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BulletSim: Add detailed and voluminous debug logging that is enabled 

with an ini configuration parameter.
Correct computation of relative offsets of children in a linkset.
Remove a prim from any link relationship before deleting it.
Minor code flow cleanups.
0.7.4.1
Robert Adams 2012-07-12 11:29:45 -07:00
parent ecf7bb268c
commit f9913b6ef7
2 changed files with 65 additions and 40 deletions
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52
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -42,6 +42,8 @@ public sealed class BSPrim : PhysicsActor
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]";
private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); }
private IMesh _mesh;
private PrimitiveBaseShape _pbs;
private ShapeData.PhysicsShapeType _shapeType;
@ -86,8 +88,8 @@ public sealed class BSPrim : PhysicsActor
private bool _kinematic;
private float _buoyancy;
private List<BSPrim> _childrenPrims;
private BSPrim _parentPrim;
private List<BSPrim> _childrenPrims;
private int _subscribedEventsMs = 0;
private int _nextCollisionOkTime = 0;
@ -148,6 +150,15 @@ public sealed class BSPrim : PhysicsActor
// Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
_scene.RemoveVehiclePrim(this); // just to make sure
// undo any dependance with/on other objects
if (_parentPrim != null)
{
// If I'm someone's child, tell them to forget about me.
_parentPrim.RemoveChildFromLinkset(this);
_parentPrim = null;
}
_scene.TaintedObject(delegate()
{
// everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
@ -202,7 +213,7 @@ public sealed class BSPrim : PhysicsActor
// link me to the specified parent
public override void link(PhysicsActor obj) {
BSPrim parent = obj as BSPrim;
// m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
// TODO: decide if this parent checking needs to happen at taint time
if (_parentPrim == null)
{
@ -225,7 +236,7 @@ public sealed class BSPrim : PhysicsActor
else
{
// asking to reparent a prim should not happen
m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader);
m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader);
}
}
}
@ -236,7 +247,8 @@ public sealed class BSPrim : PhysicsActor
public override void delink() {
// TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
// m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID);
DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
(_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
if (_parentPrim != null)
{
_parentPrim.RemoveChildFromLinkset(this);
@ -252,8 +264,9 @@ public sealed class BSPrim : PhysicsActor
{
if (!_childrenPrims.Contains(child))
{
DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
_childrenPrims.Add(child);
child.ParentPrim = this; // the child has gained a parent
child._parentPrim = this; // the child has gained a parent
RecreateGeomAndObject(); // rebuild my shape with the new child added
}
});
@ -269,9 +282,13 @@ public sealed class BSPrim : PhysicsActor
{
if (_childrenPrims.Contains(child))
{
BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID);
DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
{
m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
}
_childrenPrims.Remove(child);
child.ParentPrim = null; // the child has lost its parent
child._parentPrim = null; // the child has lost its parent
RecreateGeomAndObject(); // rebuild my shape with the child removed
}
else
@ -282,11 +299,6 @@ public sealed class BSPrim : PhysicsActor
return;
}
public BSPrim ParentPrim
{
set { _parentPrim = value; }
}
// return true if we are the root of a linkset (there are children to manage)
public bool IsRootOfLinkset
{
@ -981,7 +993,6 @@ public sealed class BSPrim : PhysicsActor
int vi = 0;
foreach (OMV.Vector3 vv in vertices)
{
// m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z);
verticesAsFloats[vi++] = vv.X;
verticesAsFloats[vi++] = vv.Y;
verticesAsFloats[vi++] = vv.Z;
@ -1129,7 +1140,6 @@ public sealed class BSPrim : PhysicsActor
if (IsRootOfLinkset)
{
// Create a linkset around this object
// CreateLinksetWithCompoundHull();
CreateLinksetWithConstraints();
}
else
@ -1191,33 +1201,33 @@ public sealed class BSPrim : PhysicsActor
// TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added
void CreateLinksetWithConstraints()
{
// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
// remove any constraints that might be in place
foreach (BSPrim prim in _childrenPrims)
{
// m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
}
// create constraints between the root prim and each of the children
foreach (BSPrim prim in _childrenPrims)
{
// m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
// Zero motion for children so they don't interpolate
prim.ZeroMotion();
// relative position normalized to the root prim
OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation);
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation);
OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation;
OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation;
// this is a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID,
childRelativePosition,
relativeRotation,
childRelativeRotation,
OMV.Vector3.Zero,
OMV.Quaternion.Identity,
OMV.Vector3.Zero, OMV.Vector3.Zero,

53
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS SCENE]";
private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
public string BulletSimVersion = "?";
private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
@ -147,6 +149,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
ConfigurationParameters[] m_params;
GCHandle m_paramsHandle;
public bool shouldDebugLog { get; private set; }
private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
public BSScene(string identifier)
@ -209,6 +213,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_meshLOD = 8f;
m_sculptLOD = 32f;
shouldDebugLog = false;
m_detailedStatsStep = 0; // disabled
m_maxSubSteps = 10;
@ -261,7 +266,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog);
m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
@ -347,34 +354,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void RemoveAvatar(PhysicsActor actor)
{
// m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
if (actor is BSCharacter)
BSCharacter bsactor = actor as BSCharacter;
if (bsactor != null)
{
((BSCharacter)actor).Destroy();
}
try
{
lock (m_avatars) m_avatars.Remove(actor.LocalID);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
try
{
lock (m_avatars) m_avatars.Remove(actor.LocalID);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
}
bsactor.Destroy();
// bsactor.dispose();
}
}
public override void RemovePrim(PhysicsActor prim)
{
// m_log.DebugFormat("{0}: RemovePrim", LogHeader);
if (prim is BSPrim)
BSPrim bsprim = prim as BSPrim;
if (bsprim != null)
{
((BSPrim)prim).Destroy();
m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
lock (m_prims) m_prims.Remove(bsprim.LocalID);
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
}
bsprim.Destroy();
// bsprim.dispose();
}
try
else
{
lock (m_prims) m_prims.Remove(prim.LocalID);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
}
}