BulletSim: update avatar velocity setting to the new TargetVelocity pattern.

Now PhysicsActor.Velocity.set and PhysicsActor.SetMomentum do the same thing
   of setting the instantanious avatar velocity. PhysicsActor.TargetVelocity
   sets a velocity target and the movement motor is used to accelerate the'
   avatar to that velocity.

OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs

@@ -108,10 +108,6 @@ public class BSActorAvatarMove : BSActor
         {
             if (m_velocityMotor != null)
             {
-//                    if (targ == OMV.Vector3.Zero)
-//                        Util.PrintCallStack();
-//
-//                    Console.WriteLine("SetVelocityAndTarget, {0} {1}", vel, targ);
                 m_velocityMotor.Reset();
                 m_velocityMotor.SetTarget(targ);
                 m_velocityMotor.SetCurrent(vel);
@@ -128,7 +124,7 @@ public class BSActorAvatarMove : BSActor
         m_waitingForLowVelocityForStationary = true;
     }
 
-    // If a movement motor has not been created, create one and start the hovering.
+    // If a movement motor has not been created, create one and start the movement
     private void ActivateAvatarMove()
     {
         if (m_velocityMotor == null)
@@ -161,7 +157,7 @@ public class BSActorAvatarMove : BSActor
         }
     }
 
-    // Called just before the simulation step. Update the vertical position for hoverness.
+    // Called just before the simulation step.
     private void Mover(float timeStep)
     {
         // Don't do movement while the object is selected.

OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs

@@ -449,6 +449,7 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
 
+    // PhysicsActor.TargetVelocity
     // Sets the target in the motor. This starts the changing of the avatar's velocity.
     public override OMV.Vector3 TargetVelocity
     {
@@ -459,7 +460,7 @@ public sealed class BSCharacter : BSPhysObject
         set
         {
             DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-            m_targetVelocity = value;
+            base.m_targetVelocity = value;
             OMV.Vector3 targetVel = value;
             if (_setAlwaysRun && !_flying)
                 targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f);
@@ -472,32 +473,12 @@ public sealed class BSCharacter : BSPhysObject
     public override OMV.Vector3 Velocity {
         get { return RawVelocity; }
         set {
-            RawVelocity = value;
+            if (m_moveActor != null)
-            OMV.Vector3 vel = RawVelocity;
-
-            DetailLog("{0}: set Velocity = {1}", LocalID, value);
-
-            PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate()
             {
-                if (m_moveActor != null)
+                // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
-                    m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */);
+                m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
-
+            }
-                DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel);
+            base.Velocity = value;
-                ForceVelocity = vel;
-            });
-        }
-    }
-
-    public override OMV.Vector3 ForceVelocity {
-        get { return RawVelocity; }
-        set {
-            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-//                Util.PrintCallStack();
-            DetailLog("{0}: set ForceVelocity = {1}", LocalID, value);
-
-            RawVelocity = value;
-            PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
-            PhysScene.PE.Activate(PhysBody, true);
         }
     }
 
@@ -506,11 +487,23 @@ public sealed class BSCharacter : BSPhysObject
     {
         if (m_moveActor != null)
         {
-            m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
+            // m_moveActor.SetVelocityAndTarget(OMV.Vector3.Zero, OMV.Vector3.Zero, false /* inTaintTime */);
+            m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false /* inTaintTime */);
         }
         base.SetMomentum(momentum);
     }
 
+    public override OMV.Vector3 ForceVelocity {
+        get { return RawVelocity; }
+        set {
+            PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
+            DetailLog("{0}: BSCharacter.ForceVelocity.set = {1}", LocalID, value);
+
+            RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
+            PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
+            PhysScene.PE.Activate(PhysBody, true);
+        }
+    }
 
     public override OMV.Vector3 Torque {
         get { return RawTorque; }

OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs

@@ -230,15 +230,22 @@ public abstract class BSPhysObject : PhysicsActor
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 
+    // The position value as known by BulletSim. Does not effect the physics engine.
     public virtual OMV.Vector3 RawPosition { get; set; }
+    // Set position in BulletSim and the physics engined to a value immediately. Must be called at taint time.
     public abstract OMV.Vector3 ForcePosition { get; set; }
 
+    // The orientation value as known by BulletSim. Does not effect the physics engine.
     public virtual OMV.Quaternion RawOrientation { get; set; }
+    // Set orientation in BulletSim and the physics engine to a value immediately. Must be called at taint time.
     public abstract OMV.Quaternion ForceOrientation { get; set; }
 
+    // The velocity value as known by BulletSim. Does not effect the physics engine.
     public virtual OMV.Vector3 RawVelocity { get; set; }
+    // Set velocity in BulletSim and the physics engined to a value immediately. Must be called at taint time.
     public abstract OMV.Vector3 ForceVelocity { get; set; }
 
+    // The rotational velocity value as known by BulletSim. Does not effect the physics engine.
     public OMV.Vector3 RawRotationalVelocity { get; set; }
 
     // RawForce is a constant force applied to object (see Force { set; } )
@@ -252,17 +259,28 @@ public abstract class BSPhysObject : PhysicsActor
     public abstract void AddAngularForce(bool inTaintTime, OMV.Vector3 force);
     public abstract void AddForce(bool inTaintTime, OMV.Vector3 force);
 
+    // PhysicsActor.Velocity
+    public override OMV.Vector3 Velocity
+    {
+        get { return RawVelocity;  }
+        set
+        {
+            // This sets the velocity now. BSCharacter will override to clear target velocity
+            //    before calling this.
+            RawVelocity = value;
+            PhysScene.TaintedObject(LocalID, TypeName + ".SetVelocity", delegate () {
+                // DetailLog("{0},BSPhysObject.Velocity.set,vel={1}", LocalID, RawVelocity);
+                ForceVelocity = RawVelocity;
+            });
+        }
+    }
+
     // PhysicsActor.SetMomentum
-    // All the physics engined use this as a way of forcing the velocity to something.
+    // All the physics engines use this as a way of forcing the velocity to something.
+    // BSCharacter overrides this so it can set the target velocity to zero before calling this.
     public override void SetMomentum(OMV.Vector3 momentum)
     {
-        // This doesn't just set Velocity=momentum because velocity is ramped up to (see MoveActor)
+        this.Velocity = momentum;
-        RawVelocity = momentum;
-        PhysScene.TaintedObject(LocalID, TypeName + ".SetMomentum", delegate()
-        {
-            // DetailLog("{0},BSPrim.SetMomentum,taint,vel={1}", LocalID, RawVelocity);
-            ForceVelocity = RawVelocity;
-        });
     }
 
     public override OMV.Vector3 RotationalVelocity {

OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs

@@ -787,17 +787,6 @@ public class BSPrim : BSPhysObject
             }
         }
     }
-    public override OMV.Vector3 Velocity {
-        get { return RawVelocity; }
-        set {
-            RawVelocity = value;
-            PhysScene.TaintedObject(LocalID, "BSPrim.setVelocity", delegate()
-            {
-                // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity);
-                ForceVelocity = RawVelocity;
-            });
-        }
-    }
     public override OMV.Vector3 ForceVelocity {
         get { return RawVelocity; }
         set {