BulletSim: fix problem of avatar's floating off the ground after unsitting. Reworked size/scale logic so physical scale is kept in Bullet and physObject scale is the preferred size -- usually same as size but avatars are computed differently.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -105,12 +105,12 @@ public sealed class BSCharacter : BSPhysObject
         DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
                             LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
 
-        // do actual create at taint time
+        // do actual creation in taint time
         PhysicsScene.TaintedObject("BSCharacter.create", delegate()
         {
             DetailLog("{0},BSCharacter.create,taint", LocalID);
             // New body and shape into PhysBody and PhysShape
-            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
+            PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
 
             SetPhysicalProperties();
         });
@@ -189,6 +189,11 @@ public sealed class BSCharacter : BSPhysObject
         set {
             // When an avatar's size is set, only the height is changed.
             _size = value;
+            // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
+            //     replace with the default values.
+            if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
+            if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
+
             ComputeAvatarScale(_size);
             ComputeAvatarVolumeAndMass();
             DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
@@ -196,18 +201,18 @@ public sealed class BSCharacter : BSPhysObject
 
             PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
             {
-                if (PhysShape.HasPhysicalShape)
+                if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
                 {
                     BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
                     UpdatePhysicalMassProperties(RawMass);
+                    // Make sure this change appears as a property update event
+                    BulletSimAPI.PushUpdate2(PhysBody.ptr);
                 }
             });
 
         }
     }
 
-    public override OMV.Vector3 Scale { get; set; }
-
     public override PrimitiveBaseShape Shape
     {
         set { BaseShape = value; }
@@ -638,9 +643,6 @@ public sealed class BSCharacter : BSPhysObject
 
     private void ComputeAvatarScale(OMV.Vector3 size)
     {
-        // The 'size' given by the simulator is the mid-point of the avatar
-        //    and X and Y are unspecified.
-
         OMV.Vector3 newScale = size;
         // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
         // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -109,7 +109,7 @@ public abstract class BSPhysObject : PhysicsActor
     public EntityProperties CurrentEntityProperties { get; set; }
     public EntityProperties LastEntityProperties { get; set; }
 
-    public abstract OMV.Vector3 Scale { get; set; }
+    public virtual OMV.Vector3 Scale { get; set; }
     public abstract bool IsSolid { get; }
     public abstract bool IsStatic { get; }
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -45,7 +45,6 @@ public sealed class BSPrim : BSPhysObject
     private static readonly string LogHeader = "[BULLETS PRIM]";
 
     // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
-    // Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
     private OMV.Vector3 _size;  // the multiplier for each mesh dimension as passed by the user
 
     private bool _grabbed;
@@ -93,7 +92,7 @@ public sealed class BSPrim : BSPhysObject
         _physicsActorType = (int)ActorTypes.Prim;
         _position = pos;
         _size = size;
-        Scale = size;   // the scale will be set by CreateGeom depending on object type
+        Scale = size;   // prims are the size the user wants them to be (different for BSCharactes).
         _orientation = rotation;
         _buoyancy = 1f;
         _velocity = OMV.Vector3.Zero;
@@ -159,12 +158,10 @@ public sealed class BSPrim : BSPhysObject
             // 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;
+            Scale = _size;
             ForceBodyShapeRebuild(false);
         }
     }
-    // Scale is what we set in the physics engine. It is different than 'size' in that
-    //     'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
-    public override OMV.Vector3 Scale { get; set; }
 
     public override PrimitiveBaseShape Shape {
         set {
@@ -1369,7 +1366,6 @@ public sealed class BSPrim : BSPhysObject
         // Create the correct physical representation for this type of object.
         // 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, null, delegate(BulletBody dBody)
         {
             // Called if the current prim body is about to be destroyed.

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -126,6 +126,11 @@ public sealed class BSShapeCollection : IDisposable
         return ret;
     }
 
+    public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim)
+    {
+        return GetBodyAndShape(forceRebuild, sim, prim, null, null);
+    }
+
     // 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.
@@ -460,6 +465,11 @@ public sealed class BSShapeCollection : IDisposable
                         && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
                         && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
         {
+            // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
+            OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
+            if (prim.PhysShape.HasPhysicalShape)
+                scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
+
             if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
                         prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
 
@@ -469,7 +479,7 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
                         )
                 {
@@ -483,7 +493,7 @@ public sealed class BSShapeCollection : IDisposable
             {
                 haveShape = true;
                 if (forceRebuild
-                        || prim.Scale != prim.Size
+                        || prim.Scale != scaleOfExistingShape
                         || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
                         )
                 {
@@ -542,7 +552,6 @@ public sealed class BSShapeCollection : IDisposable
                                 prim.LocalID, newShape, prim.Scale);
 
         // native shapes are scaled by Bullet
-        prim.Scale = prim.Size;
         prim.PhysShape = newShape;
         return true;
     }
@@ -555,8 +564,8 @@ public sealed class BSShapeCollection : IDisposable
         ShapeData nativeShapeData = new ShapeData();
         nativeShapeData.Type = shapeType;
         nativeShapeData.ID = prim.LocalID;
-        nativeShapeData.Scale = prim.Size;
+        nativeShapeData.Scale = prim.Scale;
-        nativeShapeData.Size = prim.Size;  // unneeded, I think.
+        nativeShapeData.Size = prim.Scale;  // unneeded, I think.
         nativeShapeData.MeshKey = (ulong)shapeKey;
         nativeShapeData.HullKey = (ulong)shapeKey;
 
@@ -611,8 +620,6 @@ public sealed class BSShapeCollection : IDisposable
 
         ReferenceShape(newShape);
 
-        // meshes are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
 
         return true;        // 'true' means a new shape has been added to this prim
@@ -683,8 +690,6 @@ public sealed class BSShapeCollection : IDisposable
 
         ReferenceShape(newShape);
 
-        // hulls are already scaled by the meshmerizer
-        prim.Scale = new OMV.Vector3(1f, 1f, 1f);
         prim.PhysShape = newShape;
         return true;        // 'true' means a new shape has been added to this prim
     }