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authorRobert Adams2012-07-20 14:08:29 -0700
committerRobert Adams2012-07-20 14:08:29 -0700
commitca3b6b1f90f89ab3be4a43863da81f9df0993e2f (patch)
tree3100b50cd2f7aba86edec7ed9600b1e434cc2672 /OpenSim
parentRemove an added but unnecessary dependency in prebuild.xml (diff)
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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!
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs52
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs168
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs48
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs51
4 files changed, 244 insertions, 75 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4c5bc85..c197e61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -613,23 +613,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
613 MoveAngular(pTimestep); 613 MoveAngular(pTimestep);
614 LimitRotation(pTimestep); 614 LimitRotation(pTimestep);
615 615
616 DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}", 616 DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}",
617 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); 617 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
618 }// end Step 618 }// end Step
619 619
620 private void MoveLinear(float pTimestep) 620 private void MoveLinear(float pTimestep)
621 { 621 {
622 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant 622 // requested m_linearMotorDirection is significant
623 // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
624 if (m_linearMotorDirection.LengthSquared() > 0.0001f)
623 { 625 {
624 Vector3 origDir = m_linearMotorDirection; 626 Vector3 origDir = m_linearMotorDirection;
625 Vector3 origVel = m_lastLinearVelocityVector; 627 Vector3 origVel = m_lastLinearVelocityVector;
626 628
627 // add drive to body 629 // add drive to body
628 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 630 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
629 m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? 631 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale);
632 // lastLinearVelocityVector is the current body velocity vector?
633 // RA: Not sure what the *10 is for. A correction for pTimestep?
634 // m_lastLinearVelocityVector += (addAmount*10);
635 m_lastLinearVelocityVector += addAmount;
630 636
631 // This will work temporarily, but we really need to compare speed on an axis 637 // This will work temporarily, but we really need to compare speed on an axis
632 // KF: Limit body velocity to applied velocity? 638 // KF: Limit body velocity to applied velocity?
639 // Limit the velocity vector to less than the last set linear motor direction
633 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) 640 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
634 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; 641 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
635 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) 642 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
@@ -641,19 +648,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
641 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); 648 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
642 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; 649 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
643 650
651 /*
652 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
653 m_lastLinearVelocityVector += addAmount;
654
655 float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
656 m_linearMotorDirection *= decayfraction;
657
658 */
659
644 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", 660 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
645 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); 661 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
646 } 662 }
647 else 663 else
648 { // requested is not significant 664 {
649 // if what remains of applied is small, zero it. 665 // if what remains of applied is small, zero it.
650 if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) 666 // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
651 m_lastLinearVelocityVector = Vector3.Zero; 667 // m_lastLinearVelocityVector = Vector3.Zero;
668 m_linearMotorDirection = Vector3.Zero;
669 m_lastLinearVelocityVector = Vector3.Zero;
652 } 670 }
653 671
654 // convert requested object velocity to world-referenced vector 672 // convert requested object velocity to world-referenced vector
655 m_dir = m_lastLinearVelocityVector; 673 Quaternion rotq = m_prim.Orientation;
656 m_dir *= m_prim.Orientation; 674 m_dir = m_lastLinearVelocityVector * rotq;
657 675
658 // Add the various forces into m_dir which will be our new direction vector (velocity) 676 // Add the various forces into m_dir which will be our new direction vector (velocity)
659 677
@@ -708,9 +726,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
708 m_prim.LocalID, m_BlockingEndPoint, posChange, pos); 726 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
709 } 727 }
710 } 728 }
711 if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y)) 729
730 // If below the terrain, move us above the ground a little.
731 if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
712 { 732 {
713 pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; 733 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
714 m_prim.Position = pos; 734 m_prim.Position = pos;
715 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); 735 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
716 } 736 }
@@ -816,8 +836,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
816 // Apply velocity 836 // Apply velocity
817 m_prim.Velocity = m_dir; 837 m_prim.Velocity = m_dir;
818 // apply gravity force 838 // apply gravity force
819 m_prim.Force = grav; 839 // Why is this set here? The physics engine already does gravity.
820 840 // m_prim.AddForce(grav, false);
841 // m_prim.Force = grav;
821 842
822 // Apply friction 843 // Apply friction
823 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 844 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
@@ -990,7 +1011,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
990 // Invoke the detailed logger and output something if it's enabled. 1011 // Invoke the detailed logger and output something if it's enabled.
991 private void DetailLog(string msg, params Object[] args) 1012 private void DetailLog(string msg, params Object[] args)
992 { 1013 {
993 m_prim.Scene.VehicleLogging.Write(msg, args); 1014 if (m_prim.Scene.VehicleLoggingEnabled)
1015 m_prim.Scene.PhysicsLogging.Write(msg, args);
994 } 1016 }
995 } 1017 }
996} 1018}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5911897..71a4303 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -148,6 +148,7 @@ public sealed class BSPrim : PhysicsActor
148 public void Destroy() 148 public void Destroy()
149 { 149 {
150 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); 150 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
151 // DetailLog("{0},Destroy", LocalID);
151 // Undo any vehicle properties 152 // Undo any vehicle properties
152 _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); 153 _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
153 _scene.RemoveVehiclePrim(this); // just to make sure 154 _scene.RemoveVehiclePrim(this); // just to make sure
@@ -215,6 +216,7 @@ public sealed class BSPrim : PhysicsActor
215 public override void link(PhysicsActor obj) { 216 public override void link(PhysicsActor obj) {
216 BSPrim parent = obj as BSPrim; 217 BSPrim parent = obj as BSPrim;
217 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); 218 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
219 DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
218 // TODO: decide if this parent checking needs to happen at taint time 220 // TODO: decide if this parent checking needs to happen at taint time
219 if (_parentPrim == null) 221 if (_parentPrim == null)
220 { 222 {
@@ -250,6 +252,7 @@ public sealed class BSPrim : PhysicsActor
250 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen 252 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
251 DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 253 DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
252 (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); 254 (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
255 DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString()));
253 if (_parentPrim != null) 256 if (_parentPrim != null)
254 { 257 {
255 _parentPrim.RemoveChildFromLinkset(this); 258 _parentPrim.RemoveChildFromLinkset(this);
@@ -266,6 +269,7 @@ public sealed class BSPrim : PhysicsActor
266 if (!_childrenPrims.Contains(child)) 269 if (!_childrenPrims.Contains(child))
267 { 270 {
268 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); 271 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
272 DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
269 _childrenPrims.Add(child); 273 _childrenPrims.Add(child);
270 child._parentPrim = this; // the child has gained a parent 274 child._parentPrim = this; // the child has gained a parent
271 RecreateGeomAndObject(); // rebuild my shape with the new child added 275 RecreateGeomAndObject(); // rebuild my shape with the new child added
@@ -284,6 +288,7 @@ public sealed class BSPrim : PhysicsActor
284 if (_childrenPrims.Contains(child)) 288 if (_childrenPrims.Contains(child))
285 { 289 {
286 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); 290 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
291 DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID);
287 if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) 292 if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
288 { 293 {
289 m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); 294 m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
@@ -317,20 +322,28 @@ public sealed class BSPrim : PhysicsActor
317 base.RequestPhysicsterseUpdate(); 322 base.RequestPhysicsterseUpdate();
318 } 323 }
319 324
320 public override void LockAngularMotion(OMV.Vector3 axis) { return; } 325 public override void LockAngularMotion(OMV.Vector3 axis)
326 {
327 DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
328 return;
329 }
321 330
322 public override OMV.Vector3 Position { 331 public override OMV.Vector3 Position {
323 get { 332 get {
324 // don't do the following GetObjectPosition because this function is called a zillion times 333 // child prims move around based on their parent. Need to get the latest location
334 if (_parentPrim != null)
335 _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
336 // don't do the GetObjectPosition for root elements because this function is called a zillion times
325 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 337 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
326 return _position; 338 return _position;
327 } 339 }
328 set { 340 set {
329 _position = value; 341 _position = value;
342 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
330 _scene.TaintedObject(delegate() 343 _scene.TaintedObject(delegate()
331 { 344 {
345 DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
332 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 346 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
333 // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
334 }); 347 });
335 } 348 }
336 } 349 }
@@ -343,6 +356,7 @@ public sealed class BSPrim : PhysicsActor
343 _force = value; 356 _force = value;
344 _scene.TaintedObject(delegate() 357 _scene.TaintedObject(delegate()
345 { 358 {
359 DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
346 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 360 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
347 }); 361 });
348 } 362 }
@@ -354,15 +368,23 @@ public sealed class BSPrim : PhysicsActor
354 } 368 }
355 set { 369 set {
356 Vehicle type = (Vehicle)value; 370 Vehicle type = (Vehicle)value;
357 _vehicle.ProcessTypeChange(type);
358 _scene.TaintedObject(delegate() 371 _scene.TaintedObject(delegate()
359 { 372 {
373 DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
374 _vehicle.ProcessTypeChange(type);
360 if (type == Vehicle.TYPE_NONE) 375 if (type == Vehicle.TYPE_NONE)
361 { 376 {
362 _scene.RemoveVehiclePrim(this); 377 _scene.RemoveVehiclePrim(this);
363 } 378 }
364 else 379 else
365 { 380 {
381 _scene.TaintedObject(delegate()
382 {
383 // Tell the physics engine to clear state
384 IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
385 BulletSimAPI.ClearForces2(obj);
386 });
387
366 // make it so the scene will call us each tick to do vehicle things 388 // make it so the scene will call us each tick to do vehicle things
367 _scene.AddVehiclePrim(this); 389 _scene.AddVehiclePrim(this);
368 } 390 }
@@ -372,21 +394,39 @@ public sealed class BSPrim : PhysicsActor
372 } 394 }
373 public override void VehicleFloatParam(int param, float value) 395 public override void VehicleFloatParam(int param, float value)
374 { 396 {
375 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 397 m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value);
398 _scene.TaintedObject(delegate()
399 {
400 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
401 });
376 } 402 }
377 public override void VehicleVectorParam(int param, OMV.Vector3 value) 403 public override void VehicleVectorParam(int param, OMV.Vector3 value)
378 { 404 {
379 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 405 m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value);
406 _scene.TaintedObject(delegate()
407 {
408 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
409 });
380 } 410 }
381 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 411 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
382 { 412 {
383 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); 413 m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation);
414 _scene.TaintedObject(delegate()
415 {
416 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
417 });
384 } 418 }
385 public override void VehicleFlags(int param, bool remove) 419 public override void VehicleFlags(int param, bool remove)
386 { 420 {
387 _vehicle.ProcessVehicleFlags(param, remove); 421 m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove);
422 _scene.TaintedObject(delegate()
423 {
424 _vehicle.ProcessVehicleFlags(param, remove);
425 });
388 } 426 }
389 // Called each simulation step to advance vehicle characteristics 427
428 // Called each simulation step to advance vehicle characteristics.
429 // Called from Scene when doing simulation step so we're in taint processing time.
390 public void StepVehicle(float timeStep) 430 public void StepVehicle(float timeStep)
391 { 431 {
392 _vehicle.Step(timeStep); 432 _vehicle.Step(timeStep);
@@ -395,14 +435,11 @@ public sealed class BSPrim : PhysicsActor
395 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 435 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
396 public override void SetVolumeDetect(int param) { 436 public override void SetVolumeDetect(int param) {
397 bool newValue = (param != 0); 437 bool newValue = (param != 0);
398 if (_isVolumeDetect != newValue) 438 _isVolumeDetect = newValue;
439 _scene.TaintedObject(delegate()
399 { 440 {
400 _isVolumeDetect = newValue; 441 SetObjectDynamic();
401 _scene.TaintedObject(delegate() 442 });
402 {
403 SetObjectDynamic();
404 });
405 }
406 return; 443 return;
407 } 444 }
408 445
@@ -410,9 +447,11 @@ public sealed class BSPrim : PhysicsActor
410 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } 447 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
411 public override OMV.Vector3 Velocity { 448 public override OMV.Vector3 Velocity {
412 get { return _velocity; } 449 get { return _velocity; }
413 set { _velocity = value; 450 set {
451 _velocity = value;
414 _scene.TaintedObject(delegate() 452 _scene.TaintedObject(delegate()
415 { 453 {
454 DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
416 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); 455 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
417 }); 456 });
418 } 457 }
@@ -420,6 +459,7 @@ public sealed class BSPrim : PhysicsActor
420 public override OMV.Vector3 Torque { 459 public override OMV.Vector3 Torque {
421 get { return _torque; } 460 get { return _torque; }
422 set { _torque = value; 461 set { _torque = value;
462 DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
423 } 463 }
424 } 464 }
425 public override float CollisionScore { 465 public override float CollisionScore {
@@ -432,13 +472,21 @@ public sealed class BSPrim : PhysicsActor
432 set { _acceleration = value; } 472 set { _acceleration = value; }
433 } 473 }
434 public override OMV.Quaternion Orientation { 474 public override OMV.Quaternion Orientation {
435 get { return _orientation; } 475 get {
476 if (_parentPrim != null)
477 {
478 // children move around because tied to parent. Get a fresh value.
479 _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
480 }
481 return _orientation;
482 }
436 set { 483 set {
437 _orientation = value; 484 _orientation = value;
438 // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); 485 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
439 _scene.TaintedObject(delegate() 486 _scene.TaintedObject(delegate()
440 { 487 {
441 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 488 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
489 DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
442 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 490 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
443 }); 491 });
444 } 492 }
@@ -471,8 +519,9 @@ public sealed class BSPrim : PhysicsActor
471 get { return !IsPhantom && !_isVolumeDetect; } 519 get { return !IsPhantom && !_isVolumeDetect; }
472 } 520 }
473 521
474 // make gravity work if the object is physical and not selected 522 // Make gravity work if the object is physical and not selected
475 // no locking here because only called when it is safe 523 // No locking here because only called when it is safe
524 // Only called at taint time so it is save to call into Bullet.
476 private void SetObjectDynamic() 525 private void SetObjectDynamic()
477 { 526 {
478 // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); 527 // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
@@ -489,6 +538,7 @@ public sealed class BSPrim : PhysicsActor
489 RecreateGeomAndObject(); 538 RecreateGeomAndObject();
490 539
491 } 540 }
541 DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass);
492 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); 542 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
493 } 543 }
494 544
@@ -529,11 +579,24 @@ public sealed class BSPrim : PhysicsActor
529 set { _floatOnWater = value; } 579 set { _floatOnWater = value; }
530 } 580 }
531 public override OMV.Vector3 RotationalVelocity { 581 public override OMV.Vector3 RotationalVelocity {
532 get { return _rotationalVelocity; } 582 get {
533 set { _rotationalVelocity = value; 583 /*
584 OMV.Vector3 pv = OMV.Vector3.Zero;
585 // if close to zero, report zero
586 // This is copied from ODE but I'm not sure why it returns zero but doesn't
587 // zero the property in the physics engine.
588 if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
589 return pv;
590 */
591
592 return _rotationalVelocity;
593 }
594 set {
595 _rotationalVelocity = value;
534 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 596 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
535 _scene.TaintedObject(delegate() 597 _scene.TaintedObject(delegate()
536 { 598 {
599 DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
537 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); 600 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
538 }); 601 });
539 } 602 }
@@ -546,11 +609,13 @@ public sealed class BSPrim : PhysicsActor
546 } 609 }
547 public override float Buoyancy { 610 public override float Buoyancy {
548 get { return _buoyancy; } 611 get { return _buoyancy; }
549 set { _buoyancy = value; 612 set {
550 _scene.TaintedObject(delegate() 613 _buoyancy = value;
551 { 614 _scene.TaintedObject(delegate()
552 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); 615 {
553 }); 616 DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
617 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
618 });
554 } 619 }
555 } 620 }
556 621
@@ -586,27 +651,45 @@ public sealed class BSPrim : PhysicsActor
586 public override float APIDStrength { set { return; } } 651 public override float APIDStrength { set { return; } }
587 public override float APIDDamping { set { return; } } 652 public override float APIDDamping { set { return; } }
588 653
654 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
589 public override void AddForce(OMV.Vector3 force, bool pushforce) { 655 public override void AddForce(OMV.Vector3 force, bool pushforce) {
590 if (force.IsFinite()) 656 if (force.IsFinite())
591 { 657 {
592 _force.X += force.X; 658 // _force += force;
593 _force.Y += force.Y; 659 lock (m_accumulatedForces)
594 _force.Z += force.Z; 660 m_accumulatedForces.Add(new OMV.Vector3(force));
595 } 661 }
596 else 662 else
597 { 663 {
598 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); 664 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
665 return;
599 } 666 }
600 _scene.TaintedObject(delegate() 667 _scene.TaintedObject(delegate()
601 { 668 {
602 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 669 lock (m_accumulatedForces)
670 {
671 if (m_accumulatedForces.Count > 0)
672 {
673 OMV.Vector3 fSum = OMV.Vector3.Zero;
674 foreach (OMV.Vector3 v in m_accumulatedForces)
675 {
676 fSum += v;
677 }
678 m_accumulatedForces.Clear();
679
680 DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
681 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
682 }
683 }
603 }); 684 });
604 } 685 }
605 686
606 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 687 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
688 DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
607 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); 689 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
608 } 690 }
609 public override void SetMomentum(OMV.Vector3 momentum) { 691 public override void SetMomentum(OMV.Vector3 momentum) {
692 DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
610 } 693 }
611 public override void SubscribeEvents(int ms) { 694 public override void SubscribeEvents(int ms) {
612 _subscribedEventsMs = ms; 695 _subscribedEventsMs = ms;
@@ -931,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor
931 { 1014 {
932 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); 1015 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
933 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; 1016 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
1017 DetailLog("{0},CreateGeom,sphere", LocalID);
934 // Bullet native objects are scaled by the Bullet engine so pass the size in 1018 // Bullet native objects are scaled by the Bullet engine so pass the size in
935 _scale = _size; 1019 _scale = _size;
936 } 1020 }
@@ -938,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor
938 else 1022 else
939 { 1023 {
940 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); 1024 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
1025 DetailLog("{0},CreateGeom,box", LocalID);
941 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; 1026 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
942 _scale = _size; 1027 _scale = _size;
943 } 1028 }
@@ -974,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor
974 // if this new shape is the same as last time, don't recreate the mesh 1059 // if this new shape is the same as last time, don't recreate the mesh
975 if (_meshKey == newMeshKey) return; 1060 if (_meshKey == newMeshKey) return;
976 1061
1062 DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
977 // Since we're recreating new, get rid of any previously generated shape 1063 // Since we're recreating new, get rid of any previously generated shape
978 if (_meshKey != 0) 1064 if (_meshKey != 0)
979 { 1065 {
980 // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); 1066 // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
1067 DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
981 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); 1068 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
982 _mesh = null; 1069 _mesh = null;
983 _meshKey = 0; 1070 _meshKey = 0;
@@ -1007,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor
1007 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; 1094 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
1008 // meshes are already scaled by the meshmerizer 1095 // meshes are already scaled by the meshmerizer
1009 _scale = new OMV.Vector3(1f, 1f, 1f); 1096 _scale = new OMV.Vector3(1f, 1f, 1f);
1097 DetailLog("{0},CreateGeomMesh,done", LocalID);
1010 return; 1098 return;
1011 } 1099 }
1012 1100
@@ -1020,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor
1020 // if the hull hasn't changed, don't rebuild it 1108 // if the hull hasn't changed, don't rebuild it
1021 if (newHullKey == _hullKey) return; 1109 if (newHullKey == _hullKey) return;
1022 1110
1111 DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
1112
1023 // Since we're recreating new, get rid of any previously generated shape 1113 // Since we're recreating new, get rid of any previously generated shape
1024 if (_hullKey != 0) 1114 if (_hullKey != 0)
1025 { 1115 {
1026 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); 1116 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
1117 DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
1027 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); 1118 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
1028 _hullKey = 0; 1119 _hullKey = 0;
1029 _hulls.Clear(); 1120 _hulls.Clear();
1121 DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
1030 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); 1122 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
1031 _mesh = null; // the mesh cannot match either 1123 _mesh = null; // the mesh cannot match either
1032 _meshKey = 0; 1124 _meshKey = 0;
@@ -1123,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor
1123 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; 1215 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
1124 // meshes are already scaled by the meshmerizer 1216 // meshes are already scaled by the meshmerizer
1125 _scale = new OMV.Vector3(1f, 1f, 1f); 1217 _scale = new OMV.Vector3(1f, 1f, 1f);
1218 DetailLog("{0},CreateGeomHull,done", LocalID);
1126 return; 1219 return;
1127 } 1220 }
1128 1221
@@ -1310,6 +1403,7 @@ public sealed class BSPrim : PhysicsActor
1310 */ 1403 */
1311 1404
1312 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. 1405 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1406
1313 // Updates only for individual prims and for the root object of a linkset. 1407 // Updates only for individual prims and for the root object of a linkset.
1314 if (this._parentPrim == null) 1408 if (this._parentPrim == null)
1315 { 1409 {
@@ -1319,8 +1413,12 @@ public sealed class BSPrim : PhysicsActor
1319 _velocity = entprop.Velocity; 1413 _velocity = entprop.Velocity;
1320 _acceleration = entprop.Acceleration; 1414 _acceleration = entprop.Acceleration;
1321 _rotationalVelocity = entprop.RotationalVelocity; 1415 _rotationalVelocity = entprop.RotationalVelocity;
1416
1322 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 1417 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
1323 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1418 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1419 DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1420 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1421
1324 base.RequestPhysicsterseUpdate(); 1422 base.RequestPhysicsterseUpdate();
1325 } 1423 }
1326 } 1424 }
@@ -1361,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor
1361 collisionCollection.Clear(); 1459 collisionCollection.Clear();
1362 } 1460 }
1363 } 1461 }
1462
1463 // Invoke the detailed logger and output something if it's enabled.
1464 private void DetailLog(string msg, params Object[] args)
1465 {
1466 Scene.PhysicsLogging.Write(msg, args);
1467 }
1364} 1468}
1365} 1469}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c4b4332..9d41ce8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -30,9 +30,9 @@ using System.Runtime.InteropServices;
30using System.Text; 30using System.Text;
31using System.Threading; 31using System.Threading;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.CoreModules.Framework.Statistics.Logging;
34using OpenSim.Region.Framework; 33using OpenSim.Region.Framework;
35using OpenSim.Region.Physics.Manager; 34using OpenSim.Region.Physics.Manager;
35using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
36using Nini.Config; 36using Nini.Config;
37using log4net; 37using log4net;
38using OpenMetaverse; 38using OpenMetaverse;
@@ -45,15 +45,17 @@ using OpenMetaverse;
45// Compute physics FPS reasonably 45// Compute physics FPS reasonably
46// Based on material, set density and friction 46// Based on material, set density and friction
47// More efficient memory usage when passing hull information from BSPrim to BulletSim 47// More efficient memory usage when passing hull information from BSPrim to BulletSim
48// Move all logic out of the C++ code and into the C# code for easier future modifications.
48// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? 49// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
49// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) 50// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
50// At the moment, physical and phantom causes object to drop through the terrain 51// At the moment, physical and phantom causes object to drop through the terrain
51// Physical phantom objects and related typing (collision options ) 52// Physical phantom objects and related typing (collision options )
53// Use collision masks for collision with terrain and phantom objects
52// Check out llVolumeDetect. Must do something for that. 54// Check out llVolumeDetect. Must do something for that.
53// Should prim.link() and prim.delink() membership checking happen at taint time? 55// Should prim.link() and prim.delink() membership checking happen at taint time?
56// changing the position and orientation of a linked prim must rebuild the constraint with the root.
54// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once 57// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
55// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect 58// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
56// Use collision masks for collision with terrain and phantom objects
57// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) 59// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
58// Implement LockAngularMotion 60// Implement LockAngularMotion
59// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) 61// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@@ -61,9 +63,6 @@ using OpenMetaverse;
61// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. 63// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
62// Add PID movement operations. What does ScenePresence.MoveToTarget do? 64// Add PID movement operations. What does ScenePresence.MoveToTarget do?
63// Check terrain size. 128 or 127? 65// Check terrain size. 128 or 127?
64// Multiple contact points on collision?
65// See code in ode::near... calls to collision_accounting_events()
66// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
67// Raycast 66// Raycast
68// 67//
69namespace OpenSim.Region.Physics.BulletSPlugin 68namespace OpenSim.Region.Physics.BulletSPlugin
@@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
160 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; 159 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
161 160
162 // Sometimes you just have to log everything. 161 // Sometimes you just have to log everything.
163 public LogWriter PhysicsLogging; 162 public Logging.LogWriter PhysicsLogging;
164 private bool m_physicsLoggingEnabled; 163 private bool m_physicsLoggingEnabled;
165 private string m_physicsLoggingDir; 164 private string m_physicsLoggingDir;
166 private string m_physicsLoggingPrefix; 165 private string m_physicsLoggingPrefix;
167 private int m_physicsLoggingFileMinutes; 166 private int m_physicsLoggingFileMinutes;
168 167
169 public LogWriter VehicleLogging;
170 private bool m_vehicleLoggingEnabled; 168 private bool m_vehicleLoggingEnabled;
171 private string m_vehicleLoggingDir; 169 public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
172 private string m_vehicleLoggingPrefix;
173 private int m_vehicleLoggingFileMinutes;
174 170
175 public BSScene(string identifier) 171 public BSScene(string identifier)
176 { 172 {
@@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
197 // can be left in and every call doesn't have to check for null. 193 // can be left in and every call doesn't have to check for null.
198 if (m_physicsLoggingEnabled) 194 if (m_physicsLoggingEnabled)
199 { 195 {
200 PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); 196 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
201 } 197 }
202 else 198 else
203 { 199 {
204 PhysicsLogging = new LogWriter(); 200 PhysicsLogging = new Logging.LogWriter();
205 }
206 if (m_vehicleLoggingEnabled)
207 {
208 VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes);
209 }
210 else
211 {
212 VehicleLogging = new LogWriter();
213 } 201 }
214 202
215 // Get the version of the DLL 203 // Get the version of the DLL
@@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
218 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); 206 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
219 207
220 // if Debug, enable logging from the unmanaged code 208 // if Debug, enable logging from the unmanaged code
221 if (m_log.IsDebugEnabled) 209 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
222 { 210 {
223 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); 211 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
224 // the handle is saved to it doesn't get freed after this call 212 if (PhysicsLogging.Enabled)
225 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); 213 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
214 else
215 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
216 // the handle is saved in a variable to make sure it doesn't get freed after this call
226 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); 217 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
227 } 218 }
228 219
@@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
363 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); 354 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
364 // Very detailed logging for vehicle debugging 355 // Very detailed logging for vehicle debugging
365 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 356 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
366 m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", ".");
367 m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-");
368 m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5);
369 } 357 }
370 } 358 }
371 m_params[0] = parms; 359 m_params[0] = parms;
@@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
386 return ret; 374 return ret;
387 } 375 }
388 376
389
390 // Called directly from unmanaged code so don't do much 377 // Called directly from unmanaged code so don't do much
391 private void BulletLogger(string msg) 378 private void BulletLogger(string msg)
392 { 379 {
393 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 380 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
394 } 381 }
382
383 // Called directly from unmanaged code so don't do much
384 private void BulletLoggerPhysLog(string msg)
385 {
386 PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
387 }
395 388
396 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) 389 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
397 { 390 {
@@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
532 for (int ii = 0; ii < updatedEntityCount; ii++) 525 for (int ii = 0; ii < updatedEntityCount; ii++)
533 { 526 {
534 EntityProperties entprop = m_updateArray[ii]; 527 EntityProperties entprop = m_updateArray[ii];
535 // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
536 BSPrim prim; 528 BSPrim prim;
537 if (m_prims.TryGetValue(entprop.ID, out prim)) 529 if (m_prims.TryGetValue(entprop.ID, out prim))
538 { 530 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 086f0dc..babb707 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -146,6 +146,22 @@ public struct ConfigurationParameters
146 public const float numericFalse = 0f; 146 public const float numericFalse = 0f;
147} 147}
148 148
149// Values used by Bullet and BulletSim to control collisions
150public enum CollisionFlags : uint
151{
152 STATIC_OBJECT = 1 << 0,
153 KINEMATIC_OBJECT = 1 << 1,
154 NO_CONTACT_RESPONSE = 1 << 2,
155 CUSTOM_MATERIAL_CALLBACK = 1 << 3,
156 CHARACTER_OBJECT = 1 << 4,
157 DISABLE_VISUALIZE_OBJECT = 1 << 5,
158 DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
159 // Following used by BulletSim to control collisions
160 VOLUME_DETECT_OBJECT = 1 << 10,
161 PHANTOM_OBJECT = 1 << 11,
162 PHYSICAL_OBJECT = 1 << 12,
163};
164
149static class BulletSimAPI { 165static class BulletSimAPI {
150 166
151[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 167[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -214,6 +230,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
214public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 230public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
215 231
216[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 232[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
233public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
234
235[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
217public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); 236public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
218 237
219[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 238[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics();
268public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); 287public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
269[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 288[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
270public static extern void SetDebugLogCallback(DebugLogCallback callback); 289public static extern void SetDebugLogCallback(DebugLogCallback callback);
290
291// ===============================================================================
292// ===============================================================================
293// ===============================================================================
294// A new version of the API that moves all the logic out of the C++ code and into
295// the C# code. This will make modifications easier for the next person.
296// This interface passes the actual pointers to the objects in the unmanaged
297// address space. All the management (calls for creation/destruction/lookup)
298// is done in the C# code.
299// The names have a 2 tacked on. This will be removed as the code gets rebuilt
300// and the old code is removed from the C# code.
301[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
302public static extern IntPtr GetSimHandle2(uint worldID);
303
304[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
305public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
306
307[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
308public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
309
310[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
311public static extern IntPtr ClearForces2(IntPtr obj);
312
313[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
314public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
315
316[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
317public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
318
319[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
320public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
321
271} 322}
272} 323}