BulletSim: make sure vehicle physical properties are set when going

physical by delaying setting until pre-step time. Change vehicle.Refresh()
to schedule the pre-step setting.
Comments and updating of TODO list.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -581,9 +581,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         }
         #endregion // Vehicle parameter setting
 
+        public void Refresh()
+        {
+            // If asking for a refresh, reset the physical parameters before the next simulation step.
+            PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
+            {
+                SetPhysicalParameters();
+            });
+        }
+
         // Some of the properties of this prim may have changed.
         // Do any updating needed for a vehicle
-        public void Refresh()
+        private void SetPhysicalParameters()
         {
             if (IsActive)
             {
@@ -614,7 +623,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
 
-                VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
+                VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
                         BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
                         BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
@@ -622,26 +631,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
             else
             {
-                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                if (Prim.PhysBody.HasPhysicalBody)
+                    PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
         public bool RemoveBodyDependencies(BSPhysObject prim)
         {
-            // If active, we need to add our properties back when the body is rebuilt.
-            return IsActive;
-        }
-
-        public void RestoreBodyDependencies(BSPhysObject prim)
-        {
-            if (Prim.LocalID != prim.LocalID)
-            {
-                // The call should be on us by our prim. Error if not.
-                PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
-                                LogHeader, prim.LocalID, Prim.LocalID);
-                return;
-            }
             Refresh();
+            return IsActive;
         }
 
         #region Known vehicle value functions

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -274,7 +274,7 @@ public sealed class BSLinksetCompound : BSLinkset
         bool ret = false;
 
         DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
-                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
+                        child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
 
         if (!IsRoot(child))
         {
@@ -382,11 +382,11 @@ public sealed class BSLinksetCompound : BSLinkset
     {
         try
         {
-            // Suppress rebuilding while rebuilding
+            // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
             Rebuilding = true;
 
             // Cause the root shape to be rebuilt as a compound object with just the root in it
-            LinksetRoot.ForceBodyShapeRebuild(true);
+            LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
 
             // The center of mass for the linkset is the geometric center of the group.
             // Compute a displacement for each component so it is relative to the center-of-mass.

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -1597,9 +1597,9 @@ public sealed class BSPrim : BSPhysObject
     public void CreateGeomAndObject(bool forceRebuild)
     {
         // Create the correct physical representation for this type of object.
-        // Updates PhysBody and PhysShape with the new information.
+        // Updates base.PhysBody and base.PhysShape with the new information.
         // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
-        PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
+        PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, 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.

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -116,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable
             //    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,
+            bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
-                                    prim.PhysShape, bodyCallback);
             ret = newGeom || newBody;
         }
         DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@@ -933,8 +932,7 @@ public sealed class BSShapeCollection : IDisposable
     // Updates prim.BSBody with the information about the new body if one is created.
     // Returns 'true' if an object was actually created.
     // Called at taint-time.
-    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
+    private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
-                            BodyDestructionCallback bodyCallback)
     {
         bool ret = false;
 
@@ -951,6 +949,7 @@ public sealed class BSShapeCollection : IDisposable
             {
                 // If the collisionObject is not the correct type for solidness, rebuild what's there
                 mustRebuild = true;
+                if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
             }
         }
 
@@ -962,12 +961,12 @@ public sealed class BSShapeCollection : IDisposable
             BulletBody aBody;
             if (prim.IsSolid)
             {
-                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
             }
             else
             {
-                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+                aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
                 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
             }
 

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -6,6 +6,7 @@ One sided meshes? Should terrain be built into a closed shape?
 	Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
 	Not sure if it is because standing on it. Done with large prim linksets.
+Terrain detail: double terrain mesh detail
 Vehicle angular vertical attraction
 vehicle angular banking
 Center-of-gravity
@@ -34,34 +35,20 @@ Vehicle script tuning/debugging
 	Weapon shooter script
 Add material densities to the material types
 
-CRASHES
-=================================================
-Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
-	m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
-	Creation of Neb's terrain made the terrain "disappear". Everything started to fall
-		and then get restored to be above terrain.
-20121129.1411: editting/moving phys object across region boundries causes crash
-    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
-20121128.1600: mesh object not rezzing (no physics mesh).
-    Causes many errors. Doesn't stop after first error with box shape.
-    Eventually crashes when deleting the object.
-20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
-	Immediate simulator crash. Mono does not output any stacktrace and
-	log just stops after reporting taint-time linking of the linkset.
-
 VEHICLES TODO LIST:
 =================================================
 Border crossing with linked vehicle causes crash
+	20121129.1411: editting/moving phys object across region boundries causes crash
+	    getPos-> btRigidBody::upcast -> getBodyType -> BOOM
 Vehicles (Move smoothly)
 Some vehicles should not be able to turn if no speed or off ground.
+What to do if vehicle and prim buoyancy differ?
 Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
 Neb car jiggling left and right
 	Happens on terrain and any other mesh object. Flat cubes are much smoother.
 	This has been reduced but not eliminated.
 Implement referenceFrame for all the motion routines.
 For limitMotorUp, use raycast down to find if vehicle is in the air.
-Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
-	Verify that angular motion specified around Z moves in the vehicle coordinates.
 Verify llGetVel() is returning a smooth and good value for vehicle movement.
 llGetVel() should return the root's velocity if requested in a child prim.
 Implement function efficiency for lineaar and angular motion.
@@ -73,10 +60,11 @@ Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
 Incorporate inter-relationship of angular corrections. For instance, angularDeflection
 	and angularMotorUp will compute same X or Y correction. When added together
 	creates over-correction and over-shoot and wabbling.
+Vehicle attributes are not restored when a vehicle is rezzed on region creation
+	Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
 
 GENERAL TODO LIST:
 =================================================
-Avatar standing on a moving object should start to move with the object.
 llMoveToTarget objects are not effected by gravity until target is removed.
 Compute CCD parameters based on body size
 Can solver iterations be changed per body/shape? Can be for constraints but what
@@ -330,4 +318,8 @@ Boats float low in the water (DONE)
 Boats floating at proper level (DONE)
 When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
 	(Resolution: setForce registers a prestep action which keeps applying the force)
-Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))
+Avatar standing on a moving object should start to move with the object. (DONE 20130125)
+Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
+	Verify that angular motion specified around Z moves in the vehicle coordinates.
+	DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.