BulletSim: many, many detailed logging messages for physical linkset

debugging.
Linkset bugs fixed where accounting of children would get lost.
Moved scene based vehicle tracking logic from prim to the scene.
Added GetCollisionFlags2 method to BulletSimAPI.
Updated DLLs and SOs.

1 files changed, 31 insertions, 27 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4193d22..05cc822 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -138,13 +138,14 @@ public sealed class BSPrim : PhysicsActor
         _isPhysical = pisPhysical;
         _isVolumeDetect = false;
         _subscribedEventsMs = 0;
-        _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
-        _density = _scene.Params.defaultDensity; // TODO: compute based on object material
+        _friction = _scene.Params.defaultFriction;  // TODO: compute based on object material
+        _density = _scene.Params.defaultDensity;    // TODO: compute based on object material
         _restitution = _scene.Params.defaultRestitution;
         _linkset = new BSLinkset(_scene, this);     // a linkset of one
-        _vehicle = new BSDynamics(this);    // add vehicleness
+        _vehicle = new BSDynamics(this);            // add vehicleness
         _mass = CalculateMass();
         // do the actual object creation at taint time
+        DetailLog("{0},BSPrim.constructor,call", LocalID);
         _scene.TaintedObject("BSPrim.create", delegate()
         {
             RecreateGeomAndObject();
@@ -160,19 +161,22 @@ public sealed class BSPrim : PhysicsActor
     public void Destroy()
     {
         // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
-        // DetailLog("{0},BSPrim.Destroy", LocalID);
-
-        // Undo any vehicle properties
-        _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
-        _scene.RemoveVehiclePrim(this);     // just to make sure
 
         // Undo any links between me and any other object
+        BSPrim parentBefore = _linkset.Root;
+        int childrenBefore = _linkset.NumberOfChildren;
+
         _linkset = _linkset.RemoveMeFromLinkset(this);
 
+        DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
+            LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
+
+        // Undo any vehicle properties
+        this.VehicleType = (int)Vehicle.TYPE_NONE;
+
         _scene.TaintedObject("BSPrim.destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
-
             // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
             BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
         });
@@ -229,8 +233,13 @@ public sealed class BSPrim : PhysicsActor
         if (parent != null)
         {
             DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
-            DetailLog("{0},BSPrim.link,parent={1}", LocalID, parent.LocalID);
-            _linkset = _linkset.AddMeToLinkset(this, parent);
+            BSPrim parentBefore = _linkset.Root;
+            int childrenBefore = _linkset.NumberOfChildren;
+
+            _linkset = parent.Linkset.AddMeToLinkset(this);
+
+            DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", 
+                LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
         }
         return; 
     }
@@ -340,21 +349,14 @@ public sealed class BSPrim : PhysicsActor
         } 
         set {
             Vehicle type = (Vehicle)value;
-            _scene.TaintedObject("BSPrim.setVehicleType", delegate()
+            BSPrim vehiclePrim = this;
+            _scene.TaintedObject("setVehicleType", delegate()
             {
-                DetailLog("{0},BSPrim.SetVehicleType,taint,type={1}", LocalID, type);
+                // Done at taint time so we're sure the physics engine is not using the variables
+                // Vehicle code changes the parameters for this vehicle type.
                 _vehicle.ProcessTypeChange(type);
-                if (type == Vehicle.TYPE_NONE)
-                {
-                    _scene.RemoveVehiclePrim(this);
-                }
-                else
-                {
-                    BulletSimAPI.ClearForces2(this.Body.Ptr);
-                    // make it so the scene will call us each tick to do vehicle things
-                    _scene.AddVehiclePrim(this);
-                }
-                return;
+                // Tell the scene about the vehicle so it will get processing each frame.
+                _scene.VehicleInSceneTypeChanged(this, type);
             });
         } 
     }
@@ -493,8 +495,10 @@ public sealed class BSPrim : PhysicsActor
         // Bullet wants static objects to have a mass of zero
         float mass = IsStatic ? 0f : _mass;
 
-        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
         BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+
+        CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
+        DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
     }
 
     // prims don't fly
@@ -1224,7 +1228,7 @@ public sealed class BSPrim : PhysicsActor
         bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
 
         // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
-        m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
+        Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
 
         return ret;
     }
@@ -1344,7 +1348,7 @@ public sealed class BSPrim : PhysicsActor
         else
         {
             // For debugging, we also report the movement of children
-            DetailLog("{0},BSPrim.BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+            DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
                     LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 
                     entprop.Acceleration, entprop.RotationalVelocity);
         }