BulletSim: Parameterize nominal frame rate (55) and add parameters to dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -822,6 +822,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             if (!IsActive) return;
 
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
+
             ForgetKnownVehicleProperties();
 
             MoveLinear(pTimestep);
@@ -836,6 +839,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             //      for the physics engine to note the changes so an UpdateProperties event will happen.
             PushKnownChanged();
 
+            if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+                BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
+
             VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
                     Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
         }

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -212,6 +212,11 @@ public static class BSParam
             (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
             (s) => { return (float)s.m_fixedTimeStep; },
             (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
+        new ParameterDefn("NominalFrameRate", "The base frame rate we claim",
+            55f,
+            (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.NominalFrameRate; },
+            (s,p,l,v) => { s.NominalFrameRate = (int)v; } ),
         new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
             2048f,
             (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -758,8 +758,8 @@ public sealed class BSPrim : BSPhysObject
         // For compound based linksets, this enables and disables interactions of the children.
         Linkset.Refresh(this);
 
-        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
+        DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
-                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
+                        LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
     }
 
     // "Making dynamic" means changing to and from static.

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -74,6 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     internal int m_maxSubSteps;
     internal float m_fixedTimeStep;
     internal long m_simulationStep = 0;
+    internal float NominalFrameRate { get; set; }
     public long SimulationStep { get { return m_simulationStep; } }
     internal int m_taintsToProcessPerStep;
     internal float LastTimeStep { get; private set; }
@@ -162,6 +163,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     private string m_physicsLoggingPrefix;
     private int m_physicsLoggingFileMinutes;
     private bool m_physicsLoggingDoFlush;
+    private bool m_physicsPhysicalDumpEnabled;
     // 'true' of the vehicle code is to log lots of details
     public bool VehicleLoggingEnabled { get; private set; }
     public bool VehiclePhysicalLoggingEnabled { get; private set; }
@@ -272,6 +274,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
                 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
                 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
+                m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
                 // Very detailed logging for vehicle debugging
                 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
                 VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
@@ -488,7 +491,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+        if (m_physicsPhysicalDumpEnabled)
+            BulletSimAPI.DumpAllInfo2(World.ptr);
 
         // step the physical world one interval
         m_simulationStep++;
@@ -587,12 +591,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
         // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
         // Only enable this in a limited test world with few objects.
-        // BulletSimAPI.DumpAllInfo2(World.ptr);    // DEBUG DEBUG DEBUG
+        if (m_physicsPhysicalDumpEnabled)
+            BulletSimAPI.DumpAllInfo2(World.ptr);
 
         // The physics engine returns the number of milliseconds it simulated this call.
         // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
         // Multiply by 55 to give a nominal frame rate of 55.
-        return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
+        return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
     }
 
     // Something has collided