback bodyCallback)
+                            BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
         // the mesh, hull or native shape must have already been created in Bullet
-        bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
+        bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero);
 
         // If there is an existing body, verify it's of an acceptable type.
         // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
         if (!mustRebuild)
         {
-            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
+            CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
             if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
                 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
             {
@@ -796,27 +927,27 @@ public class BSShapeCollection : IDisposable
         if (mustRebuild || forceRebuild)
         {
             // Free any old body
-            DereferenceBody(prim.BSBody, true, bodyCallback);
+            DereferenceBody(prim.PhysBody, true, bodyCallback);
 
             BulletBody aBody;
             IntPtr bodyPtr = IntPtr.Zero;
             if (prim.IsSolid)
             {
                 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
-                                        shapeData.ID, shapeData.Position, shapeData.Rotation);
+                                        prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
             else
             {
                 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
-                                        shapeData.ID, shapeData.Position, shapeData.Rotation);
+                                        prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
                 DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
             }
-            aBody = new BulletBody(shapeData.ID, bodyPtr);
+            aBody = new BulletBody(prim.LocalID, bodyPtr);
 
             ReferenceBody(aBody, true);
 
-            prim.BSBody = aBody;
+            prim.PhysBody = aBody;
 
             ret = true;
         }
@@ -824,6 +955,42 @@ public class BSShapeCollection : IDisposable
         return ret;
     }
 
+    private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc)
+    {
+        bool ret = false;
+        MeshDesc foundDesc = new MeshDesc();
+        foreach (MeshDesc md in Meshes.Values)
+        {
+            if (md.ptr == addr)
+            {
+                foundDesc = md;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
+    private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc)
+    {
+        bool ret = false;
+        HullDesc foundDesc = new HullDesc();
+        foreach (HullDesc hd in Hulls.Values)
+        {
+            if (hd.ptr == addr)
+            {
+                foundDesc = hd;
+                ret = true;
+                break;
+            }
+
+        }
+        outDesc = foundDesc;
+        return ret;
+    }
+
     private void DetailLog(string msg, params Object[] args)
     {
         if (PhysicsScene.PhysicsLogging.Enabled)

OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs

@@ -0,0 +1,213 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSShape
+{
+    public IntPtr ptr { get; set; }
+    public ShapeData.PhysicsShapeType type { get; set; }
+    public System.UInt64 key { get; set; }
+    public int referenceCount { get; set; }
+    public DateTime lastReferenced { get; set; }
+
+    protected void Initialize()
+    {
+        ptr = IntPtr.Zero;
+        type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
+        key = 0;
+        referenceCount = 0;
+        lastReferenced = DateTime.Now;
+    }
+
+    // Get a reference to a physical shape. Create if it doesn't exist
+    public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        BSShape ret = null;
+
+        if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            // an avatar capsule is close to a native shape (it is not shared)
+            ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
+                                        ShapeData.FixedShapeKey.KEY_CAPSULE);
+            physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
+        }
+
+        // Compound shapes are handled special as they are rebuilt from scratch.
+        // This isn't too great a hardship since most of the child shapes will already been created.
+        if (ret == null  && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
+        {
+            // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
+            ret = BSShapeCompound.GetReference(prim);
+            physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
+        }
+
+        if (ret == null)
+            ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
+
+        return ret;
+    }
+    public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        return null;
+    }
+    public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
+    {
+        return null;
+    }
+
+    // Release the use of a physical shape.
+    public abstract void Dereference(BSScene physicsScene);
+
+    // All shapes have a static call to get a reference to the physical shape
+    // protected abstract static BSShape GetReference();
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<p=");
+        buff.Append(ptr.ToString("X"));
+        buff.Append(",s=");
+        buff.Append(type.ToString());
+        buff.Append(",k=");
+        buff.Append(key.ToString("X"));
+        buff.Append(",c=");
+        buff.Append(referenceCount.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
+}
+
+public class BSShapeNull : BSShape
+{
+    public BSShapeNull()
+    {
+        base.Initialize();
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
+}
+
+public class BSShapeNative : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
+    public BSShapeNative()
+    {
+        base.Initialize();
+    }
+    public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, 
+                    ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) 
+    {
+        // Native shapes are not shared and are always built anew.
+        return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
+    }
+
+    private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
+                    ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
+    {
+        ShapeData nativeShapeData = new ShapeData();
+        nativeShapeData.Type = shapeType;
+        nativeShapeData.ID = prim.LocalID;
+        nativeShapeData.Scale = prim.Scale;
+        nativeShapeData.Size = prim.Scale;
+        nativeShapeData.MeshKey = (ulong)shapeKey;
+        nativeShapeData.HullKey = (ulong)shapeKey;
+
+       
+        if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
+        {
+            ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+            physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+        }
+        else
+        {
+            ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
+        }
+        if (ptr == IntPtr.Zero)
+        {
+            physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
+                                    LogHeader, prim.LocalID, shapeType);
+        }
+        type = shapeType;
+        key = (UInt64)shapeKey;
+    }
+    // Make this reference to the physical shape go away since native shapes are not shared.
+    public override void Dereference(BSScene physicsScene)
+    {
+        // Native shapes are not tracked and are released immediately
+        physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
+        BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
+        ptr = IntPtr.Zero;
+        // Garbage collection will free up this instance.
+    }
+}
+
+public class BSShapeMesh : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE MESH]";
+    private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
+
+    public BSShapeMesh()
+    {
+        base.Initialize();
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { }
+}
+
+public class BSShapeHull : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE HULL]";
+    private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
+
+    public BSShapeHull()
+    {
+        base.Initialize();
+    }
+    public static BSShape GetReference() { return new BSShapeNull();  }
+    public override void Dereference(BSScene physicsScene) { }
+}
+
+public class BSShapeCompound : BSShape
+{
+    private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
+    public BSShapeCompound()
+    {
+        base.Initialize();
+    }
+    public static BSShape GetReference(BSPhysObject prim) 
+    { 
+        return new BSShapeNull();
+    }
+    public override void Dereference(BSScene physicsScene) { }
+}
+}

OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs

@@ -40,7 +40,7 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public class BSTerrainManager
+public sealed class BSTerrainManager
 {
     static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
 
@@ -238,7 +238,7 @@ public class BSTerrainManager
             DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
                         BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
 
-            BSScene.TaintCallback rebuildOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate()
             {
                 if (MegaRegionParentPhysicsScene != null)
                 {
@@ -337,14 +337,7 @@ public class BSTerrainManager
                 BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
 
                 m_terrainModified = true;
-            };
-
-            // There is the option to do the changes now (we're already in 'taint time'), or
-            //     to do the Bullet operations later.
-            if (inTaintTime)
-                rebuildOperation();
-            else
-                PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
+            });
         }
         else
         {
@@ -364,7 +357,7 @@ public class BSTerrainManager
                             BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
 
             // Code that must happen at taint-time
-            BSScene.TaintCallback createOperation = delegate()
+            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate()
             {
                 DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
                 // Create a new mapInfo that will be filled with the new info
@@ -377,13 +370,7 @@ public class BSTerrainManager
                 UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
 
                 m_terrainModified = true;
-            };
-
-            // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
-            if (inTaintTime)
-                createOperation();
-            else
-                PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
+            });
         }
     }
 

OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs

@@ -194,6 +194,7 @@ public struct ShapeData
         // following defined by BulletSim
 		SHAPE_GROUNDPLANE  = 20,
 		SHAPE_TERRAIN   = 21,
+		SHAPE_COMPOUND  = 22,
     };
     public uint ID;
     public PhysicsShapeType Type;
@@ -299,6 +300,7 @@ public struct ConfigurationParameters
 	public float shouldEnableFrictionCaching;
 	public float numberOfSolverIterations;
 
+    public float linksetImplementation;
     public float linkConstraintUseFrameOffset;
     public float linkConstraintEnableTransMotor;
     public float linkConstraintTransMotorMaxVel;
@@ -378,6 +380,7 @@ public enum CollisionFilterGroups : uint
     BTerrainFilter           = 1 << 11,
     BRaycastFilter           = 1 << 12,
     BSolidFilter             = 1 << 13,
+    BLinksetFilter           = 1 << 14,
 
     // The collsion filters and masked are defined in one place -- don't want them scattered
     AvatarFilter            = BCharacterFilter,
@@ -386,6 +389,8 @@ public enum CollisionFilterGroups : uint
     ObjectMask              = BAllFilter,
     StaticObjectFilter      = BStaticFilter,
     StaticObjectMask        = BAllFilter,
+    LinksetFilter           = BLinksetFilter,
+    LinksetMask             = BAllFilter & ~BLinksetFilter,
     VolumeDetectFilter      = BSensorTrigger,
     VolumeDetectMask        = ~BSensorTrigger,
     TerrainFilter           = BTerrainFilter,
@@ -395,8 +400,6 @@ public enum CollisionFilterGroups : uint
 
 };
 
-
-
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
 public enum ConstraintParams : int
@@ -611,13 +614,25 @@ public static extern bool IsNativeShape2(IntPtr shape);
 public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim);
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
@@ -881,10 +896,10 @@ public static extern float GetCcdMotionThreshold2(IntPtr obj);
 public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr GetUserPointer2(IntPtr obj);
@@ -906,6 +921,12 @@ public static extern Vector3 GetGravity2(IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern float GetLinearDamping2(IntPtr obj);
 

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -257,6 +257,12 @@ namespace OpenSim.Region.Physics.Manager
         /// Getting this returns the velocity calculated by physics scene updates, using factors such as target velocity,
         /// time to accelerate and collisions.
         /// </remarks>
+        public virtual Vector3 TargetVelocity
+        {
+            get { return Velocity; }
+            set { Velocity = value; }
+        }
+
         public abstract Vector3 Velocity { get; set; }
 
         public abstract Vector3 Torque { get; set; }

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -661,6 +661,20 @@ namespace OpenSim.Region.Physics.OdePlugin
             set { return; }
         }
 
+        public override Vector3 TargetVelocity
+        {
+            get
+            {
+                return m_taintTargetVelocity;
+            }
+
+            set
+            {
+                Velocity = value;
+            }
+        }
+
+
         public override Vector3 Velocity
         {
             get

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs

@@ -3963,17 +3963,17 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
 
                 if (m_TransferModule != null)
                 {
-                    byte[] bucket = new byte[] { (byte)item.Type };
+                    byte[] bucket = new byte[1];
+                    bucket[0] = (byte)item.Type;
 
                     GridInstantMessage msg = new GridInstantMessage(World,
-                            m_host.UUID, m_host.Name + ", an object owned by " +
-                            resolveName(m_host.OwnerID) + ",", destId,
+                            m_host.OwnerID, m_host.Name, destId,
                             (byte)InstantMessageDialog.TaskInventoryOffered,
-                            false, item.Name + "\n" + m_host.Name + " is located at " +
+                            false, item.Name+". "+m_host.Name+" is located at "+
                             World.RegionInfo.RegionName+" "+
                             m_host.AbsolutePosition.ToString(),
                             agentItem.ID, true, m_host.AbsolutePosition,
-                            bucket, true); // TODO: May actually send no timestamp
+                            bucket, true);
 
                     m_TransferModule.SendInstantMessage(msg, delegate(bool success) {});
                 }

OpenSim/Server/Handlers/Asset/AssetServerConnector.cs

@@ -67,10 +67,25 @@ namespace OpenSim.Server.Handlers.Asset
                 throw new Exception(String.Format("Failed to load AssetService from {0}; config is {1}", assetService, m_ConfigName));
 
             bool allowDelete = serverConfig.GetBoolean("AllowRemoteDelete", false);
+            bool allowDeleteAllTypes = serverConfig.GetBoolean("AllowRemoteDeleteAllTypes", false);
+
+            AllowedRemoteDeleteTypes allowedRemoteDeleteTypes;
+
+            if (!allowDelete)
+            {
+                allowedRemoteDeleteTypes = AllowedRemoteDeleteTypes.None;
+            }
+            else
+            {
+                if (allowDeleteAllTypes)
+                    allowedRemoteDeleteTypes = AllowedRemoteDeleteTypes.All;
+                else
+                    allowedRemoteDeleteTypes = AllowedRemoteDeleteTypes.MapTile;
+            }
 
             server.AddStreamHandler(new AssetServerGetHandler(m_AssetService));
             server.AddStreamHandler(new AssetServerPostHandler(m_AssetService));
-            server.AddStreamHandler(new AssetServerDeleteHandler(m_AssetService, allowDelete));
+            server.AddStreamHandler(new AssetServerDeleteHandler(m_AssetService, allowedRemoteDeleteTypes));
 
             MainConsole.Instance.Commands.AddCommand("Assets", false,
                     "show asset",

OpenSim/Server/Handlers/Asset/AssetServerDeleteHandler.cs

@@ -42,18 +42,32 @@ using OpenSim.Framework.Servers.HttpServer;
 
 namespace OpenSim.Server.Handlers.Asset
 {
+    /// <summary>
+    /// Remote deletes allowed.
+    /// </summary>
+    public enum AllowedRemoteDeleteTypes
+    {
+        None,
+        MapTile,
+        All
+    }
+
     public class AssetServerDeleteHandler : BaseStreamHandler
     {
-        // private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
 
         private IAssetService m_AssetService;
-        protected bool m_allowDelete;
 
-        public AssetServerDeleteHandler(IAssetService service, bool allowDelete) :
+        /// <summary>
+        /// Asset types that can be deleted remotely.
+        /// </summary>
+        private AllowedRemoteDeleteTypes m_allowedTypes;
+
+        public AssetServerDeleteHandler(IAssetService service, AllowedRemoteDeleteTypes allowedTypes) :
                 base("DELETE", "/assets")
         {
             m_AssetService = service;
-            m_allowDelete = allowDelete;
+            m_allowedTypes = allowedTypes;
         }
 
         public override byte[] Handle(string path, Stream request,
@@ -63,9 +77,28 @@ namespace OpenSim.Server.Handlers.Asset
 
             string[] p = SplitParams(path);
 
-            if (p.Length > 0 && m_allowDelete)
+            if (p.Length > 0)
             {
-                result = m_AssetService.Delete(p[0]);
+                if (m_allowedTypes != AllowedRemoteDeleteTypes.None)
+                {
+                    string assetID = p[0];
+
+                    AssetBase asset = m_AssetService.Get(assetID);
+                    if (asset != null)
+                    {
+                        if (m_allowedTypes == AllowedRemoteDeleteTypes.All
+                            || (int)(asset.Flags & AssetFlags.Maptile) != 0)
+                        {
+                            result = m_AssetService.Delete(assetID);
+                        }
+                        else
+                        {
+                            m_log.DebugFormat(
+                                "[ASSET SERVER DELETE HANDLER]: Request to delete asset {0}, but type is {1} and allowed remote delete types are {2}",
+                                assetID, (AssetFlags)asset.Flags, m_allowedTypes);
+                        }
+                    }
+                }
             }
 
             XmlSerializer xs = new XmlSerializer(typeof(bool));

OpenSim/Services/AssetService/AssetService.cs

@@ -70,7 +70,7 @@ namespace OpenSim.Services.AssetService
 
                     if (assetLoaderEnabled)
                     {
-                        m_log.DebugFormat("[ASSET]: Loading default asset set from {0}", loaderArgs);
+                        m_log.DebugFormat("[ASSET SERVICE]: Loading default asset set from {0}", loaderArgs);
 
                         m_AssetLoader.ForEachDefaultXmlAsset(
                             loaderArgs,
@@ -197,20 +197,7 @@ namespace OpenSim.Services.AssetService
             if (!UUID.TryParse(id, out assetID))
                 return false;
 
-            AssetBase asset = m_Database.GetAsset(assetID);
-            if (asset == null)
-                return false;
-
-            if ((int)(asset.Flags & AssetFlags.Maptile) != 0)
-            {
             return m_Database.Delete(id);
         }
-            else
-            {
-                m_log.DebugFormat("[ASSET SERVICE]: Request to delete asset {0}, but flags are not Maptile", id);
-            }
-
-            return false;
-        }
     }
 }

OpenSim/Services/AssetService/XAssetService.cs

@@ -194,21 +194,7 @@ namespace OpenSim.Services.AssetService
             if (!UUID.TryParse(id, out assetID))
                 return false;
 
-            AssetBase asset = m_Database.GetAsset(assetID);
-            if (asset == null)
-                return false;
-
-            if ((int)(asset.Flags & AssetFlags.Maptile) != 0)
-            {
             return m_Database.Delete(id);
         }
-            else
-            {
-                m_log.DebugFormat("[XASSET SERVICE]: Request to delete asset {0}, but flags are not Maptile", id);
-            }
-
-            return false;
-        }
     }
 }
-

OpenSim/Services/Connectors/Hypergrid/GatekeeperServiceConnector.cs

@@ -321,7 +321,7 @@ namespace OpenSim.Services.Connectors.Hypergrid
                 args["destination_uuid"] = OSD.FromString(destination.RegionID.ToString());
                 args["teleport_flags"] = OSD.FromString(flags.ToString());
 
-                OSDMap result = WebUtil.PostToService(uri, args, 20000);
+                OSDMap result = WebUtil.PostToService(uri, args, 80000);
                 if (result["Success"].AsBoolean())
                 {
                     OSDMap unpacked = (OSDMap)result["_Result"];

OpenSim/Services/HypergridService/GatekeeperService.cs

@@ -68,6 +68,7 @@ namespace OpenSim.Services.HypergridService
         private static UUID m_ScopeID;
         private static bool m_AllowTeleportsToAnyRegion;
         private static string m_ExternalName;
+        private static Uri m_Uri;
         private static GridRegion m_DefaultGatewayRegion;
 
         public GatekeeperService(IConfigSource config, ISimulationService simService)
@@ -99,6 +100,15 @@ namespace OpenSim.Services.HypergridService
                 if (m_ExternalName != string.Empty && !m_ExternalName.EndsWith("/"))
                     m_ExternalName = m_ExternalName + "/";
 
+                try
+                {
+                    m_Uri = new Uri(m_ExternalName);
+                }
+                catch
+                {
+                    m_log.WarnFormat("[GATEKEEPER SERVICE]: Malformed gatekeeper address {0}", m_ExternalName);
+                }
+
                 Object[] args = new Object[] { config };
                 m_GridService = ServerUtils.LoadPlugin<IGridService>(gridService, args);
                 m_PresenceService = ServerUtils.LoadPlugin<IPresenceService>(presenceService, args);
@@ -433,7 +443,18 @@ namespace OpenSim.Services.HypergridService
             string externalname = m_ExternalName.TrimEnd(trailing_slash);
             m_log.DebugFormat("[GATEKEEPER SERVICE]: Verifying {0} against {1}", addressee, externalname);
 
-            return string.Equals(addressee, externalname, StringComparison.OrdinalIgnoreCase);
+            Uri uri;
+            try
+            {
+                uri = new Uri(addressee);
+            }
+            catch
+            {
+                m_log.DebugFormat("[GATEKEEPER SERVICE]: Visitor provided malformed service address {0}", addressee);
+                return false;
+            }
+
+            return string.Equals(uri.GetLeftPart(UriPartial.Authority), m_Uri.GetLeftPart(UriPartial.Authority), StringComparison.OrdinalIgnoreCase) ;
         }
 
         #endregion

OpenSim/Services/HypergridService/HGSuitcaseInventoryService.cs

@@ -71,7 +71,7 @@ namespace OpenSim.Services.HypergridService
                 m_ConfigName = configName;
 
             if (m_Database == null)
-                m_log.WarnFormat("[XXX]: m_Database is null!");
+                m_log.ErrorFormat("[HG SUITCASE INVENTORY SERVICE]: m_Database is null!");
 
             //
             // Try reading the [InventoryService] section, if it exists
@@ -301,7 +301,7 @@ namespace OpenSim.Services.HypergridService
 
         public override bool AddFolder(InventoryFolderBase folder)
         {
-            m_log.WarnFormat("[HG SUITCASE INVENTORY SERVICE]: AddFolder {0} {1}", folder.Name, folder.ParentID);
+            //m_log.WarnFormat("[HG SUITCASE INVENTORY SERVICE]: AddFolder {0} {1}", folder.Name, folder.ParentID);
             // Let's do a bit of sanity checking, more than the base service does
             // make sure the given folder's parent folder exists under the suitcase tree of this user
 
@@ -323,7 +323,7 @@ namespace OpenSim.Services.HypergridService
 
         public override bool UpdateFolder(InventoryFolderBase folder)
         {
-            m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: Update folder {0}, version {1}", folder.ID, folder.Version);
+            //m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: Update folder {0}, version {1}", folder.ID, folder.Version);
             if (!IsWithinSuitcaseTree(folder.Owner, folder.ID))
             {
                 m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: folder {0} not within Suitcase tree", folder.Name);
@@ -460,6 +460,15 @@ namespace OpenSim.Services.HypergridService
 
             if (folders != null && folders.Length > 0)
                 return folders[0];
+
+            // OK, so the RootFolder type didn't work. Let's look for any type with parent UUID.Zero.
+            folders = m_Database.GetFolders(
+                new string[] { "agentID", "folderName", "parentFolderID" },
+                new string[] { principalID.ToString(), "My Inventory", UUID.Zero.ToString() });
+
+            if (folders != null && folders.Length > 0)
+                return folders[0];
+
             return null;
         }
 
@@ -584,7 +593,7 @@ namespace OpenSim.Services.HypergridService
                 {
                     if (a.Wearables[i][j].ItemID == itemID)
                     {
-                        m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: item {0} is a wearable", itemID); 
+                        //m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: item {0} is a wearable", itemID); 
                         return true;
                     }
                 }
@@ -593,7 +602,7 @@ namespace OpenSim.Services.HypergridService
             // Check attachments
             if (a.GetAttachmentForItem(itemID) != null)
             {
-                m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: item {0} is an attachment", itemID); 
+                //m_log.DebugFormat("[HG SUITCASE INVENTORY SERVICE]: item {0} is an attachment", itemID); 
                 return true;
             }
 

OpenSim/Services/InventoryService/XInventoryService.cs

@@ -400,16 +400,7 @@ namespace OpenSim.Services.InventoryService
 
         public virtual bool MoveFolder(InventoryFolderBase folder)
         {
-            XInventoryFolder[] x = m_Database.GetFolders(
-                    new string[] { "folderID" },
-                    new string[] { folder.ID.ToString() });
-
-            if (x.Length == 0)
-                return false;
-
-            x[0].parentFolderID = folder.ParentID;
-
-            return m_Database.StoreFolder(x[0]);
+            return m_Database.MoveFolder(folder.ID.ToString(), folder.ParentID.ToString());
         }
 
         // We don't check the principal's ID here

OpenSim/Tests/Common/Mock/TestXInventoryDataPlugin.cs

@@ -125,6 +125,7 @@ namespace OpenSim.Tests.Common.Mock
         }
 
         public bool MoveItem(string id, string newParent) { throw new NotImplementedException(); }
+        public bool MoveFolder(string id, string newParent) { throw new NotImplementedException(); }
         public XInventoryItem[] GetActiveGestures(UUID principalID) { throw new NotImplementedException(); }
         public int GetAssetPermissions(UUID principalID, UUID assetID) { throw new NotImplementedException(); }
     }

ThirdPartyLicenses/Aurora-Sim.txt

@@ -0,0 +1,26 @@
+/*
+ * Copyright (c) Contributors, http://aurora-sim.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Aurora-Sim Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */

bin/Robust.HG.ini.example

@@ -484,8 +484,15 @@ IntegrationService = "8002/OpenSim.Server.Handlers.dll:IntegrationServiceConnect
 ; * 
 [HGInventoryService]
     ; For the InventoryServiceInConnector
-    LocalServiceModule = "OpenSim.Services.HypergridService.dll:HGInventoryService"
+    LocalServiceModule    = "OpenSim.Services.HypergridService.dll:HGSuitcaseInventoryService"
+	;; alternatives:
+	;;  HG1.5, more permissive, not recommended, but still supported
+    ;LocalServiceModule    = "OpenSim.Services.HypergridService.dll:HGInventoryService"
+	;;  HG1.0, totally permissive, not recommended, but OK for grids with 100% trust
+    ;LocalServiceModule    = "OpenSim.Services.InventoryService.dll:XInventoryService"
+
 	UserAccountsService = "OpenSim.Services.UserAccountService.dll:UserAccountService"
+	AvatarService = "OpenSim.Services.AvatarService.dll:AvatarService"
 	HomeURI = "http://127.0.0.1:8002"
 
 ; * The interface that local users get when they are in other grids.

bin/Robust.ini.example

@@ -77,7 +77,19 @@ IntegrationService = "8002/OpenSim.Server.Handlers.dll:IntegrationServiceConnect
     LocalServiceModule = "OpenSim.Services.AssetService.dll:AssetService"
     DefaultAssetLoader = "OpenSim.Framework.AssetLoader.Filesystem.dll"
     AssetLoaderArgs = "./assets/AssetSets.xml"
-    AllowRemoteDelete = "false"
+
+    ; Allow maptile assets to remotely deleted by remote calls to the asset service.
+    ; There is no harm in having this as false - it just means that historical maptile assets are not deleted.
+    ; This only applies to maptiles served via the version 1 viewer mechanisms
+    ; Default is false
+    AllowRemoteDelete = false
+
+    ; Allow all assets to be remotely deleted.
+    ; Only set this to true if you are operating a grid where you control all calls to the asset service
+    ; (where a necessary condition is that you control all simulators) and you need this for admin purposes.
+    ; If set to true, AllowRemoteDelete = true is required as well.
+    ; Default is false.
+    AllowRemoteDeleteAllTypes = false
 
 ; * This configuration loads the inventory server modules. It duplicates
 ; * the function of the legacy inventory server

bin/config-include/StandaloneCommon.ini.example

@@ -47,36 +47,6 @@
     DefaultAssetLoader = "OpenSim.Framework.AssetLoader.Filesystem.dll"
     AssetLoaderArgs = "assets/AssetSets.xml"
 
-[HGInventoryService]
-    HomeURI = "http://127.0.0.1:9000"
-
-[HGAssetService]
-    HomeURI = "http://127.0.0.1:9000"
-
-    ;; The asset types that this grid can export to / import from other grids.
-	;; Comma separated.
-	;; Valid values are all the asset types in OpenMetaverse.AssetType, namely:
-	;; Unknown, Texture, Sound, CallingCard, Landmark, Clothing, Object, Notecard, LSLText, 
-	;; LSLBytecode, TextureTGA, Bodypart, SoundWAV, ImageTGA, ImageJPEG, Animation, Gesture, Mesh 
-	;;
-	;; Leave blank or commented if you don't want to apply any restrictions.
-	;; A more strict, but still reasonable, policy may be to disallow the exchange 
-	;; of scripts, like so:
-    ; DisallowExport ="LSLText"
-    ; DisallowImport ="LSLBytecode"
-
-
-[HGInventoryAccessModule]
-    HomeURI = "http://127.0.0.1:9000"
-	Gatekeeper = "http://127.0.0.1:9000"
-
-    ;; If you want to protect your assets from being copied by foreign visitors
-    ;; uncomment the next line. You may want to do this on sims that have licensed content.
-    ; OutboundPermission = False
-
-[HGFriendsModule]
-    ; User level required to be able to send friendship invitations to foreign users
-    ;LevelHGFriends = 0;
 
 [GridService]
     ;; For in-memory region storage (default)
@@ -97,11 +67,6 @@
     ;; change this to the address of your simulator
     Gatekeeper="http://127.0.0.1:9000"
 
-[Messaging]
-    ; === HG ONLY ===
-    ;; change this to the address of your simulator
-    Gatekeeper = "http://127.0.0.1:9000"
-
 [LibraryModule]
     ; Set this if you want to change the name of the OpenSim Library
     ;LibraryName = "My World's Library"
@@ -140,41 +105,6 @@
     ;AllowedClients = ""
     ;DeniedClients = ""
 
-[GatekeeperService]
-    ExternalName = "http://127.0.0.1:9000"
-
-    ; Does this grid allow incoming links to any region in it?
-    ; If false, HG TPs happen only to the  Default regions specified in [GridService] section
-    AllowTeleportsToAnyRegion = true
-
-	;; Regular expressions for controlling which client versions are accepted/denied.
-	;; An empty string means nothing is checked.
-	;;
-	;; Example 1: allow only these 3 types of clients (any version of them)
-	;; AllowedClients = "Imprudence|Hippo|Second Life"
-	;;
-	;; Example 2: allow all clients except these
-	;; DeniedClients = "Twisted|Crawler|Cryolife|FuckLife|StreetLife|GreenLife|AntiLife|KORE-Phaze|Synlyfe|Purple Second Life|SecondLi |Emerald"
-	;;
-	;; Note that these are regular expressions, so every character counts.
-	;; Also note that this is very weak security and should not be trusted as a reliable means
-	;; for keeping bad clients out; modified clients can fake their identifiers.
-	;;
-	;;
-    ;AllowedClients = ""
-    ;DeniedClients = ""
-
-    ;; Are foreign visitors allowed?
-    ;ForeignAgentsAllowed = true
-    ;;
-    ;; If ForeignAgentsAllowed is true, make exceptions using AllowExcept.
-    ;; Leave blank or commented for no exceptions.
-    ; AllowExcept = "http://griefer.com:8002, http://enemy.com:8002"
-    ;;
-    ;; If ForeignAgentsAllowed is false, make exceptions using DisallowExcept
-    ;; Leave blank or commented for no exceptions.
-    ; DisallowExcept = "http://myfriendgrid.com:8002, http://myboss.com:8002"
-
 
 [FreeswitchService]
     ;; If FreeSWITCH is not being used then you don't need to set any of these parameters
@@ -279,6 +209,44 @@
 	; Example:
 	; Region_Test_1 = "DisallowForeigners"
 
+;;
+;; HG configurations
+;;
+[GatekeeperService]
+    ExternalName = "http://127.0.0.1:9000"
+
+    ; Does this grid allow incoming links to any region in it?
+    ; If false, HG TPs happen only to the  Default regions specified in [GridService] section
+    AllowTeleportsToAnyRegion = true
+
+	;; Regular expressions for controlling which client versions are accepted/denied.
+	;; An empty string means nothing is checked.
+	;;
+	;; Example 1: allow only these 3 types of clients (any version of them)
+	;; AllowedClients = "Imprudence|Hippo|Second Life"
+	;;
+	;; Example 2: allow all clients except these
+	;; DeniedClients = "Twisted|Crawler|Cryolife|FuckLife|StreetLife|GreenLife|AntiLife|KORE-Phaze|Synlyfe|Purple Second Life|SecondLi |Emerald"
+	;;
+	;; Note that these are regular expressions, so every character counts.
+	;; Also note that this is very weak security and should not be trusted as a reliable means
+	;; for keeping bad clients out; modified clients can fake their identifiers.
+	;;
+	;;
+    ;AllowedClients = ""
+    ;DeniedClients = ""
+
+    ;; Are foreign visitors allowed?
+    ;ForeignAgentsAllowed = true
+    ;;
+    ;; If ForeignAgentsAllowed is true, make exceptions using AllowExcept.
+    ;; Leave blank or commented for no exceptions.
+    ; AllowExcept = "http://griefer.com:8002, http://enemy.com:8002"
+    ;;
+    ;; If ForeignAgentsAllowed is false, make exceptions using DisallowExcept
+    ;; Leave blank or commented for no exceptions.
+    ; DisallowExcept = "http://myfriendgrid.com:8002, http://myboss.com:8002"
+
 [UserAgentService]
     ;; User level required to be contacted from other grids
     ;LevelOutsideContacts = 0
@@ -299,3 +267,57 @@
     ;; If ForeignTripsAllowed is true, make exceptions using AllowExcept.
     ;; Leave blank or commented for no exceptions.
     ; AllowExcept_Level_200 = "http://griefer.com:8002, http://enemy.com:8002"
+
+[HGInventoryService]
+    HomeURI = "http://127.0.0.1:9000"
+
+[HGAssetService]
+    HomeURI = "http://127.0.0.1:9000"
+
+    ;; The asset types that this grid can export to / import from other grids.
+	;; Comma separated.
+	;; Valid values are all the asset types in OpenMetaverse.AssetType, namely:
+	;; Unknown, Texture, Sound, CallingCard, Landmark, Clothing, Object, Notecard, LSLText, 
+	;; LSLBytecode, TextureTGA, Bodypart, SoundWAV, ImageTGA, ImageJPEG, Animation, Gesture, Mesh 
+	;;
+	;; Leave blank or commented if you don't want to apply any restrictions.
+	;; A more strict, but still reasonable, policy may be to disallow the exchange 
+	;; of scripts, like so:
+    ; DisallowExport ="LSLText"
+    ; DisallowImport ="LSLBytecode"
+
+
+[HGInventoryAccessModule]
+    HomeURI = "http://127.0.0.1:9000"
+	Gatekeeper = "http://127.0.0.1:9000"
+
+    ;; If you want to protect your assets from being copied by foreign visitors
+    ;; uncomment the next line. You may want to do this on sims that have licensed content.
+	;; true = allow exports, false = disallow exports. True by default.
+    ; OutboundPermission = True
+
+	;; Send visual reminder to local users that their inventories are unavailable while they are traveling
+	;; and available when they return. True by default.
+	;RestrictInventoryAccessAbroad = True
+
+[HGFriendsModule]
+    ; User level required to be able to send friendship invitations to foreign users
+    ;LevelHGFriends = 0;
+
+[Messaging]
+    ; === HG ONLY ===
+    ;; change this to the address of your simulator
+    Gatekeeper = "http://127.0.0.1:9000"
+
+
+[EntityTransfer]
+	;; User level from which local users are allowed to HG teleport. Default 0 (all users)
+	;LevelHGTeleport = 0
+
+	;; Are local users restricted from taking their appearance abroad?
+	;; Default is no restrictions
+    ;RestrictAppearanceAbroad = false
+
+	;; If appearance is restricted, which accounts' appearances are allowed to be exported?
+	;; Comma-separated list of account names
+    AccountForAppearance = "Test User, Astronaut Smith"

bin/config-include/StandaloneHypergrid.ini

@@ -152,7 +152,13 @@
 ;; This greatly restricts the inventory operations while in other grids
 [HGInventoryService]
     ; For the InventoryServiceInConnector
-    LocalServiceModule    = "OpenSim.Services.HypergridService.dll:HGInventoryService"
+    LocalServiceModule    = "OpenSim.Services.HypergridService.dll:HGSuitcaseInventoryService"
+	;; alternatives:
+	;;  HG1.5, more permissive, not recommended, but still supported
+    ;LocalServiceModule    = "OpenSim.Services.HypergridService.dll:HGInventoryService"
+	;;  HG1.0, totally permissive, not recommended, but OK for grids with 100% trust
+    ;LocalServiceModule    = "OpenSim.Services.InventoryService.dll:XInventoryService"
+
     UserAccountsService = "OpenSim.Services.UserAccountService.dll:UserAccountService"
     AvatarService = "OpenSim.Services.AvatarService.dll:AvatarService"