BulletSim: Fix crash when linking large physical linksets.
Properly remove and restore linkage constraints when upgrading
a prim's mesh to a hull.
Lots more debug logging.
Definitions and use of Bullet structure dumping.
Centralize detail logging so a Flush() can be added for debugging.
connector_plugin
Robert Adams
parent
311a03befa
commit
87825b0abe
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@ -49,11 +49,18 @@ public abstract class BSConstraint : IDisposable
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if (m_enabled)
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{
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m_enabled = false;
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if (m_constraint.ptr != IntPtr.Zero)
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{
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bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
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m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
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m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
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BSScene.DetailLogZero,
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m_body1.ID, m_body1.ptr.ToString("X"),
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m_body2.ID, m_body2.ptr.ToString("X"),
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success);
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m_constraint.ptr = System.IntPtr.Zero;
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}
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}
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}
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public BulletBody Body1 { get { return m_body1; } }
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public BulletBody Body2 { get { return m_body2; } }
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@ -862,7 +862,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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private void VDetailLog(string msg, params Object[] args)
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{
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if (Prim.PhysicsScene.VehicleLoggingEnabled)
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Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
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Prim.PhysicsScene.DetailLog(msg, args);
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}
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}
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}
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@ -52,8 +52,8 @@ public class BSLinkset
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// the physical 'taint' children separately.
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// After taint processing and before the simulation step, these
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// two lists must be the same.
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private List<BSPhysObject> m_children;
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private List<BSPhysObject> m_taintChildren;
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private HashSet<BSPhysObject> m_children;
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private HashSet<BSPhysObject> m_taintChildren;
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// We lock the diddling of linkset classes to prevent any badness.
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// This locks the modification of the instances of this class. Changes
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@ -90,8 +90,8 @@ public class BSLinkset
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m_nextLinksetID = 1;
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PhysicsScene = scene;
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LinksetRoot = parent;
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m_children = new List<BSPhysObject>();
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m_taintChildren = new List<BSPhysObject>();
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m_children = new HashSet<BSPhysObject>();
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m_taintChildren = new HashSet<BSPhysObject>();
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m_mass = parent.MassRaw;
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}
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@ -197,6 +197,8 @@ public class BSLinkset
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PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
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{
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RecomputeLinksetConstraintVariables();
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DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
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});
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}
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}
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@ -215,13 +217,10 @@ public class BSLinkset
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if (IsRoot(child))
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{
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// If the one with the dependency is root, must undo all children
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DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
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child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
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foreach (BSPhysObject bpo in m_taintChildren)
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{
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PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
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ret = true;
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}
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DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
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ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
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}
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else
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{
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@ -229,12 +228,9 @@ public class BSLinkset
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child.LocalID,
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
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child.LocalID, child.BSBody.ptr.ToString("X"));
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// Remove the dependency on the body of this one
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if (m_taintChildren.Contains(child))
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{
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PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
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ret = true;
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}
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// ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
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// Despite the function name, this removes any link to the specified object.
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ret = PhysicallyUnlinkAllChildrenFromRoot(child);
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}
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}
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return ret;
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@ -254,7 +250,7 @@ public class BSLinkset
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child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
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foreach (BSPhysObject bpo in m_taintChildren)
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{
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PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
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PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
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}
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}
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else
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@ -263,7 +259,7 @@ public class BSLinkset
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LinksetRoot.LocalID,
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
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child.LocalID, child.BSBody.ptr.ToString("X"));
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PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
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PhysicallyLinkAChildToRoot(LinksetRoot, child);
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}
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}
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}
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@ -330,22 +326,22 @@ public class BSLinkset
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{
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m_children.Add(child);
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BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
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BSPhysObject rootx = LinksetRoot; // capture the root as of now
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BSPhysObject childx = child;
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DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
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rootx.LocalID,
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rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
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childx.LocalID, childx.BSBody.ptr.ToString("X"));
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DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
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PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
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{
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DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
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// build the physical binding between me and the child
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m_taintChildren.Add(childx);
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DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
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rootx.LocalID,
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rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
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childx.LocalID, childx.BSBody.ptr.ToString("X"));
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// Since this is taint-time, the body and shape could have changed for the child
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PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody);
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rootx.ForcePosition = rootx.Position; // DEBUG
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childx.ForcePosition = childx.Position; // DEBUG
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PhysicallyLinkAChildToRoot(rootx, childx);
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m_taintChildren.Add(child);
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});
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}
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return;
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@ -378,10 +374,8 @@ public class BSLinkset
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PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
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{
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if (m_taintChildren.Contains(childx))
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m_taintChildren.Remove(childx);
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PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody);
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m_taintChildren.Remove(child);
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PhysicallyUnlinkAChildFromRoot(rootx, childx);
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RecomputeLinksetConstraintVariables();
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});
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@ -396,8 +390,7 @@ public class BSLinkset
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// Create a constraint between me (root of linkset) and the passed prim (the child).
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// Called at taint time!
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private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
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BSPhysObject childPrim, BulletBody childBody)
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private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
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{
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// Zero motion for children so they don't interpolate
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childPrim.ZeroMotion();
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@ -409,33 +402,17 @@ public class BSLinkset
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// real world coordinate of midpoint between the two objects
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OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
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DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
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DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
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rootPrim.LocalID,
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rootPrim.LocalID, rootBody.ptr.ToString("X"),
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childPrim.LocalID, childBody.ptr.ToString("X"),
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rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
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childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
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rootPrim.Position, childPrim.Position, midPoint);
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// create a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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// There is great subtlty in these paramters. Notice the check for a ptr of zero.
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// We pass the BulletBody structure into the taint in order to capture the pointer
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// of the body at the time of constraint creation. This doesn't work for the very first
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// construction because there is no body yet. The body
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// is constructed later at taint time. Thus we use the body address at time of the
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// taint creation but, if it is zero, use what's in the prim at the moment.
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// There is a possible race condition since shape can change without a taint call
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// (like changing to a mesh that is already constructed). The fix for that would be
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// to only change BSShape at taint time thus syncronizing these operations at
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// the cost of efficiency and lag.
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BS6DofConstraint constrain = new BS6DofConstraint(
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PhysicsScene.World,
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rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
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childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
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midPoint,
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true,
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true
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);
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PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
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/* NOTE: below is an attempt to build constraint with full frame computation, etc.
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* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
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@ -452,7 +429,7 @@ public class BSLinkset
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// create a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
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DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
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BS6DofConstraint constrain = new BS6DofConstraint(
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PhysicsScene.World, rootPrim.Body, childPrim.Body,
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OMV.Vector3.Zero,
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@ -486,39 +463,44 @@ public class BSLinkset
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{
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constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
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}
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RecomputeLinksetConstraintVariables();
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}
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// Remove linkage between myself and a particular child
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// The root and child bodies are passed in because we need to remove the constraint between
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// the bodies that were at unlink time.
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// Called at taint time!
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private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
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BSPhysObject childPrim, BulletBody childBody)
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private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
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{
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DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
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bool ret = false;
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DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
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rootPrim.LocalID,
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rootPrim.LocalID, rootBody.ptr.ToString("X"),
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childPrim.LocalID, childBody.ptr.ToString("X"));
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rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
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childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
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// Find the constraint for this link and get rid of it from the overall collection and from my list
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
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if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
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{
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// Make the child refresh its location
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BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
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ret = true;
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}
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return ret;
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}
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/*
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// Remove linkage between myself and any possible children I might have.
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// Called at taint time!
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private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
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private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
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{
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DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
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DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
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bool ret = false;
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
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if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
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{
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ret = true;
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}
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return ret;
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}
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*/
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// Call each of the constraints that make up this linkset and recompute the
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// various transforms and variables. Used when objects are added or removed
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@ -550,11 +532,17 @@ public class BSLinkset
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{
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// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
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OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
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BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
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BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
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centerOfMass, OMV.Quaternion.Identity);
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DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
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LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
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foreach (BSPhysObject child in m_taintChildren)
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{
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BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
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BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
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centerOfMass, OMV.Quaternion.Identity);
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}
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// BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
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}
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return;
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}
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@ -563,7 +551,8 @@ public class BSLinkset
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// Invoke the detailed logger and output something if it's enabled.
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private void DetailLog(string msg, params Object[] args)
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{
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PhysicsScene.PhysicsLogging.Write(msg, args);
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if (PhysicsScene.PhysicsLogging.Enabled)
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PhysicsScene.DetailLog(msg, args);
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}
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}
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@ -207,7 +207,8 @@ public abstract class BSPhysObject : PhysicsActor
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// High performance detailed logging routine used by the physical objects.
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protected void DetailLog(string msg, params Object[] args)
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{
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PhysicsScene.PhysicsLogging.Write(msg, args);
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if (PhysicsScene.PhysicsLogging.Enabled)
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PhysicsScene.DetailLog(msg, args);
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}
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}
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}
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@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject
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_isSelected = value;
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PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
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{
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// DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
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DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
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SetObjectDynamic(false);
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});
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}
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@ -620,8 +620,10 @@ public sealed class BSPrim : BSPhysObject
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BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
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// There can be special things needed for implementing linksets
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Linkset.MakeStatic(this);
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// The activation state is 'disabled' so Bullet will not try to act on it
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BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
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// The activation state is 'disabled' so Bullet will not try to act on it.
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// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
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// Start it out sleeping and physical actions could wake it up.
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BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
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BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
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BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
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@ -1204,6 +1206,7 @@ public sealed class BSPrim : BSPhysObject
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{
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// Called if the current prim body is about to be destroyed.
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// Remove all the physical dependencies on the old body.
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// (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
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needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
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});
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@ -254,7 +254,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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// The bounding box for the simulated world. The origin is 0,0,0 unless we're
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// a child in a mega-region.
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// Turns out that Bullet really doesn't care about the extents of the simulated
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// Bullet actually doesn't care about the extents of the simulated
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// area. It tracks active objects no matter where they are.
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Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
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@ -331,7 +331,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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// Called directly from unmanaged code so don't do much
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private void BulletLoggerPhysLog(string msg)
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{
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PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
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DetailLog("[BULLETS UNMANAGED]:" + msg);
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}
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public override void Dispose()
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@ -494,8 +494,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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m_simulationStep++;
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int numSubSteps = 0;
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// Sometimes needed for debugging to find out what happened before the step
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// PhysicsLogging.Flush();
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// DEBUG
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DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
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try
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{
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@ -715,6 +715,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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{
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try
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{
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DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
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tcbe.callback();
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}
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catch (Exception e)
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@ -1270,6 +1271,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
public void DetailLog(string msg, params Object[] args)
|
||||
{
|
||||
PhysicsLogging.Write(msg, args);
|
||||
// Add the Flush() if debugging crashes to get all the messages written out.
|
||||
PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG
|
||||
}
|
||||
// used to fill in the LocalID when there isn't one
|
||||
public const string DetailLogZero = "0000000000";
|
||||
|
|
|
|||
|
|
@ -136,7 +136,21 @@ public class BSShapeCollection : IDisposable
|
|||
// New entry
|
||||
bodyDesc.ptr = body.ptr;
|
||||
bodyDesc.referenceCount = 1;
|
||||
DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount);
|
||||
DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
|
||||
body.ID, body, bodyDesc.referenceCount);
|
||||
BSScene.TaintCallback createOperation = delegate()
|
||||
{
|
||||
if (!BulletSimAPI.IsInWorld2(body.ptr))
|
||||
{
|
||||
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
|
||||
DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}",
|
||||
body.ID, body);
|
||||
}
|
||||
};
|
||||
if (atTaintTime)
|
||||
createOperation();
|
||||
else
|
||||
PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
|
||||
}
|
||||
bodyDesc.lastReferenced = System.DateTime.Now;
|
||||
Bodies[body.ID] = bodyDesc;
|
||||
|
|
@ -160,21 +174,22 @@ public class BSShapeCollection : IDisposable
|
|||
Bodies[body.ID] = bodyDesc;
|
||||
DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
|
||||
|
||||
// If body is no longer being used, free it -- bodies are never shared.
|
||||
// If body is no longer being used, free it -- bodies can never be shared.
|
||||
if (bodyDesc.referenceCount == 0)
|
||||
{
|
||||
Bodies.Remove(body.ID);
|
||||
BSScene.TaintCallback removeOperation = delegate()
|
||||
{
|
||||
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
|
||||
body.ID, body.ptr.ToString("X"));
|
||||
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
|
||||
body.ID, body.ptr.ToString("X"), inTaintTime);
|
||||
// If the caller needs to know the old body is going away, pass the event up.
|
||||
if (bodyCallback != null) bodyCallback(body);
|
||||
|
||||
// Zero any reference to the shape so it is not freed when the body is deleted.
|
||||
BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
|
||||
// It may have already been removed from the world in which case the next is a NOOP.
|
||||
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
|
||||
|
||||
// Zero any reference to the shape so it is not freed when the body is deleted.
|
||||
BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
|
||||
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
|
||||
};
|
||||
// If already in taint-time, do the operations now. Otherwise queue for later.
|
||||
|
|
@ -208,7 +223,7 @@ public class BSShapeCollection : IDisposable
|
|||
{
|
||||
// There is an existing instance of this mesh.
|
||||
meshDesc.referenceCount++;
|
||||
DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
|
||||
DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
|
||||
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
|
||||
}
|
||||
else
|
||||
|
|
@ -217,7 +232,7 @@ public class BSShapeCollection : IDisposable
|
|||
meshDesc.ptr = shape.ptr;
|
||||
// We keep a reference to the underlying IMesh data so a hull can be built
|
||||
meshDesc.referenceCount = 1;
|
||||
DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
|
||||
DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
|
||||
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
|
||||
ret = true;
|
||||
}
|
||||
|
|
@ -230,7 +245,7 @@ public class BSShapeCollection : IDisposable
|
|||
{
|
||||
// There is an existing instance of this hull.
|
||||
hullDesc.referenceCount++;
|
||||
DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
|
||||
DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
|
||||
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
|
||||
}
|
||||
else
|
||||
|
|
@ -238,7 +253,7 @@ public class BSShapeCollection : IDisposable
|
|||
// This is a new reference to a hull
|
||||
hullDesc.ptr = shape.ptr;
|
||||
hullDesc.referenceCount = 1;
|
||||
DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
|
||||
DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
|
||||
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
|
||||
ret = true;
|
||||
|
||||
|
|
@ -525,7 +540,7 @@ public class BSShapeCollection : IDisposable
|
|||
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
|
||||
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
|
||||
|
||||
// Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
|
||||
// Remove usage of the previous shape.
|
||||
DereferenceShape(prim.BSShape, true, shapeCallback);
|
||||
|
||||
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
|
||||
|
|
@ -659,6 +674,7 @@ public class BSShapeCollection : IDisposable
|
|||
if (pbs.SculptEntry)
|
||||
lod = PhysicsScene.SculptLOD;
|
||||
|
||||
// Mega prims usually get more detail because one can interact with shape approximations at this size.
|
||||
float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
|
||||
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
|
||||
lod = PhysicsScene.MeshMegaPrimLOD;
|
||||
|
|
@ -709,13 +725,13 @@ public class BSShapeCollection : IDisposable
|
|||
{
|
||||
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
|
||||
shapeData.ID, shapeData.Position, shapeData.Rotation);
|
||||
// DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
||||
DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
||||
}
|
||||
else
|
||||
{
|
||||
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
|
||||
shapeData.ID, shapeData.Position, shapeData.Rotation);
|
||||
// DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
||||
DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
|
||||
}
|
||||
aBody = new BulletBody(shapeData.ID, bodyPtr);
|
||||
|
||||
|
|
@ -731,7 +747,8 @@ public class BSShapeCollection : IDisposable
|
|||
|
||||
private void DetailLog(string msg, params Object[] args)
|
||||
{
|
||||
PhysicsScene.PhysicsLogging.Write(msg, args);
|
||||
if (PhysicsScene.PhysicsLogging.Enabled)
|
||||
PhysicsScene.DetailLog(msg, args);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -192,8 +192,9 @@ public struct ShapeData
|
|||
SHAPE_SPHERE = 5,
|
||||
SHAPE_MESH = 6,
|
||||
SHAPE_HULL = 7,
|
||||
SHAPE_GROUNDPLANE = 8,
|
||||
SHAPE_TERRAIN = 9,
|
||||
// following defined by BulletSim
|
||||
SHAPE_GROUNDPLANE = 20,
|
||||
SHAPE_TERRAIN = 21,
|
||||
};
|
||||
public uint ID;
|
||||
public PhysicsShapeType Type;
|
||||
|
|
@ -1107,6 +1108,15 @@ public static extern float GetMargin2(IntPtr shape);
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpAllInfo2(IntPtr sim);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue