From f9913b6ef7e7f18075e1e42ed5e347ce2a8b8ef5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 12 Jul 2012 11:29:45 -0700 Subject: 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. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 52 ++++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 53 ++++++++++++++++--------- 2 files changed, 65 insertions(+), 40 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 130f1ca..9b28a06 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -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 _childrenPrims; private BSPrim _parentPrim; + private List _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, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 417cb5f..eb1d798 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -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 m_avatars = new Dictionary(); @@ -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)actor).Destroy(); - } - try + BSCharacter bsactor = actor as BSCharacter; + if (bsactor != null) { - 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)prim).Destroy(); - } - try + BSPrim bsprim = prim as BSPrim; + if (bsprim != null) { - lock (m_prims) m_prims.Remove(prim.LocalID); + 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(); } - catch (Exception e) + else { - 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); } } -- cgit v1.1