From 14eeb8b31b865f7b1927703028b03b6f61693cb6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 16:33:21 -0700 Subject: [PATCH] BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh assets weren't already in the cache. Comment cleanups. --- .../Physics/BulletSPlugin/BSConstraint.cs | 4 ++- .../Physics/BulletSPlugin/BSDynamics.cs | 5 +-- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 13 +++++--- .../BulletSPlugin/BSLinksetConstraints.cs | 19 +++--------- .../Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++--- .../Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../BulletSPlugin/BSShapeCollection.cs | 31 ++++++++++++++++--- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +-- 8 files changed, 51 insertions(+), 35 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index b58745a436..f017cdd669 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -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; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f71f3b0b30..117c8787d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -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. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2e6b104a30..c984824278 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -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); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8eeeb73ab1..8a750b52b7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3c5e6e56d3..8401c6925d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -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); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 233f1ca6b0..48ee6f6b3b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -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); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 89d0d3ea44..b1833c5e88 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -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; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 41065344e2..ae267e3521 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -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}",