BulletSim: first attempt at reporting top colliders

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -597,8 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
                 //     Maybe compute linear and angular factor and damping from params.
-                float angularDamping = BSParam.VehicleAngularDamping;
+                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping);
-                PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
                 PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
                 PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
 
@@ -615,8 +614,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
                 PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
 
-                VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
+                VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
-                        Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity);
+                        Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
+                        BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
+                        BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
+                        );
             }
             else
             {

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -95,6 +95,8 @@ public abstract class BSPhysObject : PhysicsActor
         SubscribedEventsMs = 0;
         CollidingStep = 0;
         CollidingGroundStep = 0;
+        CollisionAccumulation = 0;
+        CollisionScore = 0;
     }
 
     // Tell the object to clean up.
@@ -239,6 +241,9 @@ public abstract class BSPhysObject : PhysicsActor
     // The collision flags we think are set in Bullet
     protected CollisionFlags CurrentCollisionFlags { get; set; }
 
+    // Count of collisions for this object
+    protected long CollisionAccumulation { get; set; }
+
     public override bool IsColliding {
         get { return (CollidingStep == PhysicsScene.SimulationStep); }
         set {
@@ -300,6 +305,8 @@ public abstract class BSPhysObject : PhysicsActor
             return ret;
         }
 
+        CollisionAccumulation++;
+
         // if someone has subscribed for collision events....
         if (SubscribedEvents()) {
             CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
@@ -386,6 +393,16 @@ public abstract class BSPhysObject : PhysicsActor
     public override bool SubscribedEvents() {
         return (SubscribedEventsMs > 0);
     }
+    // Because 'CollisionScore' is calls many times while sorting it should not be recomputed
+    //    each time called. So this is built to be light weight for each collision and to do
+    //    all the processing when the user asks for the info.
+    public void ComputeCollisionScore()
+    {
+        // Scale the collision count by the time since the last collision
+        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
+        CollisionScore = CollisionAccumulation / timeAgo;
+    }
+    public override float CollisionScore { get; set; }
 
     #endregion // Collisions
 

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -59,7 +59,6 @@ public sealed class BSPrim : BSPhysObject
     private OMV.Vector3 _force;
     private OMV.Vector3 _velocity;
     private OMV.Vector3 _torque;
-    private float _collisionScore;
     private OMV.Vector3 _acceleration;
     private OMV.Quaternion _orientation;
     private int _physicsActorType;
@@ -644,11 +643,6 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
         }
     }
-    public override float CollisionScore {
-        get { return _collisionScore; }
-        set { _collisionScore = value;
-        }
-    }
     public override OMV.Vector3 Acceleration {
         get { return _acceleration; }
         set { _acceleration = value; }

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Text;
@@ -697,7 +698,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
 
     public override Dictionary<uint, float> GetTopColliders()
     {
-        return new Dictionary<uint, float>();
+        Dictionary<uint, float> topColliders;
+
+        lock (PhysObjects)
+        {
+            foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
+            {
+                kvp.Value.ComputeCollisionScore();
+            }
+
+            List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
+            orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25);
+            topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore);
+        }
+
+        return topColliders;
     }
 
     public override bool IsThreaded { get { return false;  } }

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,5 +1,9 @@
 CURRENT PRIORITIES
 =================================================
+One sided meshes? Should terrain be built into a closed shape?
+	When meshes get partially wedged into the terrain, they cannot push themselves out.
+	It is possible that Bullet processes collisions whether entering or leaving a mesh.
+	Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
 	Not sure if it is because standing on it. Done with large prim linksets.
 Vehicle angular vertical attraction