Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -749,9 +749,10 @@ public sealed class BSCharacter : BSPhysObject
             _buoyancy = value;
             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);
+            float  grav = BSParam.Gravity * (1f - _buoyancy);
+            Gravity = new OMV.Vector3(0f, 0f, grav);
             if (PhysBody.HasPhysicalBody)
-                PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
         }
     }
 

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
         Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
+        // Initialize variables kept in base.
+        GravModifier = 1.0f;
+        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+
         // We don't have any physical representation yet.
         PhysBody = new BulletBody(localID);
         PhysShape = new BulletShape();
@@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor
 
         LastAssetBuildFailed = false;
 
-        // Default material type
+        // Default material type. Also sets Friction, Restitution and Density.
-        Material = MaterialAttributes.Material.Wood;
+        SetMaterial((int)MaterialAttributes.Material.Wood);
 
         CollisionCollection = new CollisionEventUpdate();
         CollisionsLastTick = CollisionCollection;
@@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor
     // 'inWorld' true if the object has already been added to the dynamic world.
     public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
 
+    // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
+    public virtual OMV.Vector3 Gravity { get; set; }
     // The last value calculated for the prim's inertia
     public OMV.Vector3 Inertia { get; set; }
 
@@ -164,15 +170,18 @@ public abstract class BSPhysObject : PhysicsActor
     public override void SetMaterial(int material)
     {
         Material = (MaterialAttributes.Material)material;
+
+        // Setting the material sets the material attributes also.
+        MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+        Friction = matAttrib.friction;
+        Restitution = matAttrib.restitution;
+        Density = matAttrib.density;
     }
 
     // Stop all physical motion.
     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) { }
-
     // Update the physical location and motion of the object. Called with data from Bullet.
     public abstract void UpdateProperties(EntityProperties entprop);
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject
     private OMV.Vector3 _position;
 
     private float _mass;    // the mass of this object
-    private float _density;
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
@@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject
     private int _physicsActorType;
     private bool _isPhysical;
     private bool _flying;
-    private float _friction;
-    private float _restitution;
     private bool _setAlwaysRun;
     private bool _throttleUpdates;
     private bool _floatOnWater;
@@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
 
-        // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
-        // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
-        _density = PhysicsScene.Params.defaultDensity;
-        _friction = PhysicsScene.Params.defaultFriction;
-        _restitution = PhysicsScene.Params.defaultRestitution;
-
         VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
 
         _mass = CalculateMass();
@@ -432,8 +423,6 @@ public sealed class BSPrim : BSPhysObject
             }
             else
             {
-                OMV.Vector3 grav = ComputeGravity(Buoyancy);
-
                 if (inWorld)
                 {
                     // Changing interesting properties doesn't change proxy and collision cache
@@ -443,25 +432,20 @@ public sealed class BSPrim : BSPhysObject
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
+                Gravity = ComputeGravity(Buoyancy);
+                PhysicsScene.PE.SetGravity(PhysBody, Gravity);
 
                 Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass);
                 PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia);
                 PhysicsScene.PE.UpdateInertiaTensor(PhysBody);
 
-                // center of mass is at the zero of the object
+                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}",
-                // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation);
+                                            LocalID, physMass, Inertia, Gravity, inWorld);
-                DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
 
                 if (inWorld)
                 {
                     AddObjectToPhysicalWorld();
                 }
-
-                // Must set gravity after it has been added to the world because, for unknown reasons,
-                //     adding the object resets the object's gravity to world gravity
-                PhysicsScene.PE.SetGravity(PhysBody, grav);
-
             }
         }
     }
@@ -472,7 +456,10 @@ public sealed class BSPrim : BSPhysObject
         OMV.Vector3 ret = PhysicsScene.DefaultGravity;
 
         if (!IsStatic)
+        {
             ret *= (1f - buoyancy);
+            ret *= GravModifier;
+        }
 
         return ret;
     }
@@ -596,6 +583,74 @@ public sealed class BSPrim : BSPhysObject
         }
         return;
     }
+    public override void SetMaterial(int material)
+    {
+        base.SetMaterial(material);
+        PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+        {
+            UpdatePhysicalParameters();
+        });
+    }
+    public override float Friction
+    {
+        get { return base.Friction; }
+        set
+        {
+            if (base.Friction != value)
+            {
+                base.Friction = value;
+                PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Restitution
+    {
+        get { return base.Restitution; }
+        set
+        {
+            if (base.Restitution != value)
+            {
+                base.Restitution = value;
+                PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float Density
+    {
+        get { return base.Density; }
+        set
+        {
+            if (base.Density != value)
+            {
+                base.Density = value;
+                PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
+    public override float GravModifier
+    {
+        get { return base.GravModifier; }
+        set
+        {
+            if (base.GravModifier != value)
+            {
+                base.GravModifier = value;
+                PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+                {
+                    UpdatePhysicalParameters();
+                });
+            }
+        }
+    }
     public override OMV.Vector3 RawVelocity
     {
         get { return _velocity; }
@@ -761,7 +816,12 @@ public sealed class BSPrim : BSPhysObject
     //     collisionEvents: whether this object returns collision events
     public void UpdatePhysicalParameters()
     {
-        // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
+        if (!PhysBody.HasPhysicalBody)
+        {
+            // This would only happen if updates are called for during initialization when the body is not set up yet.
+            DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID);
+            return;
+        }
 
         // 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).
@@ -810,8 +870,8 @@ public sealed class BSPrim : BSPhysObject
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
@@ -839,9 +899,9 @@ public sealed class BSPrim : BSPhysObject
             CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
-            MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
+            PhysicsScene.PE.SetFriction(PhysBody, Friction);
-            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
-            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+            // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
@@ -944,7 +1004,7 @@ public sealed class BSPrim : BSPhysObject
         else
         {
             m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID);
-            DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
+            DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType);
         }
     }
 
@@ -1581,7 +1641,7 @@ public sealed class BSPrim : BSPhysObject
         profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
         volume *= (profileEnd - profileBegin);
 
-        returnMass = _density * volume;
+        returnMass = Density * volume;
 
         /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
         if (IsRootOfLinkset)