From 87825b0abee76c28dcffdaa2c532779b813b6d14 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 5 Oct 2012 15:33:17 -0700 Subject: BulletSim: Fix crash when linking large physical linksets. Properly remove and restore linkage constraints when upgrading a prim's mesh to a hull. Lots more debug logging. Definitions and use of Bullet structure dumping. Centralize detail logging so a Flush() can be added for debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index aaed7de..eed915d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -254,7 +254,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The bounding box for the simulated world. The origin is 0,0,0 unless we're // a child in a mega-region. - // Turns out that Bullet really doesn't care about the extents of the simulated + // Bullet actually doesn't care about the extents of the simulated // area. It tracks active objects no matter where they are. Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); @@ -331,7 +331,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { - PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); + DetailLog("[BULLETS UNMANAGED]:" + msg); } public override void Dispose() @@ -494,8 +494,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_simulationStep++; int numSubSteps = 0; - // Sometimes needed for debugging to find out what happened before the step - // PhysicsLogging.Flush(); + // DEBUG + DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); try { @@ -715,6 +715,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG tcbe.callback(); } catch (Exception e) @@ -1270,6 +1271,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); + // Add the Flush() if debugging crashes to get all the messages written out. + PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG } // used to fill in the LocalID when there isn't one public const string DetailLogZero = "0000000000"; -- cgit v1.1 From 68698975f1537725a1f53bc4b2db2cfc798ac7f3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Oct 2012 12:58:06 -0700 Subject: BulletSim: Add Force* operations to objects to allow direct push to engine. Update BSDynamics to use same (don't want to delay updates til next taint-time. Suppress queuing a taint update for position and orientation calls if value does not change. Move Bullet timing statistics call from C# back to C++ code. Throttle taints per simulation step and add parameter to set. By default, don't create hulls for physical objects. Add a parameter to turn on and off. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 65 ++++++++++++++++++------- 1 file changed, 47 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eed915d..33ac116 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -90,10 +90,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters // let my minuions use my logger public ILog Logger { get { return m_log; } } - // If non-zero, the number of simulation steps between calls to the physics - // engine to output detailed physics stats. Debug logging level must be on also. - private int m_detailedStatsStep = 0; - public IMesher mesher; // Level of Detail values kept as float because that's what the Meshmerizer wants public float MeshLOD { get; private set; } @@ -112,6 +108,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private float m_fixedTimeStep; private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + private int m_taintsToProcessPerStep; // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates @@ -131,6 +128,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes + public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects public float PID_D { get; private set; } // derivative public float PID_P { get; private set; } // proportional @@ -582,15 +580,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // If enabled, call into the physics engine to dump statistics - if (m_detailedStatsStep > 0) - { - if ((m_simulationStep % m_detailedStatsStep) == 0) - { - BulletSimAPI.DumpBulletStatistics(); - } - } - // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. @@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); - DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { @@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { // swizzle a new list into the list location so we can process what's there + int taintCount = m_taintsToProcessPerStep; + TaintCallbackEntry oneCallback = new TaintCallbackEntry(); + while (_taintedObjects.Count > 0 && taintCount-- > 0) + { + bool gotOne = false; + lock (_taintLock) + { + if (_taintedObjects.Count > 0) + { + oneCallback = _taintedObjects[0]; + _taintedObjects.RemoveAt(0); + gotOne = true; + } + } + if (gotOne) + { + try + { + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG + oneCallback.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); + } + } + } + /* + // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) { @@ -724,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } oldList.Clear(); + */ } } @@ -835,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, + (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 8f, @@ -877,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_maxUpdatesPerFrame; }, (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", + 100f, + (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_taintsToProcessPerStep; }, + (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, @@ -1086,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].linkConstraintSolverIterations; }, (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), - new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", + new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", 0f, - (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_detailedStatsStep; }, - (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), + (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_params[0].physicsLoggingFrames; }, + (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ), }; // Convert a boolean to our numeric true and false values -- cgit v1.1 From a791620622dc0a67a6af2c4a9c011d9057360411 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 08:02:37 -0700 Subject: BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 33ac116..50091cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,7 +39,6 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Move all logic out of the C++ code and into the C# code for easier future modifications. // Test sculpties (verified that they don't work) // Compute physics FPS reasonably // Based on material, set density and friction @@ -493,7 +492,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters int numSubSteps = 0; // DEBUG - DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); + // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); try { @@ -503,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", - DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { @@ -855,7 +854,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), -- cgit v1.1 From 919569f6ecd5fe84d0f5b0981a48b4808a44f7ad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 09:43:46 -0700 Subject: BulletSim: Change defaults for constraint CFM and ERP to make large linksets more rigid. Remove mass calculation for terrain (it should stay a static object). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 50091cc..617bdb4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1099,12 +1099,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, + 0.001f, (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintCFM; }, (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.2f, + 0.8f, (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintERP; }, (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), -- cgit v1.1 From a86fedd25ffb02c328b0591d16eda1dab797d8f9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 16:51:50 -0700 Subject: BulletSim: normalize physics FPS to 45. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 617bdb4..25f8f5f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -581,8 +581,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. - return numSubSteps * m_fixedTimeStep * 1000; + // We multiply by 45 to give a recognizable running rate (45 or less). + return numSubSteps * m_fixedTimeStep * 1000 * 45; + // return timeStep * 1000 * 45; } // Something has collided @@ -1300,7 +1301,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes to get all the messages written out. - PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG + // PhysicsLogging.Flush(); } // used to fill in the LocalID when there isn't one public const string DetailLogZero = "0000000000"; -- cgit v1.1 From 5b82f18d6422d89da53d382eb1ae89e47b4465b7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 16:53:58 -0700 Subject: BulletSim: normalize physics FPS to 45 (for real this time). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 25f8f5f..2c3c481 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -582,8 +582,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 45 to give a recognizable running rate (45 or less). - return numSubSteps * m_fixedTimeStep * 1000 * 45; - // return timeStep * 1000 * 45; + return numSubSteps * m_fixedTimeStep * 1000 * 45; + // return timeStep * 1000 * 45; } // Something has collided -- cgit v1.1