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Merge branch 'master' into careminster

avinationmerge
Melanie 2012-10-23 17:25:40 +01:00
parent 13cef0b16a 36bfd3667c
commit 484eca323b
17 changed files with 768 additions and 418 deletions
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89
OpenSim/Framework/Monitoring/StatsManager.cs
View File

@ -207,7 +207,7 @@ namespace OpenSim.Framework.Monitoring
return false;
newContainer = new Dictionary<string, Stat>(container);
newContainer.Remove(stat.UniqueName);
newContainer.Remove(stat.ShortName);
newCategory = new Dictionary<string, Dictionary<string, Stat>>(category);
newCategory.Remove(stat.Container);
@ -248,6 +248,19 @@ namespace OpenSim.Framework.Monitoring
}
}
/// <summary>
/// Stat type.
/// </summary>
/// <remarks>
/// A push stat is one which is continually updated and so it's value can simply by read.
/// A pull stat is one where reading the value triggers a collection method - the stat is not continually updated.
/// </remarks>
public enum StatType
{
Push,
Pull
}
/// <summary>
/// Verbosity of stat.
/// </summary>
@ -265,11 +278,6 @@ namespace OpenSim.Framework.Monitoring
/// </summary>
public class Stat
{
/// <summary>
/// Unique stat name used for indexing. Each ShortName in a Category must be unique.
/// </summary>
public string UniqueName { get; private set; }
/// <summary>
/// Category of this stat (e.g. cache, scene, etc).
/// </summary>
@ -285,29 +293,65 @@ namespace OpenSim.Framework.Monitoring
/// </value>
public string Container { get; private set; }
public StatType StatType { get; private set; }
/// <summary>
/// Action used to update this stat when the value is requested if it's a pull type.
/// </summary>
public Action<Stat> PullAction { get; private set; }
public StatVerbosity Verbosity { get; private set; }
public string ShortName { get; private set; }
public string Name { get; private set; }
public string Description { get; private set; }
public virtual string UnitName { get; private set; }
public virtual double Value { get; set; }
public virtual double Value
{
get
{
// Asking for an update here means that the updater cannot access this value without infinite recursion.
// XXX: A slightly messy but simple solution may be to flick a flag so we can tell if this is being
// called by the pull action and just return the value.
if (StatType == StatType.Pull)
PullAction(this);
return m_value;
}
set
{
m_value = value;
}
}
private double m_value;
/// <summary>
/// Constructor
/// </summary>
/// <param name='shortName'>Short name for the stat. Must not contain spaces. e.g. "LongFrames"</param>
/// <param name='name'>Human readable name for the stat. e.g. "Long frames"</param>
/// <param name='description'>Description of stat</param>
/// <param name='unitName'>
/// Unit name for the stat. Should be preceeded by a space if the unit name isn't normally appeneded immediately to the value.
/// e.g. " frames"
/// </param>
/// <param name='category'>Category under which this stat should appear, e.g. "scene". Do not capitalize.</param>
/// <param name='container'>Entity to which this stat relates. e.g. scene name if this is a per scene stat.</param>
/// <param name='type'>Push or pull</param>
/// <param name='pullAction'>Pull stats need an action to update the stat on request. Push stats should set null here.</param>
/// <param name='verbosity'>Verbosity of stat. Controls whether it will appear in short stat display or only full display.</param>
/// <param name='description'>Description of stat</param>
public Stat(
string shortName, string name, string unitName, string category, string container, StatVerbosity verbosity, string description)
string shortName,
string name,
string description,
string unitName,
string category,
string container,
StatType type,
Action<Stat> pullAction,
StatVerbosity verbosity)
{
if (StatsManager.SubCommands.Contains(category))
throw new Exception(
@ -315,18 +359,18 @@ namespace OpenSim.Framework.Monitoring
ShortName = shortName;
Name = name;
Description = description;
UnitName = unitName;
Category = category;
Container = container;
StatType = type;
if (StatType == StatType.Push && pullAction != null)
throw new Exception("A push stat cannot have a pull action");
else
PullAction = pullAction;
Verbosity = verbosity;
Description = description;
UniqueName = GenUniqueName(Container, Category, ShortName);
}
public static string GenUniqueName(string container, string category, string shortName)
{
return string.Format("{0}+{1}+{2}", container, category, shortName);
}
public virtual string ToConsoleString()
@ -361,8 +405,15 @@ namespace OpenSim.Framework.Monitoring
}
public PercentageStat(
string shortName, string name, string category, string container, StatVerbosity verbosity, string description)
: base(shortName, name, "%", category, container, verbosity, description) {}
string shortName,
string name,
string description,
string category,
string container,
StatType type,
Action<Stat> pullAction,
StatVerbosity verbosity)
: base(shortName, name, description, "%", category, container, type, pullAction, verbosity) {}
public override string ToConsoleString()
{

15
OpenSim/Framework/Pool.cs
View File

@ -38,8 +38,23 @@ namespace OpenSim.Framework
/// </remarks>
public class Pool<T>
{
/// <summary>
/// Number of objects in the pool.
/// </summary>
public int Count
{
get
{
lock (m_pool)
return m_pool.Count;
}
}
private Stack<T> m_pool;
/// <summary>
/// Maximum pool size. Beyond this, any returned objects are not pooled.
/// </summary>
private int m_maxPoolSize;
private Func<T> m_createFunction;

12
OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
View File

@ -543,11 +543,8 @@ namespace OpenSim.Framework.Servers.HttpServer
{
case null:
case "text/html":
if (DebugLevel >= 3)
m_log.DebugFormat(
"[BASE HTTP SERVER]: HTTP IN {0} :{1} {2} content type handler {3} {4} from {5}",
RequestNumber, Port, request.ContentType, request.HttpMethod, request.Url.PathAndQuery, request.RemoteIPEndPoint);
LogIncomingToContentTypeHandler(request);
buffer = HandleHTTPRequest(request, response);
break;
@ -555,11 +552,8 @@ namespace OpenSim.Framework.Servers.HttpServer
case "application/llsd+xml":
case "application/xml+llsd":
case "application/llsd+json":
if (DebugLevel >= 3)
m_log.DebugFormat(
"[BASE HTTP SERVER]: HTTP IN {0} :{1} {2} content type handler {3} {4} from {5}",
RequestNumber, Port, request.ContentType, request.HttpMethod, request.Url.PathAndQuery, request.RemoteIPEndPoint);
LogIncomingToContentTypeHandler(request);
buffer = HandleLLSDRequests(request, response);
break;
@ -694,7 +688,7 @@ namespace OpenSim.Framework.Servers.HttpServer
"[BASE HTTP SERVER]: HTTP IN {0} :{1} {2} content type handler {3} {4} from {5}",
RequestNumber,
Port,
request.ContentType,
(request.ContentType == null || request.ContentType == "") ? "not set" : request.ContentType,
request.HttpMethod,
request.Url.PathAndQuery,
request.RemoteIPEndPoint);

89
OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
View File

@ -173,6 +173,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
private ExpiringCache<IPEndPoint, Queue<UDPPacketBuffer>> m_pendingCache = new ExpiringCache<IPEndPoint, Queue<UDPPacketBuffer>>();
private Pool<IncomingPacket> m_incomingPacketPool;
private Stat m_incomingPacketPoolStat;
private int m_defaultRTO = 0;
private int m_maxRTO = 0;
private int m_ackTimeout = 0;
@ -217,6 +219,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
m_circuitManager = circuitManager;
int sceneThrottleBps = 0;
bool usePools = false;
IConfig config = configSource.Configs["ClientStack.LindenUDP"];
if (config != null)
@ -249,7 +252,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
{
PacketPool.Instance.RecyclePackets = packetConfig.GetBoolean("RecyclePackets", true);
PacketPool.Instance.RecycleDataBlocks = packetConfig.GetBoolean("RecycleDataBlocks", true);
UsePools = packetConfig.GetBoolean("RecycleBaseUDPPackets", false);
usePools = packetConfig.GetBoolean("RecycleBaseUDPPackets", usePools);
}
#region BinaryStats
@ -280,8 +283,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
m_throttle = new TokenBucket(null, sceneThrottleBps);
ThrottleRates = new ThrottleRates(configSource);
if (UsePools)
m_incomingPacketPool = new Pool<IncomingPacket>(() => new IncomingPacket(), 500);
if (usePools)
EnablePools();
}
public void Start()
@ -334,6 +337,50 @@ namespace OpenSim.Region.ClientStack.LindenUDP
base.StopInbound();
}
protected override bool EnablePools()
{
if (!UsePools)
{
base.EnablePools();
m_incomingPacketPool = new Pool<IncomingPacket>(() => new IncomingPacket(), 500);
m_incomingPacketPoolStat
= new Stat(
"IncomingPacketPoolCount",
"Objects within incoming packet pool",
"The number of objects currently stored within the incoming packet pool",
"",
"clientstack",
"packetpool",
StatType.Pull,
stat => stat.Value = m_incomingPacketPool.Count,
StatVerbosity.Debug);
StatsManager.RegisterStat(m_incomingPacketPoolStat);
return true;
}
return false;
}
protected override bool DisablePools()
{
if (UsePools)
{
base.DisablePools();
StatsManager.DeregisterStat(m_incomingPacketPoolStat);
// We won't null out the pool to avoid a race condition with code that may be in the middle of using it.
return true;
}
return false;
}
/// <summary>
/// If the outgoing UDP thread times out, then return client that was being processed to help with debugging.
/// </summary>
@ -397,6 +444,14 @@ namespace OpenSim.Region.ClientStack.LindenUDP
+ "all - stop in and outbound processing.\n",
HandleStopCommand);
MainConsole.Instance.Commands.AddCommand(
"Debug",
false,
"debug lludp pool",
"debug lludp pool <on|off>",
"Turn object pooling within the lludp component on or off.",
HandlePoolCommand);
MainConsole.Instance.Commands.AddCommand(
"Debug",
false,
@ -440,6 +495,32 @@ namespace OpenSim.Region.ClientStack.LindenUDP
StopOutbound();
}
private void HandlePoolCommand(string module, string[] args)
{
if (args.Length != 4)
{
MainConsole.Instance.Output("Usage: debug lludp pool <on|off>");
return;
}
string enabled = args[3];
if (enabled == "on")
{
if (EnablePools())
MainConsole.Instance.OutputFormat("Packet pools enabled on {0}", m_scene.Name);
}
else if (enabled == "off")
{
if (DisablePools())
MainConsole.Instance.OutputFormat("Packet pools disabled on {0}", m_scene.Name);
}
else
{
MainConsole.Instance.Output("Usage: debug lludp pool <on|off>");
}
}
private void HandleStatusCommand(string module, string[] args)
{
MainConsole.Instance.OutputFormat(
@ -447,6 +528,8 @@ namespace OpenSim.Region.ClientStack.LindenUDP
MainConsole.Instance.OutputFormat(
"OUT LLUDP packet processing for {0} is {1}", m_scene.Name, IsRunningOutbound ? "enabled" : "disabled");
MainConsole.Instance.OutputFormat("LLUDP pools in {0} are {1}", m_scene.Name, UsePools ? "on" : "off");
}
public bool HandlesRegion(Location x)

51
OpenSim/Region/ClientStack/Linden/UDP/OpenSimUDPBase.cs
View File

@ -31,6 +31,7 @@ using System.Net.Sockets;
using System.Threading;
using log4net;
using OpenSim.Framework;
using OpenSim.Framework.Monitoring;
namespace OpenMetaverse
{
@ -76,6 +77,8 @@ namespace OpenMetaverse
/// <remarks>If IsRunningOut = false, then any request to send a packet is simply dropped.</remarks>
public bool IsRunningOutbound { get; private set; }
private Stat m_poolCountStat;
/// <summary>
/// Default constructor
/// </summary>
@ -106,11 +109,6 @@ namespace OpenMetaverse
/// necessary</remarks>
public void StartInbound(int recvBufferSize, bool asyncPacketHandling)
{
if (UsePools)
m_pool = new Pool<UDPPacketBuffer>(() => new UDPPacketBuffer(), 500);
else
m_pool = null;
m_asyncPacketHandling = asyncPacketHandling;
if (!IsRunningInbound)
@ -176,6 +174,49 @@ namespace OpenMetaverse
IsRunningOutbound = false;
}
protected virtual bool EnablePools()
{
if (!UsePools)
{
m_pool = new Pool<UDPPacketBuffer>(() => new UDPPacketBuffer(), 500);
m_poolCountStat
= new Stat(
"UDPPacketBufferPoolCount",
"Objects within the UDPPacketBuffer pool",
"The number of objects currently stored within the UDPPacketBuffer pool",
"",
"clientstack",
"packetpool",
StatType.Pull,
stat => stat.Value = m_pool.Count,
StatVerbosity.Debug);
StatsManager.RegisterStat(m_poolCountStat);
UsePools = true;
return true;
}
return false;
}
protected virtual bool DisablePools()
{
if (UsePools)
{
UsePools = false;
StatsManager.DeregisterStat(m_poolCountStat);
// We won't null out the pool to avoid a race condition with code that may be in the middle of using it.
return true;
}
return false;
}
private void AsyncBeginReceive()
{
UDPPacketBuffer buf;

40
OpenSim/Region/ClientStack/Linden/UDP/PacketPool.cs
View File

@ -47,18 +47,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP
private PercentageStat m_packetsReusedStat = new PercentageStat(
"PacketsReused",
"Packets reused",
"Number of packets reused out of all requests to the packet pool",
"clientstack",
"packetpool",
StatVerbosity.Debug,
"Number of packets reused out of all requests to the packet pool");
StatType.Push,
null,
StatVerbosity.Debug);
private PercentageStat m_blocksReusedStat = new PercentageStat(
"BlocksReused",
"Blocks reused",
"PacketDataBlocksReused",
"Packet data blocks reused",
"Number of data blocks reused out of all requests to the packet pool",
"clientstack",
"packetpool",
StatVerbosity.Debug,
"Number of data blocks reused out of all requests to the packet pool");
StatType.Push,
null,
StatVerbosity.Debug);
/// <summary>
/// Pool of packets available for reuse.
@ -88,6 +92,30 @@ namespace OpenSim.Region.ClientStack.LindenUDP
{
StatsManager.RegisterStat(m_packetsReusedStat);
StatsManager.RegisterStat(m_blocksReusedStat);
StatsManager.RegisterStat(
new Stat(
"PacketsPoolCount",
"Objects within the packet pool",
"The number of objects currently stored within the packet pool",
"",
"clientstack",
"packetpool",
StatType.Pull,
stat => { lock (pool) { stat.Value = pool.Count; } },
StatVerbosity.Debug));
StatsManager.RegisterStat(
new Stat(
"PacketDataBlocksPoolCount",
"Objects within the packet data block pool",
"The number of objects currently stored within the packet data block pool",
"",
"clientstack",
"packetpool",
StatType.Pull,
stat => { lock (DataBlocks) { stat.Value = DataBlocks.Count; } },
StatVerbosity.Debug));
}
/// <summary>

6
OpenSim/Region/Framework/Scenes/SimStatsReporter.cs
View File

@ -246,11 +246,13 @@ namespace OpenSim.Region.Framework.Scenes
= new Stat(
"SlowFrames",
"Slow Frames",
"Number of frames where frame time has been significantly longer than the desired frame time.",
" frames",
"scene",
m_scene.Name,
StatVerbosity.Info,
"Number of frames where frame time has been significantly longer than the desired frame time.");
StatType.Push,
null,
StatVerbosity.Info);
StatsManager.RegisterStat(SlowFramesStat);
}

10
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -165,7 +165,7 @@ public class BSCharacter : BSPhysObject
// Do this after the object has been added to the world
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter,
(uint)CollisionFilterGroups.AvatarFilter,
(uint)CollisionFilterGroups.AvatarMask);
}
@ -269,7 +269,7 @@ public class BSCharacter : BSPhysObject
private bool PositionSanityCheck()
{
bool ret = false;
// If below the ground, move the avatar up
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
if (Position.Z < terrainHeight)
@ -413,7 +413,7 @@ public class BSCharacter : BSPhysObject
});
}
}
// Go directly to Bullet to get/set the value.
// Go directly to Bullet to get/set the value.
public override OMV.Quaternion ForceOrientation
{
get
@ -478,7 +478,7 @@ public class BSCharacter : BSPhysObject
set { _collidingObj = value; }
}
public override bool FloatOnWater {
set {
set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
{
@ -588,7 +588,7 @@ public class BSCharacter : BSPhysObject
newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
// From the total height, remote the capsule half spheres that are at each end
// From the total height, remote the capsule half spheres that are at each end
newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
// newScale.Z = (size.Z * 2f);
Scale = newScale;

6
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -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;
@ -53,7 +55,7 @@ public abstract class BSConstraint : IDisposable
{
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
BSScene.DetailLogZero,
BSScene.DetailLogZero,
m_body1.ID, m_body1.ptr.ToString("X"),
m_body2.ID, m_body2.ptr.ToString("X"),
success);
@ -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;

15
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -23,7 +23,7 @@
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
*
/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to
* call the BulletSim system.
@ -352,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingMix = 1;
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.LIMIT_MOTOR_UP);
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
@ -382,7 +382,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
@ -458,14 +458,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Do any updating needed for a vehicle
public void Refresh()
{
if (!IsActive)
if (!IsActive)
return;
// 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.
@ -791,7 +792,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Sum velocities
m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
m_lastAngularVelocity.X = 0;

368
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -32,10 +32,27 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSLinkset
public abstract class BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET]";
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{
BSLinkset ret = null;
/*
if (parent.IsPhysical)
ret = new BSLinksetConstraints(physScene, parent);
else
ret = new BSLinksetManual(physScene, parent);
*/
// at the moment, there is only one
ret = new BSLinksetConstraints(physScene, parent);
return ret;
}
public BSPhysObject LinksetRoot { get; protected set; }
public BSScene PhysicsScene { get; private set; }
@ -52,16 +69,16 @@ public class BSLinkset
// the physical 'taint' children separately.
// After taint processing and before the simulation step, these
// two lists must be the same.
private HashSet<BSPhysObject> m_children;
private HashSet<BSPhysObject> m_taintChildren;
protected HashSet<BSPhysObject> m_children;
protected HashSet<BSPhysObject> m_taintChildren;
// 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.
private object m_linksetActivityLock = new Object();
protected object m_linksetActivityLock = new Object();
// We keep the prim's mass in the linkset structure since it could be dependent on other prims
private float m_mass;
protected float m_mass;
public float LinksetMass
{
get
@ -81,7 +98,7 @@ public class BSLinkset
get { return ComputeLinksetGeometricCenter(); }
}
public BSLinkset(BSScene scene, BSPhysObject parent)
protected void Initialize(BSScene scene, BSPhysObject parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
@ -128,7 +145,7 @@ public class BSLinkset
}
// The child is down to a linkset of just itself
return new BSLinkset(PhysicsScene, child);
return BSLinkset.Factory(PhysicsScene, child);
}
// Return 'true' if the passed object is the root object of this linkset
@ -148,6 +165,9 @@ public 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)
@ -156,6 +176,7 @@ public class BSLinkset
break;
}
}
*/
}
return ret;
}
@ -163,24 +184,7 @@ public class BSLinkset
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time (just pass the appropriate flag).
public 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))
return;
BSScene.TaintCallback refreshOperation = delegate()
{
RecomputeLinksetConstraintVariables();
DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
};
if (inTaintTime)
refreshOperation();
else
PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
}
public abstract void Refresh(BSPhysObject requestor, bool inTaintTime);
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
@ -188,102 +192,35 @@ public class BSLinkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
public abstract bool MakeDynamic(BSPhysObject child);
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
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 void UpdateProperties(BSPhysObject physObject)
{
// 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
}
}
}
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 bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// If the one with the dependency is root, must undo all children
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
}
else
{
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
// ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
// Despite the function name, this removes any link to the specified object.
ret = PhysicallyUnlinkAllChildrenFromRoot(child);
}
}
return ret;
}
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 void RestoreBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
}
}
else
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
PhysicallyLinkAChildToRoot(LinksetRoot, child);
}
}
}
public abstract void RestoreBodyDependencies(BSPrim child);
// ================================================================
// Below this point is internal magic
private float ComputeLinksetMass()
protected virtual float ComputeLinksetMass()
{
float mass;
lock (m_linksetActivityLock)
@ -297,7 +234,7 @@ public class BSLinkset
return mass;
}
private OMV.Vector3 ComputeLinksetCenterOfMass()
protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
{
OMV.Vector3 com;
lock (m_linksetActivityLock)
@ -317,7 +254,7 @@ public class BSLinkset
return com;
}
private OMV.Vector3 ComputeLinksetGeometricCenter()
protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
{
OMV.Vector3 com;
lock (m_linksetActivityLock)
@ -336,236 +273,21 @@ public class BSLinkset
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
private void AddChildToLinkset(BSPhysObject child)
{
if (!HasChild(child))
{
m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject childx = child;
DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childx.BSBody.ptr.ToString("X"));
// Since this is taint-time, the body and shape could have changed for the child
rootx.ForcePosition = rootx.Position; // DEBUG
childx.ForcePosition = childx.Position; // DEBUG
PhysicallyLinkAChildToRoot(rootx, childx);
m_taintChildren.Add(child);
});
}
return;
}
protected abstract void AddChildToLinkset(BSPhysObject child);
// Forcefully removing a child from a linkset.
// This is not being called by the child so we have to make sure the child doesn't think
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// also has to be updated (like pointer to prim's parent).
private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
{
pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild);
// 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.
private void RemoveChildFromLinkset(BSPhysObject child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BSPhysObject childx = child;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childx.BSBody.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
m_taintChildren.Remove(child);
PhysicallyUnlinkAChildFromRoot(rootx, childx);
RecomputeLinksetConstraintVariables();
});
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// Relative position normalized to the root prim
// Essentually a vector pointing from center of rootPrim to center of childPrim
OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left as a warning to future programmers.
// ==================================================================================
// relative position normalized to the root prim
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;
OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, childPrim.Body,
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(rootPrim.Orientation),
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(childPrim.Orientation),
// A point half way between the parent and child
// childRelativePosition/2,
// childRelativeRotation,
// childRelativePosition/2,
// inverseChildRelativeRotation,
true,
true
);
// ==================================================================================
*/
PhysicsScene.Constraints.AddConstraint(constrain);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability
constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
PhysicsScene.Params.linkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
bool ret = false;
DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
{
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
ret = true;
}
return ret;
}
// Remove linkage between myself and any possible children I might have.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
bool ret = false;
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
{
ret = true;
}
return ret;
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
// geometry.
// Must only be called at taint time!!
private void RecomputeLinksetConstraintVariables()
{
float linksetMass = LinksetMass;
foreach (BSPhysObject child in m_taintChildren)
{
BSConstraint constrain;
if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
{
// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
constrain.RecomputeConstraintVariables(linksetMass);
}
else
{
// Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet.
break;
}
}
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (m_children.Count == m_taintChildren.Count)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
centerOfMass, OMV.Quaternion.Identity);
DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
foreach (BSPhysObject child in m_taintChildren)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
centerOfMass, OMV.Quaternion.Identity);
}
// BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
}
return;
}
protected abstract void RemoveChildFromLinkset(BSPhysObject child);
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
protected void DetailLog(string msg, params Object[] args)
{
if (PhysicsScene.PhysicsLogging.Enabled)
PhysicsScene.DetailLog(msg, args);

385
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs Executable file
View File

@ -0,0 +1,385 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSLinksetConstraints : BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
public BSLinksetConstraints(BSScene scene, BSPhysObject parent)
{
base.Initialize(scene, parent);
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// 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 or not root, I am not the one that recomputes the constraints
if (!HasAnyChildren || !IsRoot(requestor))
return;
BSScene.TaintCallback refreshOperation = delegate()
{
RecomputeLinksetConstraintVariables();
DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
};
if (inTaintTime)
refreshOperation();
else
PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeDynamic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// Called at taint-time!!
public override void UpdateProperties(BSPhysObject updated)
{
// Nothing to do for constraints on property updates
}
// 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
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// If the one with the dependency is root, must undo all children
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
}
else
{
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
// ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
// Despite the function name, this removes any link to the specified object.
ret = PhysicallyUnlinkAllChildrenFromRoot(child);
}
}
return ret;
}
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// Called at taint-time!!
public override void RestoreBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
}
}
else
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
PhysicallyLinkAChildToRoot(LinksetRoot, child);
}
}
}
// ================================================================
// Below this point is internal magic
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPhysObject child)
{
if (!HasChild(child))
{
m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject childx = child;
DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childx.BSBody.ptr.ToString("X"));
// Since this is taint-time, the body and shape could have changed for the child
rootx.ForcePosition = rootx.Position; // DEBUG
childx.ForcePosition = childx.Position; // DEBUG
PhysicallyLinkAChildToRoot(rootx, childx);
m_taintChildren.Add(child);
});
}
return;
}
// Forcefully removing a child from a linkset.
// This is not being called by the child so we have to make sure the child doesn't think
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// also has to be updated (like pointer to prim's parent).
protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild)
{
pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
// 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.
protected override void RemoveChildFromLinkset(BSPhysObject child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BSPhysObject childx = child;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childx.BSBody.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
m_taintChildren.Remove(child);
PhysicallyUnlinkAChildFromRoot(rootx, childx);
RecomputeLinksetConstraintVariables();
});
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// Relative position normalized to the root prim
// Essentually a vector pointing from center of rootPrim to center of childPrim
OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left as a warning to future programmers.
// ==================================================================================
// relative position normalized to the root prim
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;
OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, childPrim.Body,
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(rootPrim.Orientation),
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(childPrim.Orientation),
// A point half way between the parent and child
// childRelativePosition/2,
// childRelativeRotation,
// childRelativePosition/2,
// inverseChildRelativeRotation,
true,
true
);
// ==================================================================================
*/
PhysicsScene.Constraints.AddConstraint(constrain);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability
constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
PhysicsScene.Params.linkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
bool ret = false;
DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
{
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
ret = true;
}
return ret;
}
// Remove linkage between myself and any possible children I might have.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
bool ret = false;
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
{
ret = true;
}
return ret;
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
// geometry.
// Must only be called at taint time!!
private void RecomputeLinksetConstraintVariables()
{
float linksetMass = LinksetMass;
foreach (BSPhysObject child in m_taintChildren)
{
BSConstraint constrain;
if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
{
// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
constrain.RecomputeConstraintVariables(linksetMass);
}
else
{
// Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet.
break;
}
}
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (m_children.Count == m_taintChildren.Count)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
centerOfMass, OMV.Quaternion.Identity);
DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
foreach (BSPhysObject child in m_taintChildren)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
centerOfMass, OMV.Quaternion.Identity);
}
// BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
}
return;
}
}
}

8
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -46,7 +46,7 @@ public abstract class BSPhysObject : PhysicsActor
PhysObjectName = name;
TypeName = typeName;
Linkset = new BSLinkset(PhysicsScene, this);
Linkset = BSLinkset.Factory(PhysicsScene, this);
LastAssetBuildFailed = false;
CollisionCollection = new CollisionEventUpdate();
@ -78,7 +78,7 @@ public abstract class BSPhysObject : PhysicsActor
public PrimitiveBaseShape BaseShape { get; protected set; }
// When the physical properties are updated, an EntityProperty holds the update values.
// Keep the current and last EntityProperties to enable computation of differences
// Keep the current and last EntityProperties to enable computation of differences
// between the current update and the previous values.
public EntityProperties CurrentEntityProperties { get; set; }
public EntityProperties LastEntityProperties { get; set; }
@ -213,7 +213,7 @@ public abstract class BSPhysObject : PhysicsActor
UnSubscribeEvents();
}
}
public override void UnSubscribeEvents() {
public override void UnSubscribeEvents() {
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
@ -222,7 +222,7 @@ public abstract class BSPhysObject : PhysicsActor
});
}
// Return 'true' if the simulator wants collision events
public override bool SubscribedEvents() {
public override bool SubscribedEvents() {
return (SubscribedEventsMs > 0);
}

20
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -173,6 +173,7 @@ public sealed class BSPrim : BSPhysObject
}
public override bool ForceBodyShapeRebuild(bool inTaintTime)
{
LastAssetBuildFailed = false;
BSScene.TaintCallback rebuildOperation = delegate()
{
_mass = CalculateMass(); // changing the shape changes the mass
@ -295,7 +296,7 @@ public sealed class BSPrim : BSPhysObject
private bool PositionSanityCheck()
{
bool ret = false;
// If totally below the ground, move the prim up
// TODO: figure out the right solution for this... only for dynamic objects?
/*
@ -398,7 +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);
});
}
}
@ -510,7 +511,7 @@ public sealed class BSPrim : BSPhysObject
});
}
}
// Go directly to Bullet to get/set the value.
// Go directly to Bullet to get/set the value.
public override OMV.Quaternion ForceOrientation
{
get
@ -768,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
}
}
public override bool FloatOnWater {
set {
set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
{
@ -971,7 +972,7 @@ public sealed class BSPrim : BSPhysObject
if (hollowAmount > 0.0)
{
hollowVolume *= hollowAmount;
switch (BaseShape.HollowShape)
{
case HollowShape.Square:
@ -1245,13 +1246,14 @@ 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.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
// Returns 'true' if either the body or the shape was changed.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
@ -1354,7 +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();
}
@ -1367,8 +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);
}
}

7
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -320,7 +320,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
m_log.Debug("[BULLETS UNMANAGED]:" + msg);
}
// Called directly from unmanaged code so don't do much
private void BulletLoggerPhysLog(string msg)
{
@ -545,7 +545,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
// This is a kludge to get avatar movement updates.
// The simulator expects collisions for avatars even if there are have been no collisions.
// The simulator expects collisions for avatars even if there are have been no collisions.
// The event updates avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
foreach (BSPhysObject bsp in m_avatars)
@ -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);
}
}
@ -1333,7 +1334,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// Add the Flush() if debugging crashes to get all the messages written out.
// PhysicsLogging.Flush();
}
// used to fill in the LocalID when there isn't one
// Used to fill in the LocalID when there isn't one. It's the correct number of characters.
public const string DetailLogZero = "0000000000";
}

61
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -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; }
@ -89,7 +89,7 @@ public class BSShapeCollection : IDisposable
// higher level dependencies on the shape or body. Mostly used for LinkSets to
// remove the physical constraints before the body is destroyed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
@ -105,7 +105,7 @@ public class BSShapeCollection : IDisposable
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
@ -325,7 +325,7 @@ public class BSShapeCollection : IDisposable
// Info in prim.BSShape is updated to the new shape.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
@ -335,7 +335,7 @@ public class BSShapeCollection : IDisposable
if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
haveShape = true;
@ -362,7 +362,7 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
@ -376,7 +376,7 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
@ -423,27 +423,37 @@ public class BSShapeCollection : IDisposable
BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
shapeData.ID, newShape, shapeData.Scale);
prim.BSShape = newShape;
return true;
}
private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
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;
@ -698,19 +708,26 @@ public class BSShapeCollection : IDisposable
return ComputeShapeKey(shapeData, pbs, out lod);
}
// The creation of a mesh or hull can fail if an underlying asset is not available.
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
// and 2) the asset cannot be converted (like decompressing JPEG2000s).
// The first case causes the asset to be fetched. The second case just requires
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
{
// If the shape was successfully created, nothing more to do
if (newShape.ptr != IntPtr.Zero)
return newShape;
// The most common reason for failure is that an underlying asset is not available
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
{
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;
@ -724,20 +741,28 @@ public class BSShapeCollection : IDisposable
if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
return;
yprim.BaseShape.SculptData = new byte[asset.Data.Length];
asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
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;
}
@ -746,7 +771,7 @@ public class BSShapeCollection : IDisposable
// Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback)
{
bool ret = false;

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -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}",