Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diva Canto
commit
590a8b0315
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@ -27,6 +27,7 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OpenMetaverse;
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using OpenMetaverse.StructuredData;
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@ -39,8 +40,6 @@ namespace OpenSim.Framework.Monitoring
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/// </summary>
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public class SimExtraStatsCollector : BaseStatsCollector
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{
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private long abnormalClientThreadTerminations;
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// private long assetsInCache;
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// private long texturesInCache;
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// private long assetCacheMemoryUsage;
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@ -73,11 +72,6 @@ namespace OpenSim.Framework.Monitoring
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private volatile float activeScripts;
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private volatile float scriptLinesPerSecond;
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/// <summary>
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/// Number of times that a client thread terminated because of an exception
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/// </summary>
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public long AbnormalClientThreadTerminations { get { return abnormalClientThreadTerminations; } }
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// /// <summary>
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// /// These statistics are being collected by push rather than pull. Pull would be simpler, but I had the
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// /// notion of providing some flow statistics (which pull wouldn't give us). Though admittedly these
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@ -166,11 +160,6 @@ namespace OpenSim.Framework.Monitoring
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private IDictionary<UUID, PacketQueueStatsCollector> packetQueueStatsCollectors
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= new Dictionary<UUID, PacketQueueStatsCollector>();
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public void AddAbnormalClientThreadTermination()
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{
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abnormalClientThreadTerminations++;
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}
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// public void AddAsset(AssetBase asset)
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// {
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// assetsInCache++;
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@ -324,10 +313,12 @@ Asset service request failures: {3}" + Environment.NewLine,
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sb.Append(Environment.NewLine);
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sb.Append("CONNECTION STATISTICS");
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sb.Append(Environment.NewLine);
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sb.Append(
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string.Format(
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"Abnormal client thread terminations: {0}" + Environment.NewLine,
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abnormalClientThreadTerminations));
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List<Stat> stats = StatsManager.GetStatsFromEachContainer("clientstack", "ClientLogoutsDueToNoReceives");
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sb.AppendFormat(
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"Client logouts due to no data receive timeout: {0}\n\n",
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stats != null ? stats.Sum(s => s.Value).ToString() : "unknown");
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// sb.Append(Environment.NewLine);
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// sb.Append("INVENTORY STATISTICS");
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@ -338,7 +329,7 @@ Asset service request failures: {3}" + Environment.NewLine,
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// InventoryServiceRetrievalFailures));
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sb.Append(Environment.NewLine);
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sb.Append("FRAME STATISTICS");
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sb.Append("SAMPLE FRAME STATISTICS");
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sb.Append(Environment.NewLine);
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sb.Append("Dilatn SimFPS PhyFPS AgntUp RootAg ChldAg Prims AtvPrm AtvScr ScrLPS");
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sb.Append(Environment.NewLine);
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@ -271,7 +271,7 @@ namespace OpenSim.Framework.Monitoring
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// Stat name is not unique across category/container/shortname key.
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// XXX: For now just return false. This is to avoid problems in regression tests where all tests
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// in a class are run in the same instance of the VM.
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if (TryGetStat(stat, out category, out container))
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if (TryGetStatParents(stat, out category, out container))
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return false;
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// We take a copy-on-write approach here of replacing dictionaries when keys are added or removed.
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@ -307,7 +307,7 @@ namespace OpenSim.Framework.Monitoring
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lock (RegisteredStats)
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{
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if (!TryGetStat(stat, out category, out container))
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if (!TryGetStatParents(stat, out category, out container))
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return false;
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newContainer = new SortedDictionary<string, Stat>(container);
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@ -323,12 +323,67 @@ namespace OpenSim.Framework.Monitoring
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}
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}
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public static bool TryGetStats(string category, out SortedDictionary<string, SortedDictionary<string, Stat>> stats)
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public static bool TryGetStat(string category, string container, string statShortName, out Stat stat)
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{
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stat = null;
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SortedDictionary<string, SortedDictionary<string, Stat>> categoryStats;
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lock (RegisteredStats)
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{
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if (!TryGetStatsForCategory(category, out categoryStats))
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return false;
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SortedDictionary<string, Stat> containerStats;
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if (!categoryStats.TryGetValue(container, out containerStats))
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return false;
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return containerStats.TryGetValue(statShortName, out stat);
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}
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}
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public static bool TryGetStatsForCategory(
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string category, out SortedDictionary<string, SortedDictionary<string, Stat>> stats)
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{
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lock (RegisteredStats)
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return RegisteredStats.TryGetValue(category, out stats);
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}
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public static bool TryGetStat(
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/// <summary>
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/// Get the same stat for each container in a given category.
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/// </summary>
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/// <returns>
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/// The stats if there were any to fetch. Otherwise null.
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/// </returns>
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/// <param name='category'></param>
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/// <param name='statShortName'></param>
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public static List<Stat> GetStatsFromEachContainer(string category, string statShortName)
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{
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SortedDictionary<string, SortedDictionary<string, Stat>> categoryStats;
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lock (RegisteredStats)
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{
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if (!RegisteredStats.TryGetValue(category, out categoryStats))
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return null;
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List<Stat> stats = null;
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foreach (SortedDictionary<string, Stat> containerStats in categoryStats.Values)
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{
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if (containerStats.ContainsKey(statShortName))
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{
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if (stats == null)
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stats = new List<Stat>();
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stats.Add(containerStats[statShortName]);
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}
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}
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return stats;
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}
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}
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public static bool TryGetStatParents(
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Stat stat,
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out SortedDictionary<string, SortedDictionary<string, Stat>> category,
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out SortedDictionary<string, Stat> container)
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@ -67,11 +67,24 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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{
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m_udpServer.AddScene(scene);
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StatsManager.RegisterStat(
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new Stat(
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"ClientLogoutsDueToNoReceives",
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"Number of times a client has been logged out because no packets were received before the timeout.",
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"",
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"",
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"clientstack",
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scene.Name,
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StatType.Pull,
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MeasuresOfInterest.None,
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stat => stat.Value = m_udpServer.ClientLogoutsDueToNoReceives,
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StatVerbosity.Debug));
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StatsManager.RegisterStat(
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new Stat(
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"IncomingUDPReceivesCount",
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"Number of UDP receives performed",
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"Number of UDP receives performed",
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"",
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"",
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"clientstack",
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scene.Name,
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@ -84,7 +97,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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new Stat(
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"IncomingPacketsProcessedCount",
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"Number of inbound LL protocol packets processed",
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"Number of inbound LL protocol packets processed",
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"",
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"",
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"clientstack",
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scene.Name,
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@ -97,7 +110,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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new Stat(
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"OutgoingUDPSendsCount",
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"Number of UDP sends performed",
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"Number of UDP sends performed",
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"",
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"",
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"clientstack",
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scene.Name,
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@ -149,6 +162,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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/// <summary>Maximum transmission unit, or UDP packet size, for the LLUDP protocol</summary>
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public const int MTU = 1400;
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/// <summary>Number of forced client logouts due to no receipt of packets before timeout.</summary>
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public int ClientLogoutsDueToNoReceives { get; private set; }
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/// <summary>
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/// Default packet debug level given to new clients
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/// </summary>
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@ -1046,7 +1062,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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// Fire this out on a different thread so that we don't hold up outgoing packet processing for
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// everybody else if this is being called due to an ack timeout.
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// This is the same as processing as the async process of a logout request.
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Util.FireAndForget(o => DeactivateClientDueToTimeout(client));
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Util.FireAndForget(o => DeactivateClientDueToTimeout(client, timeoutTicks));
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return;
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}
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@ -1770,18 +1786,19 @@ namespace OpenSim.Region.ClientStack.LindenUDP
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/// regular client pings.
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/// </remarks>
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/// <param name='client'></param>
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private void DeactivateClientDueToTimeout(LLClientView client)
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/// <param name='timeoutTicks'></param>
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private void DeactivateClientDueToTimeout(LLClientView client, int timeoutTicks)
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{
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lock (client.CloseSyncLock)
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{
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m_log.WarnFormat(
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"[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}",
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client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName);
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ClientLogoutsDueToNoReceives++;
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StatsManager.SimExtraStats.AddAbnormalClientThreadTermination();
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m_log.WarnFormat(
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"[LLUDPSERVER]: No packets received from {0} agent of {1} for {2}ms in {3}. Disconnecting.",
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client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, timeoutTicks, m_scene.Name);
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if (!client.SceneAgent.IsChildAgent)
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client.Kick("Simulator logged you out due to connection timeout");
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client.Kick("Simulator logged you out due to connection timeout.");
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client.CloseWithoutChecks();
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}
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@ -31,10 +31,10 @@ using System.Reflection;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Framework;
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using OpenSim.Region.Framework.Interfaces;
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using OpenSim.Region.Framework.Scenes;
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using OpenSim.Region.CoreModules;
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using Mono.Addins;
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using Nini.Config;
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@ -49,6 +49,10 @@ public class ExtendedPhysics : INonSharedRegionModule
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private static string LogHeader = "[EXTENDED PHYSICS]";
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// Since BulletSim is a plugin, this these values aren't defined easily in one place.
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// This table must coorespond to an identical table in BSScene.
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public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
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private IConfig Configuration { get; set; }
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private bool Enabled { get; set; }
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private Scene BaseScene { get; set; }
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@ -143,13 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule
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[ScriptConstant]
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public static int PHYS_CENTER_OF_MASS = 1 << 0;
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_CONSTRAINT = 1;
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_COMPOUND = 2;
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_MANUAL = 3;
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[ScriptInvocation]
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public string physGetEngineType(UUID hostID, UUID scriptID)
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{
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@ -163,9 +160,50 @@ public class ExtendedPhysics : INonSharedRegionModule
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return ret;
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}
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_CONSTRAINT = 0;
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_COMPOUND = 1;
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[ScriptConstant]
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public static int PHYS_LINKSET_TYPE_MANUAL = 2;
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[ScriptInvocation]
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public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
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{
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if (!Enabled) return;
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// The part that is requesting the change.
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SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
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|
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if (requestingPart != null)
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{
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// The change is always made to the root of a linkset.
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SceneObjectGroup containingGroup = requestingPart.ParentGroup;
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SceneObjectPart rootPart = containingGroup.RootPart;
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if (rootPart != null)
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{
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Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
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if (rootPhysActor != null)
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{
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rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
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}
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else
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{
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m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
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LogHeader, rootPart.Name, hostID);
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}
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}
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else
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{
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m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
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LogHeader, requestingPart.Name, hostID);
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}
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}
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else
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{
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m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
|
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}
|
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}
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}
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}
|
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|
|
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@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject
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RawVelocity = OMV.Vector3.Zero;
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_buoyancy = ComputeBuoyancyFromFlying(isFlying);
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Friction = BSParam.AvatarStandingFriction;
|
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Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
|
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Density = BSParam.AvatarDensity;
|
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|
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
|
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// replace with the default values.
|
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|
|
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|
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@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_vehicleMass = ControllingPrim.TotalMass;
|
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|
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// Friction affects are handled by this vehicle code
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m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
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m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
|
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// ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
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// ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
|
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// m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
|
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// m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
|
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ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
|
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ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
|
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|
||||
// Moderate angular movement introduced by Bullet.
|
||||
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
|
||||
|
|
@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
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m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
|
||||
|
||||
// Vehicles report collision events so we know when it's on the ground
|
||||
m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
|
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// ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
|
||||
// m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
|
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ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
|
||||
|
||||
Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
|
||||
ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
|
||||
m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
|
||||
m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
|
||||
// ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
|
||||
// Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
|
||||
// ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
|
||||
// m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
|
||||
// m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
|
||||
ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
|
||||
|
||||
// Set the gravity for the vehicle depending on the buoyancy
|
||||
// TODO: what should be done if prim and vehicle buoyancy differ?
|
||||
m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
|
||||
// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
|
||||
m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
|
||||
// ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
|
||||
// m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
|
||||
ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
|
||||
|
||||
VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
|
||||
ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
|
||||
|
|
@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
{
|
||||
m_VhoverTargetHeight = m_VhoverHeight;
|
||||
}
|
||||
|
||||
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
|
||||
{
|
||||
// If body is already heigher, use its height as target height
|
||||
|
|
@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
|
||||
verticalError, verticalCorrection);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
private void ComputeAngularTurning(float pTimestep)
|
||||
{
|
||||
// The user wants this many radians per second angular change?
|
||||
Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
|
||||
Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
|
||||
Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
|
||||
|
||||
|
|
@ -1378,11 +1377,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
|
||||
angularMotorContributionV -= (currentAngularV * frictionFactorW);
|
||||
|
||||
VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
|
||||
Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
|
||||
VehicleRotationalVelocity += angularMotorContributionW;
|
||||
|
||||
|
||||
|
||||
VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
|
||||
VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
|
||||
ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
|
||||
}
|
||||
|
||||
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
|
||||
|
|
@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
|
||||
// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
|
||||
// since only computing half the distance between the angles.
|
||||
float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
|
||||
float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
|
||||
|
||||
// Make a prediction of where the up axis will be when this is applied rather then where it is now as
|
||||
// this makes for a smoother adjustment and less fighting between the various forces.
|
||||
|
|
@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
|
||||
|
||||
// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
|
||||
Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
|
||||
Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
|
||||
|
||||
VehicleRotationalVelocity += vertContributionV;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
|
||||
VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
|
||||
ControllingPrim.LocalID,
|
||||
verticalAttractionSpeed,
|
||||
vehicleUpAxis,
|
||||
predictedUp,
|
||||
torqueVector,
|
||||
|
|
@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
|
||||
|
||||
// Create a rotation that is only the vehicle's rotation around Z
|
||||
Vector3 currentEuler = Vector3.Zero;
|
||||
VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
|
||||
Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
|
||||
Vector3 currentEulerW = Vector3.Zero;
|
||||
VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
|
||||
Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
|
||||
|
||||
// Create the axis that is perpendicular to the up vector and the rotated up vector.
|
||||
Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
|
||||
Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
|
||||
// Compute the angle between those to vectors.
|
||||
double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
|
||||
// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
|
||||
|
||||
// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
|
||||
// TODO: add 'efficiency'.
|
||||
differenceAngle /= m_verticalAttractionTimescale;
|
||||
// differenceAngle /= m_verticalAttractionTimescale;
|
||||
|
||||
// Create the quaterian representing the correction angle
|
||||
Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
|
||||
Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
|
||||
|
||||
// Turn that quaternion into Euler values to make it into velocities to apply.
|
||||
Vector3 vertContributionV = Vector3.Zero;
|
||||
correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
|
||||
vertContributionV *= -1f;
|
||||
Vector3 vertContributionW = Vector3.Zero;
|
||||
correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
|
||||
vertContributionW *= -1f;
|
||||
vertContributionW /= m_verticalAttractionTimescale;
|
||||
|
||||
VehicleRotationalVelocity += vertContributionV;
|
||||
VehicleRotationalVelocity += vertContributionW;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
|
||||
ControllingPrim.LocalID,
|
||||
vehicleUpAxis,
|
||||
differenceAxis,
|
||||
differenceAxisW,
|
||||
differenceAngle,
|
||||
correctionRotation,
|
||||
vertContributionV);
|
||||
correctionRotationW,
|
||||
vertContributionW);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
|
|
|
|||
|
|
@ -309,16 +309,18 @@ public abstract class BSLinkset
|
|||
}
|
||||
);
|
||||
}
|
||||
public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
|
||||
public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
|
||||
{
|
||||
ForEachMember((member) =>
|
||||
{
|
||||
if (member.PhysBody.HasPhysicalBody)
|
||||
{
|
||||
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
|
||||
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
|
||||
member.Inertia = inertia * inertiaFactor;
|
||||
m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
|
||||
m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
|
||||
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
|
||||
DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
|
||||
|
||||
}
|
||||
return false; // 'false' says to continue looping
|
||||
}
|
||||
|
|
@ -334,6 +336,16 @@ public abstract class BSLinkset
|
|||
}
|
||||
);
|
||||
}
|
||||
public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
|
||||
{
|
||||
ForEachMember((member) =>
|
||||
{
|
||||
if (member.PhysBody.HasPhysicalBody)
|
||||
m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
|
||||
return false; // 'false' says to continue looping
|
||||
}
|
||||
);
|
||||
}
|
||||
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
|
||||
{
|
||||
ForEachMember((member) =>
|
||||
|
|
|
|||
|
|
@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
|
|||
if (LinksetRoot.PhysBody.HasPhysicalBody)
|
||||
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
|
||||
}
|
||||
public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
|
||||
public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
|
||||
{
|
||||
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
|
||||
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
|
||||
LinksetRoot.Inertia = inertia * inertiaFactor;
|
||||
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
|
||||
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
|
||||
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
|
||||
}
|
||||
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
|
||||
|
|
@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
|
|||
if (LinksetRoot.PhysBody.HasPhysicalBody)
|
||||
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
|
||||
}
|
||||
public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
|
||||
{
|
||||
if (LinksetRoot.PhysBody.HasPhysicalBody)
|
||||
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
|
||||
}
|
||||
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
|
||||
{
|
||||
if (LinksetRoot.PhysBody.HasPhysicalBody)
|
||||
|
|
|
|||
|
|
@ -463,7 +463,7 @@ public static class BSParam
|
|||
// Density is passed around as 100kg/m3. This scales that to 1kg/m3.
|
||||
// Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
|
||||
new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
|
||||
0.0001f ),
|
||||
0.01f ),
|
||||
|
||||
new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
|
||||
2200f ),
|
||||
|
|
@ -474,8 +474,9 @@ public static class BSParam
|
|||
0.2f,
|
||||
(s) => { return DefaultFriction; },
|
||||
(s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
|
||||
// For historical reasons, the viewer and simulator multiply the density by 100
|
||||
new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
|
||||
10.000006836f, // Aluminum g/cm3
|
||||
1000.0006836f, // Aluminum g/cm3 * 100
|
||||
(s) => { return DefaultDensity; },
|
||||
(s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
|
||||
new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
|
||||
|
|
@ -555,8 +556,9 @@ public static class BSParam
|
|||
0.95f ),
|
||||
new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
|
||||
1.3f ),
|
||||
new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
|
||||
3.5f) ,
|
||||
// For historical reasons, density is reported * 100
|
||||
new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
|
||||
3500f) , // 3.5 * 100
|
||||
new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
|
||||
0f ),
|
||||
new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
|
||||
|
|
@ -608,9 +610,8 @@ public static class BSParam
|
|||
0.0f ),
|
||||
new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
|
||||
0.0f ),
|
||||
// Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f;
|
||||
new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
|
||||
1.0f ),
|
||||
0.2f ),
|
||||
new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
|
||||
60.0f ),
|
||||
new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
|
||||
|
|
|
|||
|
|
@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
|
||||
Friction = matAttrib.friction;
|
||||
Restitution = matAttrib.restitution;
|
||||
Density = matAttrib.density / BSParam.DensityScaleFactor;
|
||||
Density = matAttrib.density;
|
||||
// DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
|
||||
}
|
||||
|
||||
public override float Density
|
||||
{
|
||||
get
|
||||
{
|
||||
return base.Density;
|
||||
}
|
||||
set
|
||||
{
|
||||
DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
|
||||
base.Density = value;
|
||||
}
|
||||
}
|
||||
|
||||
// Stop all physical motion.
|
||||
public abstract void ZeroMotion(bool inTaintTime);
|
||||
public abstract void ZeroAngularMotion(bool inTaintTime);
|
||||
|
|
|
|||
Loading…
Reference in New Issue