Clean up messages in ODE

to use, remove the silly spiral stuff. Revert to double packets for
improved user experience

OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs

@@ -123,6 +123,7 @@ namespace OpenSim.ApplicationPlugins.RemoteController
                     availableMethods["admin_region_query"] = XmlRpcRegionQueryMethod;
                     availableMethods["admin_shutdown"] = XmlRpcShutdownMethod;
                     availableMethods["admin_broadcast"] = XmlRpcAlertMethod;
+                    availableMethods["admin_dialog"] = XmlRpcDialogMethod;
                     availableMethods["admin_restart"] = XmlRpcRestartMethod;
                     availableMethods["admin_load_heightmap"] = XmlRpcLoadHeightmapMethod;
                     // User management
@@ -277,6 +278,53 @@ namespace OpenSim.ApplicationPlugins.RemoteController
             m_log.Info("[RADMIN]: Alert request complete");
             return response;
         }
+        public XmlRpcResponse XmlRpcDialogMethod(XmlRpcRequest request, IPEndPoint remoteClient)
+        {
+            XmlRpcResponse response = new XmlRpcResponse();
+            Hashtable responseData = new Hashtable();
+
+            m_log.Info("[RADMIN]: Dialog request started");
+
+            try
+            {
+                Hashtable requestData = (Hashtable)request.Params[0];
+
+                checkStringParameters(request, new string[] { "password", "from", "message" });
+
+                if (m_requiredPassword != String.Empty &&
+                    (!requestData.Contains("password") || (string)requestData["password"] != m_requiredPassword))
+                    throw new Exception("wrong password");
+
+                string message = (string)requestData["message"];
+                string fromuuid = (string)requestData["from"];
+                m_log.InfoFormat("[RADMIN]: Broadcasting: {0}", message);
+
+                responseData["accepted"] = true;
+                responseData["success"] = true;
+                response.Value = responseData;
+
+                m_app.SceneManager.ForEachScene(
+                    delegate(Scene scene)
+                    {
+                        IDialogModule dialogModule = scene.RequestModuleInterface<IDialogModule>();
+                        if (dialogModule != null)
+                            dialogModule.SendNotificationToUsersInRegion(UUID.Zero, fromuuid, message);
+                    });
+            }
+            catch (Exception e)
+            {
+                m_log.ErrorFormat("[RADMIN]: Broadcasting: failed: {0}", e.Message);
+                m_log.DebugFormat("[RADMIN]: Broadcasting: failed: {0}", e.ToString());
+
+                responseData["accepted"] = false;
+                responseData["success"] = false;
+                responseData["error"] = e.Message;
+                response.Value = responseData;
+            }
+
+            m_log.Info("[RADMIN]: Alert request complete");
+            return response;
+        }
 
         public XmlRpcResponse XmlRpcLoadHeightmapMethod(XmlRpcRequest request, IPEndPoint remoteClient)
         {

OpenSim/Region/ClientStack/LindenUDP/LLClientView.cs

@@ -785,6 +785,10 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public virtual void SendLayerData(float[] map)
         {
             Util.FireAndForget(DoSendLayerData, map);
+
+            // Send it sync, and async. It's not that much data
+            // and it improves user experience just so much!
+            DoSendLayerData(map);
         }
 
         /// <summary>
@@ -797,16 +801,13 @@ namespace OpenSim.Region.ClientStack.LindenUDP
 
             try
             {
-                //for (int y = 0; y < 16; y++)
-                //{
-                //    for (int x = 0; x < 16; x++)
-                //    {
-                //        SendLayerData(x, y, map);
-                //    }
-                //}
-
-                // Send LayerData in a spiral pattern. Fun!
-                SendLayerTopRight(map, 0, 0, 15, 15);
+                for (int y = 0; y < 16; y++)
+                {
+                    for (int x = 0; x < 16; x+=4)
+                    {
+                        SendLayerPacket(x, y, map);
+                    }
+                }
             }
             catch (Exception e)
             {
@@ -814,51 +815,35 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             }
         }
 
-        private void SendLayerTopRight(float[] map, int x1, int y1, int x2, int y2)
-        {
-            // Row
-            for (int i = x1; i <= x2; i++)
-                SendLayerData(i, y1, map);
-
-            // Column
-            for (int j = y1 + 1; j <= y2; j++)
-                SendLayerData(x2, j, map);
-     
-            if (x2 - x1 > 0)
-                SendLayerBottomLeft(map, x1, y1 + 1, x2 - 1, y2);
-        }
-
-        void SendLayerBottomLeft(float[] map, int x1, int y1, int x2, int y2)
-        {
-            // Row in reverse
-            for (int i = x2; i >= x1; i--)
-                SendLayerData(i, y2, map);
-
-            // Column in reverse
-            for (int j = y2 - 1; j >= y1; j--)
-                SendLayerData(x1, j, map);
-
-            if (x2 - x1 > 0)
-                SendLayerTopRight(map, x1 + 1, y1, x2, y2 - 1);
-        }
-
         /// <summary>
         /// Sends a set of four patches (x, x+1, ..., x+3) to the client
         /// </summary>
         /// <param name="map">heightmap</param>
         /// <param name="px">X coordinate for patches 0..12</param>
         /// <param name="py">Y coordinate for patches 0..15</param>
-        // private void SendLayerPacket(float[] map, int y, int x)
-        // {
-        //     int[] patches = new int[4];
-        //     patches[0] = x + 0 + y * 16;
-        //     patches[1] = x + 1 + y * 16;
-        //     patches[2] = x + 2 + y * 16;
-        //     patches[3] = x + 3 + y * 16;
+        private void SendLayerPacket(int x, int y, float[] map)
+        {
+            int[] patches = new int[4];
+            patches[0] = x + 0 + y * 16;
+            patches[1] = x + 1 + y * 16;
+            patches[2] = x + 2 + y * 16;
+            patches[3] = x + 3 + y * 16;
 
-        //     Packet layerpack = LLClientView.TerrainManager.CreateLandPacket(map, patches);
-        //     OutPacket(layerpack, ThrottleOutPacketType.Land);
-        // }
+            float[] heightmap = (map.Length == 65536) ?
+                map :
+                LLHeightFieldMoronize(map);
+
+            try
+            {
+                Packet layerpack = TerrainCompressor.CreateLandPacket(heightmap, patches);
+                OutPacket(layerpack, ThrottleOutPacketType.Land);
+            }
+            catch
+            {
+                for (int px = x ; px < x + 4 ; px++)
+                    SendLayerData(px, y, map);
+            }
+        }
 
         /// <summary>
         /// Sends a specified patch to a client

OpenSim/Region/ClientStack/LindenUDP/LLUDPServer.cs

@@ -399,6 +399,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             #region Queue or Send
 
             OutgoingPacket outgoingPacket = new OutgoingPacket(udpClient, buffer, category);
+            outgoingPacket.Type = type;
 
             if (!outgoingPacket.Client.EnqueueOutgoing(outgoingPacket))
                 SendPacketFinal(outgoingPacket);
@@ -510,6 +511,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             byte flags = buffer.Data[0];
             bool isResend = (flags & Helpers.MSG_RESENT) != 0;
             bool isReliable = (flags & Helpers.MSG_RELIABLE) != 0;
+            bool sendSynchronous = false;
             LLUDPClient udpClient = outgoingPacket.Client;
 
             if (!udpClient.IsConnected)
@@ -565,9 +567,27 @@ namespace OpenSim.Region.ClientStack.LindenUDP
             if (isReliable)
                 Interlocked.Add(ref udpClient.UnackedBytes, outgoingPacket.Buffer.DataLength);
 
-            // Put the UDP payload on the wire
-            AsyncBeginSend(buffer);
+            //Some packet types need to be sent synchonously.
+            //Sorry, i know it's not optimal, but until the LL client
+            //manages packets correctly and re-orders them as required, this is necessary.
 
+            if (outgoingPacket.Type == PacketType.ImprovedTerseObjectUpdate 
+                || outgoingPacket.Type == PacketType.ChatFromSimulator 
+                || outgoingPacket.Type == PacketType.ObjectUpdate
+                || outgoingPacket.Type == PacketType.LayerData)
+            {
+                sendSynchronous = true;
+            }
+
+            // Put the UDP payload on the wire
+            if (sendSynchronous == true)
+            {
+                SyncBeginSend(buffer);
+            }
+            else
+            {
+                AsyncBeginSend(buffer);
+            }
             // Keep track of when this packet was sent out (right now)
             outgoingPacket.TickCount = Environment.TickCount & Int32.MaxValue;
         }

OpenSim/Region/ClientStack/LindenUDP/OpenSimUDPBase.cs

@@ -246,6 +246,24 @@ namespace OpenMetaverse
             }
         }
 
+        public void SyncBeginSend(UDPPacketBuffer buf)
+        {
+            if (!m_shutdownFlag)
+            {
+                try
+                {
+                    m_udpSocket.SendTo(
+                        buf.Data,
+                        0,
+                        buf.DataLength,
+                        SocketFlags.None,
+                        buf.RemoteEndPoint);
+                }
+                catch (SocketException) { }
+                catch (ObjectDisposedException) { }
+            }
+        }
+
         public void AsyncBeginSend(UDPPacketBuffer buf)
         {
             if (!m_shutdownFlag)

OpenSim/Region/ClientStack/LindenUDP/OutgoingPacket.cs

@@ -28,6 +28,7 @@
 using System;
 using OpenSim.Framework;
 using OpenMetaverse;
+using OpenMetaverse.Packets;
 
 namespace OpenSim.Region.ClientStack.LindenUDP
 {
@@ -52,7 +53,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
         public int TickCount;
         /// <summary>Category this packet belongs to</summary>
         public ThrottleOutPacketType Category;
-
+        /// <summary>The type of packet so its delivery method can be determined</summary>
+        public PacketType Type;
         /// <summary>
         /// Default constructor
         /// </summary>

OpenSim/Region/CoreModules/Avatar/InstantMessage/OfflineMessageModule.cs

@@ -164,19 +164,22 @@ namespace OpenSim.Region.CoreModules.Avatar.InstantMessage
             List<GridInstantMessage>msglist = SynchronousRestObjectPoster.BeginPostObject<UUID, List<GridInstantMessage>>(
                     "POST", m_RestURL+"/RetrieveMessages/", client.AgentId);
 
-            foreach (GridInstantMessage im in msglist)
+            if (msglist != null)
             {
-                // client.SendInstantMessage(im);
+                foreach (GridInstantMessage im in msglist)
+                {
+                    // client.SendInstantMessage(im);
 
-                // Send through scene event manager so all modules get a chance
-                // to look at this message before it gets delivered.
-                //
-                // Needed for proper state management for stored group
-                // invitations
-                //
-                Scene s = FindScene(client.AgentId);
-                if (s != null)
-                    s.EventManager.TriggerIncomingInstantMessage(im);
+                    // Send through scene event manager so all modules get a chance
+                    // to look at this message before it gets delivered.
+                    //
+                    // Needed for proper state management for stored group
+                    // invitations
+                    //
+                    Scene s = FindScene(client.AgentId);
+                    if (s != null)
+                        s.EventManager.TriggerIncomingInstantMessage(im);
+                }
             }
         }
 

OpenSim/Region/Framework/Scenes/SceneObjectGroup.cs

@@ -1734,6 +1734,45 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
+        public void rotLookAt(Quaternion target, float strength, float damping)
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (IsAttachment)
+                {
+                /*
+                    ScenePresence avatar = m_scene.GetScenePresence(rootpart.AttachedAvatar);
+                    if (avatar != null)
+                    {
+                    Rotate the Av?
+                    } */
+                }
+                else
+                {
+                    if (rootpart.PhysActor != null)
+                    {
+                        rootpart.PhysActor.APIDTarget = new Quaternion(target.X, target.Y, target.Z, target.W);
+                        rootpart.PhysActor.APIDStrength = strength;
+                        rootpart.PhysActor.APIDDamping = damping;
+                        rootpart.PhysActor.APIDActive = true;
+                    }
+                }
+            }
+        }
+        public void stopLookAt()
+        {
+            SceneObjectPart rootpart = m_rootPart;
+            if (rootpart != null)
+            {
+                if (rootpart.PhysActor != null)
+                {
+                    rootpart.PhysActor.APIDActive = false;
+                }
+            }
+        
+        }
+
         /// <summary>
         /// Uses a PID to attempt to clamp the object on the Z axis at the given height over tau seconds.
         /// </summary>

OpenSim/Region/Framework/Scenes/SceneObjectPart.cs

@@ -1064,14 +1064,6 @@ namespace OpenSim.Region.Framework.Scenes
             }
         }
 
-        /// <summary>
-        /// Clear all pending updates of parts to clients
-        /// </summary>
-        private void ClearUpdateSchedule()
-        {
-            m_updateFlag = 0;
-        }
-
         private void SendObjectPropertiesToClient(UUID AgentID)
         {
             ScenePresence[] avatars = m_parentGroup.Scene.GetScenePresences();
@@ -2183,6 +2175,11 @@ namespace OpenSim.Region.Framework.Scenes
             ParentGroup.HasGroupChanged = true;
             ScheduleFullUpdate();
         }
+        
+        public void RotLookAt(Quaternion target, float strength, float damping)
+        {
+            m_parentGroup.rotLookAt(target, strength, damping);
+        }
 
         /// <summary>
         /// Schedules this prim for a full update
@@ -2387,8 +2384,8 @@ namespace OpenSim.Region.Framework.Scenes
         {
             const float ROTATION_TOLERANCE = 0.01f;
             const float VELOCITY_TOLERANCE = 0.001f;
-            const float POSITION_TOLERANCE = 0.05f;
-            const int TIME_MS_TOLERANCE = 3000;
+            const float POSITION_TOLERANCE = 0.05f; // I don't like this, but I suppose it's necessary
+            const int TIME_MS_TOLERANCE = 200; //llSetPos has a 200ms delay. This should NOT be 3 seconds.
 
             if (m_updateFlag == 1)
             {
@@ -2401,7 +2398,7 @@ namespace OpenSim.Region.Framework.Scenes
                     Environment.TickCount - m_lastTerseSent > TIME_MS_TOLERANCE)
                 {
                     AddTerseUpdateToAllAvatars();
-                    ClearUpdateSchedule();
+                    
 
                     // This causes the Scene to 'poll' physical objects every couple of frames
                     // bad, so it's been replaced by an event driven method.
@@ -2419,13 +2416,15 @@ namespace OpenSim.Region.Framework.Scenes
                     m_lastAngularVelocity = AngularVelocity;
                     m_lastTerseSent = Environment.TickCount;
                 }
+                //Moved this outside of the if clause so updates don't get blocked.. *sigh*
+                m_updateFlag = 0; //Why were we calling a function to do this? Inefficient! *screams* 
             }
             else
             {
                 if (m_updateFlag == 2) // is a new prim, just created/reloaded or has major changes
                 {
                     AddFullUpdateToAllAvatars();
-                    ClearUpdateSchedule();
+                    m_updateFlag = 0; //Same here
                 }
             }
         }
@@ -2680,6 +2679,13 @@ namespace OpenSim.Region.Framework.Scenes
             SetText(text);
         }
 
+        public void StopLookAt()
+        {
+            m_parentGroup.stopLookAt();
+
+            m_parentGroup.ScheduleGroupForTerseUpdate();        
+        }        
+        
         public void StopMoveToTarget()
         {
             m_parentGroup.stopMoveToTarget();

OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs

@@ -303,6 +303,26 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
             set { return; }
         }
 
+        public override Quaternion APIDTarget 
+        { 
+        	set { return; }
+        }
+        
+        public override bool APIDActive
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDStrength
+        { 
+        	set { return; }
+        }
+        
+        public override float APIDDamping
+        { 
+        	set { return; }
+        }
+
         public override void SubscribeEvents(int ms)
         {
         }

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs

@@ -619,6 +619,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         {
             set { return; }
         }
+        
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
 
         /// <summary>
         /// Adds the force supplied to the Target Velocity

OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs

@@ -565,6 +565,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
         public override PIDHoverType PIDHoverType { set { m_PIDHoverType = value; } }
         public override float PIDHoverTau { set { m_PIDHoverTau = value; } }
 
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
 
         public override void AddForce(Vector3 force, bool pushforce)
         {

OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs

@@ -1238,6 +1238,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
 
+        public override OpenMetaverse.Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/Manager/PhysicsActor.cs

@@ -243,7 +243,12 @@ namespace OpenSim.Region.Physics.Manager
         public abstract PIDHoverType PIDHoverType { set;}
         public abstract float PIDHoverTau { set;}
 
-
+		// For RotLookAt        
+        public abstract Quaternion APIDTarget { set;}
+        public abstract bool APIDActive { set;}
+        public abstract float APIDStrength { set;}
+        public abstract float APIDDamping { set;}
+        
         public abstract void AddForce(Vector3 force, bool pushforce);
         public abstract void AddAngularForce(Vector3 force, bool pushforce);
         public abstract void SetMomentum(Vector3 momentum);
@@ -476,6 +481,12 @@ namespace OpenSim.Region.Physics.Manager
         public override bool PIDHoverActive { set { return; } }
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
+        
+        public override Quaternion APIDTarget { set { return; } }
+        public override bool APIDActive { set { return; } }
+        public override float APIDStrength { set { return; } }
+        public override float APIDDamping { set { return; } }
+        
 
         public override void SetMomentum(Vector3 momentum)
         {

OpenSim/Region/Physics/OdePlugin/ODECharacter.cs

@@ -1196,6 +1196,28 @@ namespace OpenSim.Region.Physics.OdePlugin
         public override bool PIDHoverActive { set { return; } }
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
+        
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs

@@ -23,6 +23,19 @@
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
+ * 
  */
 
 /* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
@@ -120,7 +133,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 //        private float m_VhoverEfficiency = 0f;
         private float m_VhoverTimescale = 0f;
         private float m_VhoverTargetHeight = -1.0f;     // if <0 then no hover, else its the current target height 
-        private float m_VehicleBuoyancy = 0f;			//KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
+        private float m_VehicleBuoyancy = 0f;			// Set by VEHICLE_BUOYANCY, for a vehicle.
         			// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 
         			// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
         			// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 
@@ -479,7 +492,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 	        Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);	// rotq = rotation of object
 	        m_dir *= rotq;							// apply obj rotation to velocity vector
 
-			// add Gravity andBuoyancy
+			// add Gravity and Buoyancy
 			// KF: So far I have found no good method to combine a script-requested
 			// .Z velocity and gravity. Therefore only 0g will used script-requested
 			// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
@@ -561,6 +574,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 	        private Vector3 m_angularFrictionTimescale = Vector3.Zero;		// body angular velocity  decay rate
 	        private Vector3 m_lastAngularVelocity = Vector3.Zero;			// what was last applied to body
 			*/
+//if(frcount == 0) Console.WriteLine("MoveAngular ");	
         
         	// Get what the body is doing, this includes 'external' influences
         	d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
@@ -636,7 +650,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 			// Deflection section tba
 			
 			// Sum velocities
-			m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
+			m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
 			
         	if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
             {

OpenSim/Region/Physics/OdePlugin/ODEPrim.cs

@@ -21,6 +21,18 @@
  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces
+ * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
+ * ODEPrim.cs contains methods dealing with Prim editing, Prim
+ * characteristics and Kinetic motion.
+ * ODEDynamics.cs contains methods dealing with Prim Physical motion
+ * (dynamics) and the associated settings. Old Linear and angular
+ * motors for dynamic motion have been replace with  MoveLinear()
+ * and MoveAngular(); 'Physical' is used only to switch ODE dynamic 
+ * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
+ * switch between 'VEHICLE' parameter use and general dynamics
+ * settings use.
  */
 
 /*
@@ -81,7 +93,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         private float m_PIDTau;
         private float PID_D = 35f;
         private float PID_G = 25f;
-        private bool m_usePID;
+        private bool m_usePID = false;
+        
+        private Quaternion m_APIDTarget = new Quaternion();
+        private float m_APIDStrength = 0.5f;
+        private float m_APIDDamping = 0.5f;
+        private bool m_useAPID = false;
 
         // KF: These next 7 params apply to llSetHoverHeight(float height, integer water, float tau),
         // and are for non-VEHICLES only.
@@ -182,6 +199,9 @@ namespace OpenSim.Region.Physics.OdePlugin
         private ODEDynamics m_vehicle;
 
         internal int m_material = (int)Material.Wood;
+        
+        private int frcount = 0;										// Used to limit dynamics debug output to 
+
 
         public OdePrim(String primName, OdeScene parent_scene, Vector3 pos, Vector3 size,
                        Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
@@ -1558,9 +1578,14 @@ Console.WriteLine(" JointCreateFixed");
             float fy = 0;
             float fz = 0;
 
+            frcount++;					// used to limit debug comment output
+            if (frcount > 100)
+                frcount = 0;
                 
             if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim)		// KF: Only move root prims.
             {
+//if(frcount == 0) Console.WriteLine("Move " +  m_primName + "  VTyp " + m_vehicle.Type +
+			//			"    usePID=" + m_usePID  + "    seHover=" + m_useHoverPID  + "  useAPID=" + m_useAPID);           	
             	if (m_vehicle.Type != Vehicle.TYPE_NONE)
             	{
             		// 'VEHICLES' are dealt with in ODEDynamics.cs
@@ -1568,7 +1593,6 @@ Console.WriteLine(" JointCreateFixed");
             	}
             	else
             	{
-//Console.WriteLine("Move " +  m_primName);           	
             		if(!d.BodyIsEnabled (Body))  d.BodyEnable (Body); // KF add 161009
             		// NON-'VEHICLES' are dealt with here
 	                if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f))
@@ -1590,21 +1614,18 @@ Console.WriteLine(" JointCreateFixed");
                     //m_log.Info(m_collisionFlags.ToString());
 
 	                
-	                //KF: m_buoyancy should be set by llSetBuoyancy() for non-vehicle.
-	                // would come from SceneObjectPart.cs, public void SetBuoyancy(float fvalue) , PhysActor.Buoyancy = fvalue; ??
+	                //KF: m_buoyancy is set by llSetBuoyancy() and is for non-vehicle.
 	                // m_buoyancy: (unlimited value) <0=Falls fast; 0=1g; 1=0g; >1 = floats up 
-	                // gravityz multiplier = 1 - m_buoyancy
-	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass;
+	                // NB Prims in ODE are no subject to global gravity
+	                fz = _parent_scene.gravityz * (1.0f - m_buoyancy) * m_mass; // force = acceleration * mass
 
 	                if (m_usePID)
 	                {
-//Console.WriteLine("PID " +  m_primName);           	
-                    	// KF - this is for object move? eg. llSetPos() ?
+//if(frcount == 0) Console.WriteLine("PID " +  m_primName);           	
+                    	// KF - this is for object MoveToTarget.
+                    	
 	                    //if (!d.BodyIsEnabled(Body))
 	                    //d.BodySetForce(Body, 0f, 0f, 0f);
-	                    // If we're using the PID controller, then we have no gravity
-	                    //fz = (-1 * _parent_scene.gravityz) * m_mass; 	//KF: ?? Prims have no global gravity,so simply...
-	                    fz = 0f;
 
 	                    //  no lock; for now it's only called from within Simulate()
 	
@@ -1739,7 +1760,7 @@ Console.WriteLine(" JointCreateFixed");
     	                    d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
     	                    d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
     	                    d.BodyAddForce(Body, 0, 0, fz);
-    	                    return;
+    	            //KF this prevents furthur motions        return;
     	                }
     	                else
     	                {
@@ -1748,8 +1769,46 @@ Console.WriteLine(" JointCreateFixed");
     	                    // We're flying and colliding with something
     	                    fz = fz + ((_target_velocity.Z - vel.Z) * (PID_D) * m_mass);
     	                }
-    	            }
-
+    	            } // end m_useHoverPID && !m_usePID
+    	            
+	                if (m_useAPID)
+	                {
+	                	// RotLookAt, apparently overrides all other rotation sources. Inputs:
+	                	// Quaternion m_APIDTarget
+						// float m_APIDStrength		// From SL experiments, this is the time to get there
+						// float m_APIDDamping		// From SL experiments, this is damping, 1.0 = damped, 0.1 = wobbly
+													// Also in SL the mass of the object has no effect on time to get there.
+						// Factors:
+//if(frcount == 0) Console.WriteLine("APID ");							
+			    	    // get present body rotation
+			    	    float limit = 1.0f;
+			    	    float scaler = 50f;		// adjusts damping time
+			    	    float RLAservo = 0f;
+			    	    
+			    	    d.Quaternion rot = d.BodyGetQuaternion(Body);
+			    	    Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
+			    	    Quaternion rot_diff = Quaternion.Inverse(rotq) * m_APIDTarget;
+                        float diff_angle;
+                        Vector3 diff_axis;
+                        rot_diff.GetAxisAngle(out diff_axis, out diff_angle);
+                        diff_axis.Normalize();
+						if(diff_angle > 0.01f)			// diff_angle is always +ve
+						{
+//	                        PhysicsVector rotforce = new PhysicsVector(diff_axis.X, diff_axis.Y, diff_axis.Z);
+	                        Vector3 rotforce = new Vector3(diff_axis.X, diff_axis.Y, diff_axis.Z);
+    	                    rotforce = rotforce * rotq;
+    	                    if(diff_angle > limit) diff_angle = limit;		// cap the rotate rate
+//    	                    RLAservo = timestep / m_APIDStrength * m_mass * scaler;
+  //  	                    rotforce = rotforce * RLAservo * diff_angle ;
+    //	                    d.BodyAddRelTorque(Body, rotforce.X, rotforce.Y, rotforce.Z);
+    	                    RLAservo = timestep / m_APIDStrength * scaler;
+    	                    rotforce = rotforce * RLAservo * diff_angle ;
+							d.BodySetAngularVel (Body,  rotforce.X, rotforce.Y, rotforce.Z);
+//Console.WriteLine("axis= " + diff_axis + "    angle= " + diff_angle + "servo= " + RLAservo);							
+						}
+//if(frcount == 0) Console.WriteLine("mass= " + m_mass + "  servo= " + RLAservo + "   angle= " + diff_angle);							
+	                } // end m_useAPID
+	                
     	            fx *= m_mass;
     	            fy *= m_mass;
     	            //fz *= m_mass;
@@ -2782,6 +2841,12 @@ Console.WriteLine(" JointCreateFixed");
         }
         public override bool PIDActive { set { m_usePID = value; } }
         public override float PIDTau { set { m_PIDTau = value; } }
+        
+		// For RotLookAt        
+        public override Quaternion APIDTarget { set { m_APIDTarget = value; } }
+        public override bool APIDActive { set { m_useAPID = value; } }
+        public override float APIDStrength { set { m_APIDStrength = value; } }
+        public override float APIDDamping { set { m_APIDDamping = value; } }
 
         public override float PIDHoverHeight { set { m_PIDHoverHeight = value; ; } }
         public override bool PIDHoverActive { set { m_useHoverPID = value; } }

OpenSim/Region/Physics/POSPlugin/POSCharacter.cs

@@ -304,6 +304,27 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
             set { return; }
         }
+        
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/POSPlugin/POSPrim.cs

@@ -299,6 +299,26 @@ namespace OpenSim.Region.Physics.POSPlugin
         {
             set { return; }
         }
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs

@@ -498,6 +498,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         public override bool PIDHoverActive { set { return; } }
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
+        
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+
 
         public override void SubscribeEvents(int ms)
         {
@@ -780,6 +802,28 @@ namespace OpenSim.Region.Physics.PhysXPlugin
         public override bool PIDHoverActive { set { return; } }
         public override PIDHoverType PIDHoverType { set { return; } }
         public override float PIDHoverTau { set { return; } }
+        
+        public override Quaternion APIDTarget
+        {
+            set { return; }
+        }
+
+        public override bool APIDActive
+        {
+            set { return; }
+        }
+
+        public override float APIDStrength
+        {
+            set { return; }
+        }
+
+        public override float APIDDamping
+        {
+            set { return; }
+        }
+
+        
 
         public override void SubscribeEvents(int ms)
         {

OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs

@@ -2698,11 +2698,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             // Orient the object to the angle calculated
             llSetRot(rot);
         }
+        
+        public void llRotLookAt(LSL_Rotation target, double strength, double damping)
+        {
+            m_host.AddScriptLPS(1);
+//            NotImplemented("llRotLookAt");
+            m_host.RotLookAt(Rot2Quaternion(target), (float)strength, (float)damping);
+            
+        }
+
 
         public void llStopLookAt()
         {
             m_host.AddScriptLPS(1);
-            NotImplemented("llStopLookAt");
+//            NotImplemented("llStopLookAt");
+            m_host.StopLookAt();
         }
 
         public void llSetTimerEvent(double sec)
@@ -3046,12 +3056,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             m_host.AddScriptLPS(1);
         }
 
-        public void llRotLookAt(LSL_Rotation target, double strength, double damping)
-        {
-            m_host.AddScriptLPS(1);
-            NotImplemented("llRotLookAt");
-        }
-
         public LSL_Integer llStringLength(string str)
         {
             m_host.AddScriptLPS(1);