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BulletSim: remove confusion between angularVelocity and rotationalVelocity (there is still confusion in the rest of OpenSim). Enhance some debug statements to include the object ID.

0.7.4.1
Robert Adams 2012-03-22 17:04:06 -07:00
parent 2f6e8564fe
commit 1273f259e4
3 changed files with 11 additions and 15 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -821,7 +821,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
*/
// Get what the body is doing, this includes 'external' influences
Vector3 angularVelocity = m_prim.AngularVelocity;
Vector3 angularVelocity = m_prim.RotationalVelocity;
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0)
@ -910,7 +910,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
m_prim.AngularVelocity = m_lastAngularVelocity;
m_prim.RotationalVelocity = m_lastAngularVelocity;
} //end MoveAngular
internal void LimitRotation(float timestep)

17
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -85,7 +85,6 @@ public sealed class BSPrim : PhysicsActor
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
private OMV.Vector3 _angularVelocity;
private List<BSPrim> _childrenPrims;
private BSPrim _parentPrim;
@ -119,7 +118,6 @@ public sealed class BSPrim : PhysicsActor
_buoyancy = 1f;
_velocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
_angularVelocity = OMV.Vector3.Zero;
_hullKey = 0;
_meshKey = 0;
_pbs = pbs;
@ -146,7 +144,7 @@ public sealed class BSPrim : PhysicsActor
// called when this prim is being destroyed and we should free all the resources
public void Destroy()
{
// m_log.DebugFormat("{0}: Destroy", LogHeader);
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
_scene.RemoveVehiclePrim(this); // just to make sure
@ -203,7 +201,7 @@ public sealed class BSPrim : PhysicsActor
// link me to the specified parent
public override void link(PhysicsActor obj) {
BSPrim parent = (BSPrim)obj;
BSPrim parent = obj as BSPrim;
// m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
// TODO: decide if this parent checking needs to happen at taint time
if (_parentPrim == null)
@ -527,10 +525,6 @@ public sealed class BSPrim : PhysicsActor
});
}
}
public OMV.Vector3 AngularVelocity {
get { return _angularVelocity; }
set { _angularVelocity = value; }
}
public override bool Kinematic {
get { return _kinematic; }
set { _kinematic = value;
@ -993,7 +987,7 @@ public sealed class BSPrim : PhysicsActor
}
// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
// LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
// LogHeader, _localID, _meshKey, indices.Length, vertices.Count);
BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices,
vertices.Count, verticesAsFloats);
@ -1127,7 +1121,7 @@ public sealed class BSPrim : PhysicsActor
return;
}
// Create an object in Bullet
// Create an object in Bullet if it has not already been created
// No locking here because this is done when the physics engine is not simulating
private void CreateObject()
{
@ -1324,7 +1318,8 @@ public sealed class BSPrim : PhysicsActor
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate();
}
}

5
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -487,12 +487,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void DeleteTerrain()
{
m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
// m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
}
public override void Dispose()
{
m_log.DebugFormat("{0}: Dispose()", LogHeader);
// m_log.DebugFormat("{0}: Dispose()", LogHeader);
}
public override Dictionary<uint, float> GetTopColliders()
@ -753,6 +753,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
switch (lparm)
{
case "detailedstats": m_detailedStatsStep = (int)val; break;
case "meshlod": m_meshLOD = (int)val; break;
case "sculptlod": m_sculptLOD = (int)val; break;
case "maxsubstep": m_maxSubSteps = (int)val; break;