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BulletSim: Add module names to DetailLog output. Fix some problems with linksets that were caused by checking data structures that are changed regularly from taint time code -- resulted in linksets not being unlinked properly.

integration
Robert Adams 2012-08-10 08:33:09 -07:00
parent 320982cae3
commit 3ca770cd2c
3 changed files with 71 additions and 63 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -248,7 +248,7 @@ public class BSCharacter : PhysicsActor
// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
Scene.TaintedObject("BSCharacter.SetForce", delegate()
{
DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
});
}
@ -275,7 +275,7 @@ public class BSCharacter : PhysicsActor
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
_scene.TaintedObject("BSCharacter.setVelocity", delegate()
{
DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity);
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
});
}
@ -487,6 +487,10 @@ public class BSCharacter : PhysicsActor
_rotationalVelocity = entprop.RotationalVelocity;
// 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}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
// Called by the scene when a collision with this object is reported

57
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -40,9 +40,12 @@ public class BSLinkset
public BSPrim Root { get { return m_linksetRoot; } }
private BSScene m_scene;
public BSScene Scene { get { return m_scene; } }
private List<BSPrim> 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.
@ -113,9 +116,10 @@ public class BSLinkset
}
// The child is down to a linkset of just itself
return new BSLinkset(m_scene, child);
return new BSLinkset(Scene, child);
}
/* DEPRECATED: this is really bad in that it trys to unlink other prims.
// An existing linkset had one of its members rebuilt or something.
// Go through the linkset and rebuild the pointers to the bodies of the linkset members.
public BSLinkset RefreshLinkset(BSPrim requestor)
@ -163,6 +167,7 @@ public class BSLinkset
return ret;
}
*/
// Return 'true' if the passed object is the root object of this linkset
@ -229,18 +234,19 @@ public class BSLinkset
}
// I am the root of a linkset and a new child is being added
public void AddChildToLinkset(BSPrim pchild)
// Called while LinkActivity is locked.
public void AddChildToLinkset(BSPrim child)
{
BSPrim child = pchild;
if (!HasChild(child))
{
m_children.Add(child);
BSPrim root = Root; // capture the root as of now
m_scene.TaintedObject("AddChildToLinkset", delegate()
{
DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child
DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
PhysicallyLinkAChildToRoot(root, child); // build the physical binding between me and the child
});
}
return;
@ -259,26 +265,17 @@ public class BSLinkset
// I am the root of a linkset and one of my children is being removed.
// Safe to call even if the child is not really in my linkset.
public void RemoveChildFromLinkset(BSPrim pchild)
public void RemoveChildFromLinkset(BSPrim child)
{
BSPrim child = pchild;
if (m_children.Remove(child))
{
BSPrim root = Root; // capture the root as of now
m_scene.TaintedObject("RemoveChildFromLinkset", delegate()
{
DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
if (m_children.Count == 0)
{
// if the linkset is empty, make sure all linkages have been removed
PhysicallyUnlinkAllChildrenFromRoot();
}
else
{
PhysicallyUnlinkAChildFromRoot(pchild);
}
PhysicallyUnlinkAChildFromRoot(root, child);
});
}
else
@ -291,14 +288,14 @@ public class BSLinkset
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPrim childPrim)
private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation);
OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation;
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
@ -306,9 +303,9 @@ 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}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
m_scene.World, m_linksetRoot.Body, childPrim.Body,
m_scene.World, rootPrim.Body, childPrim.Body,
childRelativePosition,
childRelativeRotation,
OMV.Vector3.Zero,
@ -331,25 +328,25 @@ public class BSLinkset
// Remove linkage between myself and a particular child
// Called at taint time!
private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim)
{
// DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}",
// LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
// LogHeader, rootPrim.LocalID, childPrim.LocalID);
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
}
// Remove linkage between myself and any possible children I might have
// Called at taint time!
private void PhysicallyUnlinkAllChildrenFromRoot()
private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim)
{
// DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
}
// Invoke the detailed logger and output something if it's enabled.

69
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -160,16 +160,18 @@ public sealed class BSPrim : PhysicsActor
public void Destroy()
{
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// DetailLog("{0},Destroy", 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
_linkset = _linkset.RemoveMeFromLinkset(this);
_scene.TaintedObject("BSPrim.destroy", delegate()
{
// Undo any links between me and any other object
_linkset = _linkset.RemoveMeFromLinkset(this);
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);
@ -187,7 +189,7 @@ public sealed class BSPrim : PhysicsActor
{
_mass = CalculateMass(); // changing size changes the mass
BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
// DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
// DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
RecreateGeomAndObject();
});
}
@ -227,7 +229,7 @@ public sealed class BSPrim : PhysicsActor
if (parent != null)
{
DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
DetailLog("{0},link,parent={1}", LocalID, parent.LocalID);
DetailLog("{0},BSPrim.link,parent={1}", LocalID, parent.LocalID);
_linkset = _linkset.AddMeToLinkset(this, parent);
}
return;
@ -239,9 +241,14 @@ public sealed class BSPrim : PhysicsActor
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
_linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString());
DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString());
_linkset.RemoveMeFromLinkset(this);
BSPrim parentBefore = _linkset.Root;
int childrenBefore = _linkset.NumberOfChildren;
_linkset = _linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
return;
}
@ -264,7 +271,7 @@ public sealed class BSPrim : PhysicsActor
public override void LockAngularMotion(OMV.Vector3 axis)
{
DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
return;
}
@ -283,7 +290,7 @@ public sealed class BSPrim : PhysicsActor
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
_scene.TaintedObject("BSPrim.setPosition", delegate()
{
DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@ -320,7 +327,7 @@ public sealed class BSPrim : PhysicsActor
_force = value;
_scene.TaintedObject("BSPrim.setForce", delegate()
{
DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
});
@ -335,7 +342,7 @@ public sealed class BSPrim : PhysicsActor
Vehicle type = (Vehicle)value;
_scene.TaintedObject("BSPrim.setVehicleType", delegate()
{
DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
DetailLog("{0},BSPrim.SetVehicleType,taint,type={1}", LocalID, type);
_vehicle.ProcessTypeChange(type);
if (type == Vehicle.TYPE_NONE)
{
@ -405,7 +412,7 @@ public sealed class BSPrim : PhysicsActor
_velocity = value;
_scene.TaintedObject("BSPrim.setVelocity", delegate()
{
DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
});
}
@ -413,7 +420,7 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
}
}
public override float CollisionScore {
@ -440,7 +447,7 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject("BSPrim.setOrientation", delegate()
{
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@ -486,7 +493,7 @@ public sealed class BSPrim : PhysicsActor
// Bullet wants static objects to have a mass of zero
float mass = IsStatic ? 0f : _mass;
DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, 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);
}
@ -544,7 +551,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
_scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
});
}
@ -561,7 +568,7 @@ public sealed class BSPrim : PhysicsActor
_buoyancy = value;
_scene.TaintedObject("BSPrim.setBuoyancy", delegate()
{
DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
});
}
@ -624,17 +631,17 @@ public sealed class BSPrim : PhysicsActor
}
m_accumulatedForces.Clear();
}
DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force);
DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
});
}
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
}
public override void SetMomentum(OMV.Vector3 momentum) {
DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
}
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
@ -978,7 +985,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
{
DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild);
DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
@ -992,7 +999,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
{
DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild);
DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size;
// TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@ -1035,12 +1042,12 @@ public sealed class BSPrim : PhysicsActor
// if this new shape is the same as last time, don't recreate the mesh
if (_meshKey == newMeshKey) return;
DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
// Since we're recreating new, get rid of any previously generated shape
if (_meshKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null;
_meshKey = 0;
@ -1070,7 +1077,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},CreateGeomMesh,done", LocalID);
DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
return;
}
@ -1084,17 +1091,17 @@ public sealed class BSPrim : PhysicsActor
// if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return;
DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey);
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
_hulls.Clear();
DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null; // the mesh cannot match either
_meshKey = 0;
@ -1191,7 +1198,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},CreateGeomHull,done", LocalID);
DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
return;
}
@ -1329,7 +1336,7 @@ public sealed class BSPrim : PhysicsActor
// 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);
DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate();
@ -1337,7 +1344,7 @@ public sealed class BSPrim : PhysicsActor
else
{
// For debugging, we also report the movement of children
DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
DetailLog("{0},BSPrim.BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}