From 21a046e6222a160ef856d7a6d30de637261dfd9b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 08:14:08 -0700 Subject: [PATCH] BulletSim: Extension parameters passed through the classes made to pass just and array of objects rather than a mixture of parameters and array. Makes understanding and parsing what is being passed much easier. --- .../ExtendedPhysics/ExtendedPhysics.cs | 23 ++++- .../BulletSPlugin/BSLinksetConstraints.cs | 93 ++++++++++++++----- .../Region/Physics/BulletSPlugin/BSPrim.cs | 1 + .../Physics/BulletSPlugin/BSPrimLinkable.cs | 15 +-- .../Region/Physics/BulletSPlugin/BSScene.cs | 1 + 5 files changed, 98 insertions(+), 35 deletions(-) diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index d035f7b675..90cf15a96c 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs @@ -315,7 +315,8 @@ public class ExtendedPhysics : INonSharedRegionModule if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor)) { - ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, childPhysActor, typeCode)); + object[] parms = { childPhysActor, typeCode }; + ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms)); } return ret; @@ -323,7 +324,7 @@ public class ExtendedPhysics : INonSharedRegionModule // physGetLinkType(integer linkNum) [ScriptInvocation] - public int physGetLinkType(UUID hostID, UUID scriptID, int linkNum, int typeCode) + public int physGetLinkType(UUID hostID, UUID scriptID, int linkNum) { int ret = -1; if (!Enabled) return ret; @@ -333,7 +334,8 @@ public class ExtendedPhysics : INonSharedRegionModule if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor)) { - ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, childPhysActor)); + object[] parms = { childPhysActor }; + ret = MakeIntError(rootPhysActor.Extension(PhysFunctGetLinkType, parms)); } return ret; @@ -352,7 +354,8 @@ public class ExtendedPhysics : INonSharedRegionModule if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor)) { - ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, childPhysActor, PHYS_LINK_TYPE_FIXED)); + object[] parms = { childPhysActor , PHYS_LINK_TYPE_FIXED }; + ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkType, parms)); } return ret; @@ -409,7 +412,8 @@ public class ExtendedPhysics : INonSharedRegionModule if (GetRootAndChildPhysActors(hostID, linkNum, out rootPhysActor, out childPhysActor)) { - ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, childPhysActor, parms)); + object[] parms2 = AddToBeginningOfArray(childPhysActor, parms); + ret = MakeIntError(rootPhysActor.Extension(PhysFunctChangeLinkParams, parms2)); } return ret; @@ -513,6 +517,15 @@ public class ExtendedPhysics : INonSharedRegionModule return ret; } + // Return an array of objects with the passed object as the first object of a new array + private object[] AddToBeginningOfArray(object firstOne, object[] prevArray) + { + object[] newArray = new object[1 + prevArray.Length]; + newArray[0] = firstOne; + prevArray.CopyTo(newArray, 1); + return newArray; + } + // Extension() returns an object. Convert that object into the integer error we expect to return. private int MakeIntError(object extensionRet) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 92df84e6c7..87716b4ef3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -343,7 +343,7 @@ public sealed class BSLinksetConstraints : BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, rootPrim.Position, linkInfo.member.Position, midPoint); @@ -492,11 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset object ret = null; switch (pFunct) { - // pParams = (int linkNUm, PhysActor linkChild) + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: if (pParams.Length > 1) { int requestedType = (int)pParams[1]; + DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE @@ -507,7 +508,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPrimLinkable child = pParams[0] as BSPrimLinkable; if (child != null) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. RemoveDependencies(child); @@ -522,15 +523,35 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; + DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); + } + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); } // Cause the whole linkset to be rebuilt in post-taint time. Refresh(child); }); } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,childNotBSPrimLinkable", LinksetRoot.LocalID); + } + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,illegalRequestedType,reqested={1},spring={2}", + LinksetRoot.LocalID, requestedType, ((int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE)); } } break; + // pParams = [] case ExtendedPhysics.PhysFunctGetLinkType: if (pParams.Length > 0) { @@ -544,11 +565,15 @@ public sealed class BSLinksetConstraints : BSLinkset if (linkInfoC != null) { ret = (object)(int)linkInfoC.constraintType; + DetailLog("{0},BSLinksetConstraint.GetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); + } } } } break; + // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set try @@ -556,7 +581,6 @@ public sealed class BSLinksetConstraints : BSLinkset if (pParams.Length > 1) { BSPrimLinkable child = pParams[0] as BSPrimLinkable; - object[] setOps = (object[])pParams[1]; BSLinkInfo baseLinkInfo = null; if (TryGetLinkInfo(child, out baseLinkInfo)) { @@ -568,85 +592,106 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; - int opIndex = 0; - while (opIndex < setOps.Length) + int opIndex = 1; + while (opIndex < pParams.Length) { - int thisOp = (int)setOps[opIndex]; + int thisOp = (int)pParams[opIndex]; + DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", + linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInArot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInBloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInBrot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.useFrameOffset = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.enableTransMotor = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxVel = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxForce = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_CFM: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.cfm = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ERP: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.erp = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.solverIterations = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springDamping = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springStiffness = valueFloat; + opIndex += 2; break; default: break; } } } + // Something changed so a rebuild is in order + Refresh(child); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4685b48f20..45056bce09 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1552,6 +1552,7 @@ public class BSPrim : BSPhysObject #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrim.Extension,op={1}", LocalID, pFunct); object ret = null; switch (pFunct) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 28ea8c0ffa..531f8fb61a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -283,17 +283,20 @@ public class BSPrimLinkable : BSPrimDisplaced #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length); object ret = null; switch (pFunct) { // physGetLinksetType(); + // pParams = [] case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; - m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret); break; } // physSetLinksetType(type); + // pParams = [ BSPhysObject child, integer type ] case ExtendedPhysics.PhysFunctSetLinksetType: { if (pParams.Length > 0) @@ -304,8 +307,8 @@ public class BSPrimLinkable : BSPrimDisplaced PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() { // Cause the linkset type to change - m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", - LogHeader, Linkset.LinksetImpl, linksetType); + DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", + LocalID, Linkset.LinksetImpl, linksetType); ConvertLinkset(linksetType); }); } @@ -314,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physChangeLinkType(linknum, typeCode); - // Params: PhysActor linkedPrim, int typeCode + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physGetLinkType(linknum); - // Params: PhysActor linkedPrim + // pParams = [ BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); - // Params: PhysActor linkedPrim, object[] params + // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] case ExtendedPhysics.PhysFunctChangeLinkParams: { ret = Linkset.Extension(pFunct, pParams); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a68d382257..75c0ff9b20 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -869,6 +869,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Extensions public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct); return base.Extension(pFunct, pParams); } #endregion // Extensions