BulletSim: Make avatar capsule so it is not circular.

Simple attempt to make avatars better shaped.
Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth'
and 'avatarCapsuleDepth'.
More tweeking to avatar height calculation. A little better but
short avatar's feet are above the terrain and tall avatar's feet
are a little below the ground.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject
     {
         _physicsActorType = (int)ActorTypes.Agent;
         _position = pos;
+
+        // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+        //     replace with the default values.
         _size = size;
+        if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
+        if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+
         _flying = isFlying;
         _orientation = OMV.Quaternion.Identity;
         _velocity = OMV.Vector3.Zero;
@@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject
         get
         {
             // Avatar capsule size is kept in the scale parameter.
-            // return _size;
+            return _size;
-            return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
         }
 
         set {
@@ -614,14 +619,19 @@ public sealed class BSCharacter : BSPhysObject
         // The 'size' given by the simulator is the mid-point of the avatar
         //    and X and Y are unspecified.
 
-        OMV.Vector3 newScale = OMV.Vector3.Zero;
+        OMV.Vector3 newScale = size;
-        newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
+        // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
-        newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
+        // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
 
         // From the total height, remove the capsule half spheres that are at each end
         // The 1.15f came from ODE. Not sure what this factors in.
-        newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
+        // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
-        Scale = newScale;
+
+        // The total scale height is the central cylindar plus the caps on the two ends.
+        newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
+
+        // Convert diameters to radii and height to half height -- the way Bullet expects it.
+        Scale = newScale / 2f;
     }
 
     // set _avatarVolume and _mass based on capsule size, _density and Scale

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -93,7 +93,7 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        Scale = new OMV.Vector3(1f, 1f, 1f);   // the scale will be set by CreateGeom depending on object type
+        Scale = size;   // the scale will be set by CreateGeom depending on object type
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
@@ -154,6 +154,8 @@ public sealed class BSPrim : BSPhysObject
     public override OMV.Vector3 Size {
         get { return _size; }
         set {
+            // We presume the scale and size are the same. If scale must be changed for
+            //     the physical shape, that is done when the geometry is built.
             _size = value;
             ForceBodyShapeRebuild(false);
         }

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -1185,14 +1185,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarRestitution; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
-        new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
+        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.37f,
+            0.6f,
-            (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
+            (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
-            (s) => { return s.m_params[0].avatarCapsuleRadius; },
+            (s) => { return s.m_params[0].avatarCapsuleWidth; },
-            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
+            (s) => { return s.m_params[0].avatarCapsuleDepth; },
+            (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
         new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
-            // 1.5f,
+            1.5f,
-            2.140599f,
             (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].avatarCapsuleHeight; },
             (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -525,9 +525,6 @@ public sealed class BSShapeCollection : IDisposable
         // release any previous shape
         DereferenceShape(prim.PhysShape, true, shapeCallback);
 
-        // Bullet native objects are scaled by the Bullet engine so pass the size in
-        prim.Scale = prim.Size;
-
         BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
 
         // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
@@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable
         nativeShapeData.Type = shapeType;
         nativeShapeData.ID = prim.LocalID;
         nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Scale;
+        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
         nativeShapeData.MeshKey = (ulong)shapeKey;
         nativeShapeData.HullKey = (ulong)shapeKey;
 
         if (shapeType == PhysicsShapeType.SHAPE_CAPSULE)
         {
+            // The proper scale has been calculated in the prim.
             newShape = new BulletShape(
                         BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
                         , shapeType);
@@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable
         }
         else
         {
+            // Native shapes are scaled in Bullet so set the scaling to the size
+            prim.Scale = prim.Size;
+            nativeShapeData.Scale = prim.Scale;
             newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
         }
         if (newShape.ptr == IntPtr.Zero)

OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs

@@ -308,7 +308,7 @@ public sealed class BSTerrainManager
     {
         PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", 
                                             LogHeader, PhysicsScene.RegionName, terrainRegionBase, 
-                                            PhysicsScene.Params.terrainImplementation);
+                                            (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
         BSTerrainPhys newTerrainPhys = null;
         switch ((int)PhysicsScene.Params.terrainImplementation)
         {

OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs

@@ -291,7 +291,8 @@ public struct ConfigurationParameters
     public float avatarStandingFriction;
     public float avatarDensity;
     public float avatarRestitution;
-    public float avatarCapsuleRadius;
+    public float avatarCapsuleWidth;
+    public float avatarCapsuleDepth;
     public float avatarCapsuleHeight;
 	public float avatarContactProcessingThreshold;
 

bin/OpenSimDefaults.ini

@@ -913,7 +913,8 @@
     AvatarFriction = 0.2
     AvatarRestitution = 0.0
     AvatarDensity = 60.0
-    AvatarCapsuleRadius = 0.37
+    AvatarCapsuleWidth = 0.6
+    AvatarCapsuleDepth = 0.45
     AvatarCapsuleHeight = 1.5
     AvatarContactProcessingThreshold = 0.1