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BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh assets weren't already in the cache. Comment cleanups.

integration
Robert Adams 2012-10-22 16:33:21 -07:00
parent 7272a4cae8
commit 14eeb8b31b
8 changed files with 51 additions and 35 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
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@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public abstract class BSConstraint : IDisposable
{
private static string LogHeader = "[BULLETSIM CONSTRAINT]";
protected BulletSim m_world;
protected BulletBody m_body1;
protected BulletBody m_body2;
@ -124,7 +126,7 @@ public abstract class BSConstraint : IDisposable
}
else
{
m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
}
}
return ret;

5
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -464,8 +464,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Set the prim's inertia to zero. The vehicle code handles that and this
// removes the motion and torque actions introduced by Bullet.
Vector3 inertia = Vector3.Zero;
BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
// comment out for DEBUG test
// BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
// BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
}
// One step of the vehicle properties for the next 'pTimestep' seconds.

13
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -165,6 +165,9 @@ public abstract class BSLinkset
bool ret = false;
lock (m_linksetActivityLock)
{
if (m_children.Contains(child))
ret = true;
/*
foreach (BSPhysObject bp in m_children)
{
if (child.LocalID == bp.LocalID)
@ -173,6 +176,7 @@ public abstract class BSLinkset
break;
}
}
*/
}
return ret;
}
@ -196,21 +200,20 @@ public abstract class BSLinkset
// Called at taint-time!
public abstract bool MakeStatic(BSPhysObject child);
// If the software is handling the movement of all the objects in a linkset
// (like if one doesn't use constraints for static linksets), this is called
// when an update for the root of the linkset is received.
// Called when a parameter update comes from the physics engine for any object
// of the linkset is received.
// Called at taint-time!!
public abstract void UpdateProperties(BSPhysObject physObject);
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
// This is called when the root body is changing.
// Returns 'true' of something eas actually removed and would need restoring
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public abstract bool RemoveBodyDependencies(BSPrim child);
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// this routine will restore the removed constraints.
// Called at taint-time!!
public abstract void RestoreBodyDependencies(BSPrim child);

19
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -46,9 +46,8 @@ public class BSLinksetConstraints : BSLinkset
// May be called at runtime or taint-time (just pass the appropriate flag).
public override void Refresh(BSPhysObject requestor, bool inTaintTime)
{
// If there are no children, not physical or not root, I am not the one that recomputes the constraints
// (For the moment, static linksets do create constraints so remove the test for physical.)
if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
// If there are no children or not root, I am not the one that recomputes the constraints
if (!HasAnyChildren || !IsRoot(requestor))
return;
BSScene.TaintCallback refreshOperation = delegate()
@ -85,20 +84,10 @@ public class BSLinksetConstraints : BSLinkset
return false;
}
// If the software is handling the movement of all the objects in a linkset
// (like if one doesn't use constraints for static linksets), this is called
// when an update for the root of the linkset is received.
// Called at taint-time!!
public override void UpdateProperties(BSPhysObject physObject)
public override void UpdateProperties(BSPhysObject updated)
{
// The root local properties have been updated. Apply to the children if appropriate.
if (IsRoot(physObject) && HasAnyChildren)
{
if (!physObject.IsPhysical)
{
// TODO: implement software linkset update for static object linksets
}
}
// Nothing to do for constraints on property updates
}
// Routine used when rebuilding the body of the root of the linkset

9
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -399,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
{
// 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.
this._vehicle.ProcessTypeChange(type);
_vehicle.ProcessTypeChange(type);
});
}
}
@ -1246,12 +1246,13 @@ public sealed class BSPrim : BSPhysObject
FillShapeInfo(out shapeData);
// If this prim is part of a linkset, we must remove and restore the physical
// links of the body is rebuilt.
// links if the body is rebuilt.
bool needToRestoreLinkset = false;
// Create the correct physical representation for this type of object.
// Updates BSBody and BSShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
// Returns 'true' if either the body or the shape was changed.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
null, delegate(BulletBody dBody)
{
@ -1355,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
// BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG
base.RequestPhysicsterseUpdate();
}
@ -1368,8 +1369,8 @@ public sealed class BSPrim : BSPhysObject
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset implimentation might want to know about this.
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(this);
}
}

1
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -716,6 +716,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
catch (Exception e)
{
DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
}
}

31
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSShapeCollection : IDisposable
{
// private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
protected BSScene PhysicsScene { get; set; }
@ -434,16 +434,26 @@ public class BSShapeCollection : IDisposable
ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
{
BulletShape newShape;
// Need to make sure the passed shape information is for the native type.
ShapeData nativeShapeData = shapeData;
nativeShapeData.Type = shapeType;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale),
shapeType);
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType);
DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
}
else
{
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
}
if (newShape.ptr == IntPtr.Zero)
{
PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, nativeShapeData.ID, nativeShapeData.Type);
}
newShape.shapeKey = (System.UInt64)shapeKey;
newShape.isNativeShape = true;
@ -716,6 +726,8 @@ public class BSShapeCollection : IDisposable
{
prim.LastAssetBuildFailed = true;
BSPhysObject xprim = prim;
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
Util.FireAndForget(delegate
{
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@ -732,16 +744,25 @@ public class BSShapeCollection : IDisposable
yprim.BaseShape.SculptData = asset.Data;
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
// No race condition with the native sphere setting since the rebuild is at taint time.
yprim.ForceBodyShapeRebuild(false);
});
}
});
}
else
{
if (prim.LastAssetBuildFailed)
{
PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
LogHeader, shapeData.ID, pbs.SculptTexture);
}
}
// While we figure out the real problem, stick a simple native shape on the object.
BulletShape fillinShape =
BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
return fillinShape;
}

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@ -201,9 +201,7 @@ public class BSTerrainManager
// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
// terrain shape is created and added to the body.
// This call is most often used to update the heightMap and parameters of the terrain.
// The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
// calling this routine from initialization or taint-time routines) or whether to delay
// all the unmanaged activities to taint-time.
// (The above does suggest that some simplification/refactoring is in order.)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",