diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4f48cfb529..f164afeeff 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -488,7 +488,7 @@ public class BSCharacter : PhysicsActor // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - DetailLog("{0},BSCharacter.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index a17efea8ea..da26b721ec 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -49,7 +49,9 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); - BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); + m_constraint.Ptr = System.IntPtr.Zero; m_enabled = false; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 397045a437..3df2ddc007 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -68,6 +68,8 @@ public class BSConstraintCollection : IDisposable // There is only one constraint between any bodies. Remove any old just to make sure. RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID); + m_constraints.Add(cons); return true; @@ -108,6 +110,7 @@ public class BSConstraintCollection : IDisposable if (this.TryGetConstraint(body1, body2, out constrain)) { + m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID); // remove the constraint from our collection m_constraints.Remove(constrain); // tell the engine that all its structures need to be freed @@ -148,10 +151,11 @@ public class BSConstraintCollection : IDisposable public bool RecalculateAllConstraints() { - foreach (BSConstraint constrain in m_constraints) + ForEachConstraint(delegate(BSConstraint constrain) { constrain.CalculateTransforms(); - } + return false; + }); return true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index f68e06eb69..4a71612f1a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -44,8 +44,6 @@ public class BSLinkset private List m_children; - public int NumberOfChildren { get { return m_children.Count; } } - // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes // to the physical representation is done via the tainting mechenism. @@ -83,14 +81,14 @@ public class BSLinkset // Link to a linkset where the child knows the parent. // Parent changing should not happen so do some sanity checking. - // We return the parent's linkset so the child can track it's membership. - public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent) + // We return the parent's linkset so the child can track its membership. + public BSLinkset AddMeToLinkset(BSPrim child) { lock (m_linksetActivityLock) { - parent.Linkset.AddChildToLinkset(child); + AddChildToLinkset(child); } - return parent.Linkset; + return this; } public BSLinkset RemoveMeFromLinkset(BSPrim child) @@ -176,6 +174,8 @@ public class BSLinkset return (requestor.LocalID == m_linksetRoot.LocalID); } + public int NumberOfChildren { get { return m_children.Count; } } + // Return 'true' if this linkset has any children (more than the root member) public bool HasAnyChildren { get { return (m_children.Count > 0); } } @@ -303,7 +303,7 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( m_scene.World, rootPrim.Body, childPrim.Body, childRelativePosition, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4193d22b5b..05cc8227a3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -138,13 +138,14 @@ public sealed class BSPrim : PhysicsActor _isPhysical = pisPhysical; _isVolumeDetect = false; _subscribedEventsMs = 0; - _friction = _scene.Params.defaultFriction; // TODO: compute based on object material - _density = _scene.Params.defaultDensity; // TODO: compute based on object material + _friction = _scene.Params.defaultFriction; // TODO: compute based on object material + _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; _linkset = new BSLinkset(_scene, this); // a linkset of one - _vehicle = new BSDynamics(this); // add vehicleness + _vehicle = new BSDynamics(this); // add vehicleness _mass = CalculateMass(); // do the actual object creation at taint time + DetailLog("{0},BSPrim.constructor,call", LocalID); _scene.TaintedObject("BSPrim.create", delegate() { RecreateGeomAndObject(); @@ -160,19 +161,22 @@ public sealed class BSPrim : PhysicsActor public void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); - // DetailLog("{0},BSPrim.Destroy", LocalID); - - // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); - _scene.RemoveVehiclePrim(this); // just to make sure // Undo any links between me and any other object + BSPrim parentBefore = _linkset.Root; + int childrenBefore = _linkset.NumberOfChildren; + _linkset = _linkset.RemoveMeFromLinkset(this); + DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); + + // Undo any vehicle properties + this.VehicleType = (int)Vehicle.TYPE_NONE; + _scene.TaintedObject("BSPrim.destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); - // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); }); @@ -229,8 +233,13 @@ public sealed class BSPrim : PhysicsActor if (parent != null) { DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); - DetailLog("{0},BSPrim.link,parent={1}", LocalID, parent.LocalID); - _linkset = _linkset.AddMeToLinkset(this, parent); + BSPrim parentBefore = _linkset.Root; + int childrenBefore = _linkset.NumberOfChildren; + + _linkset = parent.Linkset.AddMeToLinkset(this); + + DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); } return; } @@ -340,21 +349,14 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _scene.TaintedObject("BSPrim.setVehicleType", delegate() + BSPrim vehiclePrim = this; + _scene.TaintedObject("setVehicleType", delegate() { - DetailLog("{0},BSPrim.SetVehicleType,taint,type={1}", LocalID, type); + // Done at taint time so we're sure the physics engine is not using the variables + // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); - if (type == Vehicle.TYPE_NONE) - { - _scene.RemoveVehiclePrim(this); - } - else - { - BulletSimAPI.ClearForces2(this.Body.Ptr); - // make it so the scene will call us each tick to do vehicle things - _scene.AddVehiclePrim(this); - } - return; + // Tell the scene about the vehicle so it will get processing each frame. + _scene.VehicleInSceneTypeChanged(this, type); }); } } @@ -493,8 +495,10 @@ public sealed class BSPrim : PhysicsActor // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + + CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); } // prims don't fly @@ -1224,7 +1228,7 @@ public sealed class BSPrim : PhysicsActor bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. - m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); return ret; } @@ -1344,7 +1348,7 @@ public sealed class BSPrim : PhysicsActor else { // For debugging, we also report the movement of children - DetailLog("{0},BSPrim.BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 65a8014490..beaea1f32c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -255,7 +255,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Initialization to support the transition to a new API which puts most of the logic // into the C# code so it is easier to modify and add to. - m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID)); + m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); m_constraintCollection = new BSConstraintCollection(World); m_initialized = true; @@ -362,6 +362,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim bsprim = prim as BSPrim; if (bsprim != null) { + DetailLog("{0},RemovePrim,call", bsprim.LocalID); // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { @@ -387,6 +388,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; + DetailLog("{0},AddPrimShape,call", localID); + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); return prim; @@ -426,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters { numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); - DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); // updatedEntityCount = 0; collidersCount = 0; } @@ -777,6 +780,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters } #region Vehicles + + public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) + { + if (newType == Vehicle.TYPE_NONE) + { + RemoveVehiclePrim(vehic); + } + else + { + // make it so the scene will call us each tick to do vehicle things + AddVehiclePrim(vehic); + } + } + // Make so the scene will call this prim for vehicle actions each tick. // Safe to call if prim is already in the vehicle list. public void AddVehiclePrim(BSPrim vehicle) @@ -1304,10 +1321,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters #endregion Runtime settable parameters // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) + public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); } + // used to fill in the LocalID when there isn't one + public const string DetailLogZero = "0000000000"; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index c016402057..6800b96977 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -35,9 +35,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API public struct BulletSim { - public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } - public IntPtr Ptr; + public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } public uint ID; + // The scene is only in here so very low level routines have a handle to print debug/error messages + public BSScene scene; + public IntPtr Ptr; } public struct BulletBody @@ -491,6 +493,9 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags);