BulletSim: more detail logging for vehicle and general physics debugging.
Physical linksets are fully functional. Tweeking of the vehicle code to make it semi-work. Utilize the new API2 for some setting operations. Add GetOrientation() API call for proper reporting of children of linksets. Changes the interface between C# and C++ code so old DLLs won't work!0.7.4.1
Robert Adams
parent
24dfb5bcb3
commit
ca3b6b1f90
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@ -613,23 +613,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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MoveAngular(pTimestep);
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LimitRotation(pTimestep);
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DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}",
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DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}",
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m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
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}// end Step
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private void MoveLinear(float pTimestep)
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{
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if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
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// requested m_linearMotorDirection is significant
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// if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
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if (m_linearMotorDirection.LengthSquared() > 0.0001f)
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{
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Vector3 origDir = m_linearMotorDirection;
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Vector3 origVel = m_lastLinearVelocityVector;
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// add drive to body
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Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
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m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
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// Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
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Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale);
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// lastLinearVelocityVector is the current body velocity vector?
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// RA: Not sure what the *10 is for. A correction for pTimestep?
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// m_lastLinearVelocityVector += (addAmount*10);
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m_lastLinearVelocityVector += addAmount;
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// This will work temporarily, but we really need to compare speed on an axis
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// KF: Limit body velocity to applied velocity?
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// Limit the velocity vector to less than the last set linear motor direction
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if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
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m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
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if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
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@ -641,19 +648,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
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m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
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/*
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Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
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m_lastLinearVelocityVector += addAmount;
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float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
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m_linearMotorDirection *= decayfraction;
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*/
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DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
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m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
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}
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else
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{ // requested is not significant
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// if what remains of applied is small, zero it.
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if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
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m_lastLinearVelocityVector = Vector3.Zero;
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{
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// if what remains of applied is small, zero it.
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// if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
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// m_lastLinearVelocityVector = Vector3.Zero;
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m_linearMotorDirection = Vector3.Zero;
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m_lastLinearVelocityVector = Vector3.Zero;
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}
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// convert requested object velocity to world-referenced vector
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m_dir = m_lastLinearVelocityVector;
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m_dir *= m_prim.Orientation;
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Quaternion rotq = m_prim.Orientation;
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m_dir = m_lastLinearVelocityVector * rotq;
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// Add the various forces into m_dir which will be our new direction vector (velocity)
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@ -708,9 +726,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
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}
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}
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if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y))
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// If below the terrain, move us above the ground a little.
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if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
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{
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pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
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pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
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m_prim.Position = pos;
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DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
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}
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@ -816,8 +836,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Apply velocity
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m_prim.Velocity = m_dir;
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// apply gravity force
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m_prim.Force = grav;
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// Why is this set here? The physics engine already does gravity.
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// m_prim.AddForce(grav, false);
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// m_prim.Force = grav;
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// Apply friction
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Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
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@ -990,7 +1011,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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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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m_prim.Scene.VehicleLogging.Write(msg, args);
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if (m_prim.Scene.VehicleLoggingEnabled)
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m_prim.Scene.PhysicsLogging.Write(msg, args);
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}
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}
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}
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@ -148,6 +148,7 @@ public sealed class BSPrim : PhysicsActor
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public void Destroy()
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{
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// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
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// DetailLog("{0},Destroy", LocalID);
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// Undo any vehicle properties
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_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
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_scene.RemoveVehiclePrim(this); // just to make sure
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@ -215,6 +216,7 @@ public sealed class BSPrim : PhysicsActor
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public override void link(PhysicsActor obj) {
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BSPrim parent = obj as BSPrim;
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DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
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DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
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// TODO: decide if this parent checking needs to happen at taint time
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if (_parentPrim == null)
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{
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@ -250,6 +252,7 @@ public sealed class BSPrim : PhysicsActor
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// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
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DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
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(_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
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DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString()));
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if (_parentPrim != null)
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{
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_parentPrim.RemoveChildFromLinkset(this);
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@ -266,6 +269,7 @@ public sealed class BSPrim : PhysicsActor
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if (!_childrenPrims.Contains(child))
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{
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DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
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DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
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_childrenPrims.Add(child);
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child._parentPrim = this; // the child has gained a parent
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RecreateGeomAndObject(); // rebuild my shape with the new child added
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@ -284,6 +288,7 @@ public sealed class BSPrim : PhysicsActor
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if (_childrenPrims.Contains(child))
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{
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DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
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DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID);
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if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
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{
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m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
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@ -317,20 +322,28 @@ public sealed class BSPrim : PhysicsActor
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base.RequestPhysicsterseUpdate();
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}
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public override void LockAngularMotion(OMV.Vector3 axis) { return; }
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public override void LockAngularMotion(OMV.Vector3 axis)
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{
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DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
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return;
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}
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public override OMV.Vector3 Position {
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get {
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// don't do the following GetObjectPosition because this function is called a zillion times
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// child prims move around based on their parent. Need to get the latest location
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if (_parentPrim != null)
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_position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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// don't do the GetObjectPosition for root elements because this function is called a zillion times
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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return _position;
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}
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set {
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_position = value;
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// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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// m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
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});
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}
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}
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@ -343,6 +356,7 @@ public sealed class BSPrim : PhysicsActor
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_force = value;
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
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BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
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});
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}
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@ -354,15 +368,23 @@ public sealed class BSPrim : PhysicsActor
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}
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set {
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Vehicle type = (Vehicle)value;
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_vehicle.ProcessTypeChange(type);
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
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_vehicle.ProcessTypeChange(type);
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if (type == Vehicle.TYPE_NONE)
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{
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_scene.RemoveVehiclePrim(this);
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}
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else
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{
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_scene.TaintedObject(delegate()
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{
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// Tell the physics engine to clear state
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IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
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BulletSimAPI.ClearForces2(obj);
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});
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// make it so the scene will call us each tick to do vehicle things
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_scene.AddVehiclePrim(this);
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}
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@ -372,21 +394,39 @@ public sealed class BSPrim : PhysicsActor
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}
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public override void VehicleFloatParam(int param, float value)
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{
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_vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
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m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value);
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_scene.TaintedObject(delegate()
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{
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_vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
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});
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}
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public override void VehicleVectorParam(int param, OMV.Vector3 value)
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{
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_vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
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m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value);
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_scene.TaintedObject(delegate()
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{
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_vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
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});
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}
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public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
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{
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_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
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m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation);
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_scene.TaintedObject(delegate()
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{
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_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
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});
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}
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public override void VehicleFlags(int param, bool remove)
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{
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_vehicle.ProcessVehicleFlags(param, remove);
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m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove);
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_scene.TaintedObject(delegate()
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{
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_vehicle.ProcessVehicleFlags(param, remove);
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});
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}
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// Called each simulation step to advance vehicle characteristics
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// Called each simulation step to advance vehicle characteristics.
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// Called from Scene when doing simulation step so we're in taint processing time.
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public void StepVehicle(float timeStep)
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{
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_vehicle.Step(timeStep);
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@ -395,14 +435,11 @@ public sealed class BSPrim : PhysicsActor
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// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
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public override void SetVolumeDetect(int param) {
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bool newValue = (param != 0);
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if (_isVolumeDetect != newValue)
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_isVolumeDetect = newValue;
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_scene.TaintedObject(delegate()
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{
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_isVolumeDetect = newValue;
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_scene.TaintedObject(delegate()
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{
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SetObjectDynamic();
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});
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}
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SetObjectDynamic();
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});
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return;
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}
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@ -410,9 +447,11 @@ public sealed class BSPrim : PhysicsActor
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public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
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public override OMV.Vector3 Velocity {
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get { return _velocity; }
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set { _velocity = value;
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set {
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_velocity = value;
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
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BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
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});
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}
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@ -420,6 +459,7 @@ public sealed class BSPrim : PhysicsActor
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public override OMV.Vector3 Torque {
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get { return _torque; }
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set { _torque = value;
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DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
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}
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}
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public override float CollisionScore {
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@ -432,13 +472,21 @@ public sealed class BSPrim : PhysicsActor
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set { _acceleration = value; }
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}
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public override OMV.Quaternion Orientation {
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get { return _orientation; }
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get {
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if (_parentPrim != null)
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{
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// children move around because tied to parent. Get a fresh value.
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_orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
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}
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return _orientation;
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}
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set {
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_orientation = value;
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// m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation);
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// TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
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_scene.TaintedObject(delegate()
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{
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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});
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}
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@ -471,8 +519,9 @@ public sealed class BSPrim : PhysicsActor
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get { return !IsPhantom && !_isVolumeDetect; }
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}
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// make gravity work if the object is physical and not selected
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// no locking here because only called when it is safe
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// Make gravity work if the object is physical and not selected
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// No locking here because only called when it is safe
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// Only called at taint time so it is save to call into Bullet.
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private void SetObjectDynamic()
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{
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// m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
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@ -489,6 +538,7 @@ public sealed class BSPrim : PhysicsActor
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RecreateGeomAndObject();
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}
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DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass);
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BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
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}
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@ -529,11 +579,24 @@ public sealed class BSPrim : PhysicsActor
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set { _floatOnWater = value; }
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}
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public override OMV.Vector3 RotationalVelocity {
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get { return _rotationalVelocity; }
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set { _rotationalVelocity = value;
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get {
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/*
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OMV.Vector3 pv = OMV.Vector3.Zero;
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// if close to zero, report zero
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// This is copied from ODE but I'm not sure why it returns zero but doesn't
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// zero the property in the physics engine.
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if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
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return pv;
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*/
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return _rotationalVelocity;
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}
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set {
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_rotationalVelocity = value;
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// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
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BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
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});
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}
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@ -546,11 +609,13 @@ public sealed class BSPrim : PhysicsActor
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}
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public override float Buoyancy {
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get { return _buoyancy; }
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set { _buoyancy = value;
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_scene.TaintedObject(delegate()
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{
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BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
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});
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set {
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_buoyancy = value;
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_scene.TaintedObject(delegate()
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{
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DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
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BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
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});
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}
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}
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@ -586,27 +651,45 @@ public sealed class BSPrim : PhysicsActor
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public override float APIDStrength { set { return; } }
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public override float APIDDamping { set { return; } }
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private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
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public override void AddForce(OMV.Vector3 force, bool pushforce) {
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||||
if (force.IsFinite())
|
||||
{
|
||||
_force.X += force.X;
|
||||
_force.Y += force.Y;
|
||||
_force.Z += force.Z;
|
||||
// _force += force;
|
||||
lock (m_accumulatedForces)
|
||||
m_accumulatedForces.Add(new OMV.Vector3(force));
|
||||
}
|
||||
else
|
||||
{
|
||||
m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
|
||||
return;
|
||||
}
|
||||
_scene.TaintedObject(delegate()
|
||||
{
|
||||
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
|
||||
lock (m_accumulatedForces)
|
||||
{
|
||||
if (m_accumulatedForces.Count > 0)
|
||||
{
|
||||
OMV.Vector3 fSum = OMV.Vector3.Zero;
|
||||
foreach (OMV.Vector3 v in m_accumulatedForces)
|
||||
{
|
||||
fSum += v;
|
||||
}
|
||||
m_accumulatedForces.Clear();
|
||||
|
||||
DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
|
||||
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
|
||||
DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
|
||||
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
|
||||
}
|
||||
public override void SetMomentum(OMV.Vector3 momentum) {
|
||||
DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
|
||||
}
|
||||
public override void SubscribeEvents(int ms) {
|
||||
_subscribedEventsMs = ms;
|
||||
|
|
@ -931,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor
|
|||
{
|
||||
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
|
||||
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
|
||||
DetailLog("{0},CreateGeom,sphere", LocalID);
|
||||
// Bullet native objects are scaled by the Bullet engine so pass the size in
|
||||
_scale = _size;
|
||||
}
|
||||
|
|
@ -938,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor
|
|||
else
|
||||
{
|
||||
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
|
||||
DetailLog("{0},CreateGeom,box", LocalID);
|
||||
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
|
||||
_scale = _size;
|
||||
}
|
||||
|
|
@ -974,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor
|
|||
// if this new shape is the same as last time, don't recreate the mesh
|
||||
if (_meshKey == newMeshKey) return;
|
||||
|
||||
DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
|
||||
// Since we're recreating new, get rid of any previously generated shape
|
||||
if (_meshKey != 0)
|
||||
{
|
||||
// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
|
||||
DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
|
||||
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
|
||||
_mesh = null;
|
||||
_meshKey = 0;
|
||||
|
|
@ -1007,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor
|
|||
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
|
||||
// meshes are already scaled by the meshmerizer
|
||||
_scale = new OMV.Vector3(1f, 1f, 1f);
|
||||
DetailLog("{0},CreateGeomMesh,done", LocalID);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1020,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor
|
|||
// if the hull hasn't changed, don't rebuild it
|
||||
if (newHullKey == _hullKey) return;
|
||||
|
||||
DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
|
||||
|
||||
// Since we're recreating new, get rid of any previously generated shape
|
||||
if (_hullKey != 0)
|
||||
{
|
||||
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
|
||||
DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
|
||||
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
|
||||
_hullKey = 0;
|
||||
_hulls.Clear();
|
||||
DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
|
||||
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
|
||||
_mesh = null; // the mesh cannot match either
|
||||
_meshKey = 0;
|
||||
|
|
@ -1123,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor
|
|||
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
|
||||
// meshes are already scaled by the meshmerizer
|
||||
_scale = new OMV.Vector3(1f, 1f, 1f);
|
||||
DetailLog("{0},CreateGeomHull,done", LocalID);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
@ -1310,6 +1403,7 @@ public sealed class BSPrim : PhysicsActor
|
|||
*/
|
||||
|
||||
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
|
||||
|
||||
// Updates only for individual prims and for the root object of a linkset.
|
||||
if (this._parentPrim == null)
|
||||
{
|
||||
|
|
@ -1319,8 +1413,12 @@ public sealed class BSPrim : PhysicsActor
|
|||
_velocity = entprop.Velocity;
|
||||
_acceleration = entprop.Acceleration;
|
||||
_rotationalVelocity = entprop.RotationalVelocity;
|
||||
|
||||
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
|
||||
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
|
||||
DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
|
||||
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
|
||||
|
||||
base.RequestPhysicsterseUpdate();
|
||||
}
|
||||
}
|
||||
|
|
@ -1361,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor
|
|||
collisionCollection.Clear();
|
||||
}
|
||||
}
|
||||
|
||||
// Invoke the detailed logger and output something if it's enabled.
|
||||
private void DetailLog(string msg, params Object[] args)
|
||||
{
|
||||
Scene.PhysicsLogging.Write(msg, args);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -30,9 +30,9 @@ using System.Runtime.InteropServices;
|
|||
using System.Text;
|
||||
using System.Threading;
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.CoreModules.Framework.Statistics.Logging;
|
||||
using OpenSim.Region.Framework;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
|
||||
using Nini.Config;
|
||||
using log4net;
|
||||
using OpenMetaverse;
|
||||
|
|
@ -45,15 +45,17 @@ using OpenMetaverse;
|
|||
// Compute physics FPS reasonably
|
||||
// Based on material, set density and friction
|
||||
// More efficient memory usage when passing hull information from BSPrim to BulletSim
|
||||
// Move all logic out of the C++ code and into the C# code for easier future modifications.
|
||||
// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
|
||||
// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
|
||||
// At the moment, physical and phantom causes object to drop through the terrain
|
||||
// Physical phantom objects and related typing (collision options )
|
||||
// Use collision masks for collision with terrain and phantom objects
|
||||
// Check out llVolumeDetect. Must do something for that.
|
||||
// Should prim.link() and prim.delink() membership checking happen at taint time?
|
||||
// changing the position and orientation of a linked prim must rebuild the constraint with the root.
|
||||
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
|
||||
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
|
||||
// Use collision masks for collision with terrain and phantom objects
|
||||
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
|
||||
// Implement LockAngularMotion
|
||||
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
|
||||
|
|
@ -61,9 +63,6 @@ using OpenMetaverse;
|
|||
// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
|
||||
// Add PID movement operations. What does ScenePresence.MoveToTarget do?
|
||||
// Check terrain size. 128 or 127?
|
||||
// Multiple contact points on collision?
|
||||
// See code in ode::near... calls to collision_accounting_events()
|
||||
// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
|
||||
// Raycast
|
||||
//
|
||||
namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
|
|
@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
|
||||
|
||||
// Sometimes you just have to log everything.
|
||||
public LogWriter PhysicsLogging;
|
||||
public Logging.LogWriter PhysicsLogging;
|
||||
private bool m_physicsLoggingEnabled;
|
||||
private string m_physicsLoggingDir;
|
||||
private string m_physicsLoggingPrefix;
|
||||
private int m_physicsLoggingFileMinutes;
|
||||
|
||||
public LogWriter VehicleLogging;
|
||||
private bool m_vehicleLoggingEnabled;
|
||||
private string m_vehicleLoggingDir;
|
||||
private string m_vehicleLoggingPrefix;
|
||||
private int m_vehicleLoggingFileMinutes;
|
||||
public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
|
||||
|
||||
public BSScene(string identifier)
|
||||
{
|
||||
|
|
@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// can be left in and every call doesn't have to check for null.
|
||||
if (m_physicsLoggingEnabled)
|
||||
{
|
||||
PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
|
||||
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
|
||||
}
|
||||
else
|
||||
{
|
||||
PhysicsLogging = new LogWriter();
|
||||
}
|
||||
if (m_vehicleLoggingEnabled)
|
||||
{
|
||||
VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes);
|
||||
}
|
||||
else
|
||||
{
|
||||
VehicleLogging = new LogWriter();
|
||||
PhysicsLogging = new Logging.LogWriter();
|
||||
}
|
||||
|
||||
// Get the version of the DLL
|
||||
|
|
@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
|
||||
|
||||
// if Debug, enable logging from the unmanaged code
|
||||
if (m_log.IsDebugEnabled)
|
||||
if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
|
||||
{
|
||||
m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
|
||||
// the handle is saved to it doesn't get freed after this call
|
||||
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
|
||||
if (PhysicsLogging.Enabled)
|
||||
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
|
||||
else
|
||||
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
|
||||
// the handle is saved in a variable to make sure it doesn't get freed after this call
|
||||
BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
|
||||
}
|
||||
|
||||
|
|
@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
|
||||
// Very detailed logging for vehicle debugging
|
||||
m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
|
||||
m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", ".");
|
||||
m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-");
|
||||
m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5);
|
||||
}
|
||||
}
|
||||
m_params[0] = parms;
|
||||
|
|
@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
return ret;
|
||||
}
|
||||
|
||||
|
||||
// Called directly from unmanaged code so don't do much
|
||||
private void BulletLogger(string msg)
|
||||
{
|
||||
m_log.Debug("[BULLETS UNMANAGED]:" + msg);
|
||||
}
|
||||
|
||||
// Called directly from unmanaged code so don't do much
|
||||
private void BulletLoggerPhysLog(string msg)
|
||||
{
|
||||
PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
|
||||
}
|
||||
|
||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
|
||||
{
|
||||
|
|
@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
for (int ii = 0; ii < updatedEntityCount; ii++)
|
||||
{
|
||||
EntityProperties entprop = m_updateArray[ii];
|
||||
// m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
|
||||
BSPrim prim;
|
||||
if (m_prims.TryGetValue(entprop.ID, out prim))
|
||||
{
|
||||
|
|
|
|||
|
|
@ -146,6 +146,22 @@ public struct ConfigurationParameters
|
|||
public const float numericFalse = 0f;
|
||||
}
|
||||
|
||||
// Values used by Bullet and BulletSim to control collisions
|
||||
public enum CollisionFlags : uint
|
||||
{
|
||||
STATIC_OBJECT = 1 << 0,
|
||||
KINEMATIC_OBJECT = 1 << 1,
|
||||
NO_CONTACT_RESPONSE = 1 << 2,
|
||||
CUSTOM_MATERIAL_CALLBACK = 1 << 3,
|
||||
CHARACTER_OBJECT = 1 << 4,
|
||||
DISABLE_VISUALIZE_OBJECT = 1 << 5,
|
||||
DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
|
||||
// Following used by BulletSim to control collisions
|
||||
VOLUME_DETECT_OBJECT = 1 << 10,
|
||||
PHANTOM_OBJECT = 1 << 11,
|
||||
PHYSICAL_OBJECT = 1 << 12,
|
||||
};
|
||||
|
||||
static class BulletSimAPI {
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
|
|
@ -213,6 +229,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
|
||||
|
||||
|
|
@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics();
|
|||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
||||
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// A new version of the API that moves all the logic out of the C++ code and into
|
||||
// the C# code. This will make modifications easier for the next person.
|
||||
// This interface passes the actual pointers to the objects in the unmanaged
|
||||
// address space. All the management (calls for creation/destruction/lookup)
|
||||
// is done in the C# code.
|
||||
// The names have a 2 tacked on. This will be removed as the code gets rebuilt
|
||||
// and the old code is removed from the C# code.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetSimHandle2(uint worldID);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr ClearForces2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue