falling onto an object works

interface/src/avatar/MyAvatar.cpp

@@ -181,7 +181,11 @@ void MyAvatar::simulate(float deltaTime) {
     {
         PerformanceTimer perfTimer("transform");
         updateOrientation(deltaTime);
-        updatePosition(deltaTime);
+        if (_enablePhysics) {
+            updatePhysicsPosition(deltaTime);
+        } else {
+            updatePosition(deltaTime);
+        }
     }
     
     {
@@ -1391,6 +1395,26 @@ void MyAvatar::updatePosition(float deltaTime) {
     measureMotionDerivatives(deltaTime);
 }
 
+
+void MyAvatar::updatePhysicsPosition(float deltaTime) {
+    glm::vec3 velocity = _velocity;
+
+    bool pushingUp = (_driveKeys[UP] - _driveKeys[DOWN] > 0.0f) || _scriptedMotorVelocity.y > 0.0f;
+
+    glm::quat rotation = getHead()->getCameraOrientation();
+    glm::vec3 localVelocity = glm::inverse(rotation) * velocity;
+
+    bool hasFloor = false;
+    glm::vec3 newLocalVelocity = applyKeyboardMotor(deltaTime, localVelocity, hasFloor);
+    newLocalVelocity = applyScriptedMotor(deltaTime, newLocalVelocity);
+
+    // rotate back into world-frame
+    velocity = rotation * newLocalVelocity;
+
+}
+
+
+
 void MyAvatar::updateCollisionWithEnvironment(float deltaTime, float radius) {
     glm::vec3 up = getBodyUpDirection();
     const float ENVIRONMENT_SURFACE_ELASTICITY = 0.0f;

interface/src/avatar/MyAvatar.h

@@ -235,6 +235,7 @@ private:
     glm::vec3 applyKeyboardMotor(float deltaTime, const glm::vec3& velocity, bool walkingOnFloor);
     glm::vec3 applyScriptedMotor(float deltaTime, const glm::vec3& velocity);
     void updatePosition(float deltaTime);
+    void updatePhysicsPosition(float deltaTime);
     void updateCollisionWithAvatars(float deltaTime);
     void updateCollisionWithEnvironment(float deltaTime, float radius);
     void updateCollisionWithVoxels(float deltaTime, float radius);

libraries/physics/src/PhysicsEngine.cpp

@@ -370,7 +370,7 @@ void PhysicsEngine::computeCollisionEvents() {
     btBroadphasePairArray& pairArray = _avatarGhostObject->getOverlappingPairCache()->getOverlappingPairArray();
     int numPairs = pairArray.size();
 
-    for (int i=0;i<numPairs;i++) {
+    for (int i = 0; i < numPairs; i++) {
         manifoldArray.clear();
         const btBroadphasePair& pair = pairArray[i];
         // unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache: