BulletSim: add OutOfBounds logic and some position sanity checking

to eliminate some of the "cannot find terrain height" warning messages.

OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs

@@ -443,6 +443,7 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+                PositionSanityCheck();
                 ForcePosition = _position;
             });
         }
@@ -456,7 +457,6 @@ public sealed class BSCharacter : BSPhysObject
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                PositionSanityCheck();
                 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             }
         }
@@ -513,8 +513,7 @@ public sealed class BSCharacter : BSPhysObject
             PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                if (PhysBody.HasPhysicalBody)
+                ForcePosition = _position;
-                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
             ret = true;
         }

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -46,6 +46,8 @@ public static class BSParam
     public static float MeshMegaPrimThreshold { get; private set; }
     public static float SculptLOD { get; private set; }
 
+    public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
+
     public static float MinimumObjectMass { get; private set; }
     public static float MaximumObjectMass { get; private set; }
     public static float MaxLinearVelocity { get; private set; }
@@ -73,23 +75,23 @@ public static class BSParam
     public static float TerrainRestitution { get; private set; }
     public static float TerrainCollisionMargin { get; private set; }
 
-    public static float DefaultFriction;
+    public static float DefaultFriction { get; private set; }
-    public static float DefaultDensity;
+    public static float DefaultDensity { get; private set; }
-    public static float DefaultRestitution;
+    public static float DefaultRestitution { get; private set; }
-    public static float CollisionMargin;
+    public static float CollisionMargin { get; private set; }
-    public static float Gravity;
+    public static float Gravity { get; private set; }
 
     // Physics Engine operation
-	public static float MaxPersistantManifoldPoolSize;
+	public static float MaxPersistantManifoldPoolSize { get; private set; }
-	public static float MaxCollisionAlgorithmPoolSize;
+	public static float MaxCollisionAlgorithmPoolSize { get; private set; }
-	public static bool ShouldDisableContactPoolDynamicAllocation;
+	public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
-	public static bool ShouldForceUpdateAllAabbs;
+	public static bool ShouldForceUpdateAllAabbs { get; private set; }
-	public static bool ShouldRandomizeSolverOrder;
+	public static bool ShouldRandomizeSolverOrder { get; private set; }
-	public static bool ShouldSplitSimulationIslands;
+	public static bool ShouldSplitSimulationIslands { get; private set; }
-	public static bool ShouldEnableFrictionCaching;
+	public static bool ShouldEnableFrictionCaching { get; private set; }
-	public static float NumberOfSolverIterations;
+	public static float NumberOfSolverIterations { get; private set; }
-    public static bool UseSingleSidedMeshes;
+    public static bool UseSingleSidedMeshes { get; private set; }
-    public static float GlobalContactBreakingThreshold;
+    public static float GlobalContactBreakingThreshold { get; private set; }
 
     // Avatar parameters
     public static float AvatarFriction { get; private set; }
@@ -118,6 +120,7 @@ public static class BSParam
     public static float VehicleGroundGravityFudge { get; private set; }
     public static bool VehicleDebuggingEnabled { get; private set; }
 
+    // Linkset implementation parameters
     public static float LinksetImplementation { get; private set; }
     public static bool LinkConstraintUseFrameOffset { get; private set; }
     public static bool LinkConstraintEnableTransMotor { get; private set; }
@@ -282,6 +285,11 @@ public static class BSParam
             (s) => { return ShouldRemoveZeroWidthTriangles; },
             (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
 
+        new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
+            5,
+            (s) => { return CrossingFailuresBeforeOutOfBounds; },
+            (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
+
         new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             32f,
             (s) => { return MeshLOD; },
@@ -695,6 +703,10 @@ public static class BSParam
         }
     }
 
+    // =====================================================================
+    // =====================================================================
+    // There are parameters that, when set, cause things to happen in the physics engine.
+    // This causes the broadphase collision cache to be cleared.
     private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
     {
         BSScene physScene = pPhysScene;
@@ -704,6 +716,7 @@ public static class BSParam
         });
     }
 
+    // This causes the constraint solver cache to be cleared and reset.
     private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
     {
         BSScene physScene = pPhysScene;

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -70,6 +70,8 @@ public class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
+    private int CrossingFailures { get; set; }
+
     public BSDynamics VehicleController { get; private set; }
 
     private BSVMotor _targetMotor;
@@ -197,7 +199,20 @@ public class BSPrim : BSPhysObject
     {
         get { return _isSelected; }
     }
-    public override void CrossingFailure() { return; }
+
+    public override void CrossingFailure()
+    {
+        CrossingFailures++;
+        if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            base.RaiseOutOfBounds(RawPosition);
+        }
+        else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
+        {
+            m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
+        }
+        return;
+    }
 
     // link me to the specified parent
     public override void link(PhysicsActor obj) {
@@ -1123,7 +1138,11 @@ public class BSPrim : BSPhysObject
 
     // Used for MoveTo
     public override OMV.Vector3 PIDTarget {
-        set { _PIDTarget = value; }
+        set
+        {
+            // TODO: add a sanity check -- don't move more than a region or something like that.
+            _PIDTarget = value;
+        }
     }
     public override float PIDTau {
         set { _PIDTau = value; }
@@ -1177,7 +1196,9 @@ public class BSPrim : BSPhysObject
                     }
                     else
                     {
-                        ForcePosition = movePosition;
+                        _position = movePosition;
+                        PositionSanityCheck(true /* intaintTime */);
+                        ForcePosition = _position;
                     }
                     DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
                 });

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -568,7 +568,7 @@ public sealed class BSShapeCollection : IDisposable
         {
 
             newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
-            if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
+            if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
         }
         else
         {

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,17 +1,16 @@
 CURRENT PRIORITIES
 =================================================
-One sided meshes? Should terrain be built into a closed shape?
-	When meshes get partially wedged into the terrain, they cannot push themselves out.
-	It is possible that Bullet processes collisions whether entering or leaving a mesh.
-	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
 Vehicle angular deflection
 	Preferred orientation angular correction fix
+Enable vehicle border crossings (at least as poorly as ODE)
+	Terrain skirts
+	Avatar created in previous region and not new region when crossing border
+	Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
 when should angular and linear motor targets be zeroed? when selected?
 	Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
@@ -26,14 +25,16 @@ Avatar movement
 	flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
 	walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
 	avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
-Enable vehicle border crossings (at least as poorly as ODE)
-	Terrain skirts
-	Avatar created in previous region and not new region when crossing border
-	Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
 Vehicle script tuning/debugging
 	Avanti speed script
 	Weapon shooter script
-Add material densities to the material types
+Move material definitions (friction, ...) into simulator.
+Add material densities to the material types.
+Terrain detail: double terrain mesh detail
+One sided meshes? Should terrain be built into a closed shape?
+	When meshes get partially wedged into the terrain, they cannot push themselves out.
+	It is possible that Bullet processes collisions whether entering or leaving a mesh.
+	Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
 
 VEHICLES TODO LIST:
 =================================================
@@ -65,6 +66,7 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
 
 GENERAL TODO LIST:
 =================================================
+Add a sanity check for PIDTarget location.
 Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
 	Is much saved with lower LODs? At the moment, all set to 32.
 Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.