From 11a4b9ec1d4f93cfd0600d090efbf257c9ea9a1b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:20:07 -0700
Subject: BulletSim: rework physics FPS calculation to make a more realistic
number.
---
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index beaea1f..f63ad95 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -413,7 +413,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// prevent simulation until we've been initialized
if (!m_initialized) return 10.0f;
- long simulateStartTime = Util.EnvironmentTickCount();
+ int simulateStartTime = Util.EnvironmentTickCount();
// update the prim states while we know the physics engine is not busy
ProcessTaints();
@@ -511,8 +511,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
// return (timeStep * (float)simulateTotalTime);
- // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
- return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
+ // TODO: FIX THIS: fps calculation possibly wrong.
+ // This calculation says 1/timeStep is the ideal frame rate. Any time added to
+ // that by the physics simulation gives a slower frame rate.
+ long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
+ if (totalSimulationTime >= timeStep)
+ return 0;
+ return 1f / (timeStep + totalSimulationTime);
}
// Something has collided
--
cgit v1.1
From 6f1f299619d0ca60e06dc03d499259efcd4eeb80 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:22:21 -0700
Subject: BulletSim: Add the class BSCharacter to the DetailLog output
---
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 16 ++++++++++------
1 file changed, 10 insertions(+), 6 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index f164afe..d288ab7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -137,7 +137,7 @@ public class BSCharacter : PhysicsActor
// called when this character is being destroyed and the resources should be released
public void Destroy()
{
- // DetailLog("{0},Destroy", LocalID);
+ // DetailLog("{0},BSCharacter.Destroy", LocalID);
_scene.TaintedObject("BSCharacter.destroy", delegate()
{
BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@@ -209,7 +209,7 @@ public class BSCharacter : PhysicsActor
_scene.TaintedObject("BSCharacter.setPosition", delegate()
{
- DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+ DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@@ -226,7 +226,7 @@ public class BSCharacter : PhysicsActor
float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
if (_position.Z < terrainHeight)
{
- DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
+ DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
_position.Z = terrainHeight + 2.0f;
ret = true;
}
@@ -368,7 +368,7 @@ public class BSCharacter : PhysicsActor
set { _buoyancy = value;
_scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
{
- DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+ DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
});
}
@@ -415,7 +415,7 @@ public class BSCharacter : PhysicsActor
// m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
_scene.TaintedObject("BSCharacter.AddForce", delegate()
{
- DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
+ DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
});
}
@@ -507,6 +507,7 @@ public class BSCharacter : PhysicsActor
{
_collidingGroundStep = _scene.SimulationStep;
}
+ // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
// throttle collisions to the rate specified in the subscription
if (_subscribedEventsMs != 0) {
@@ -535,7 +536,10 @@ public class BSCharacter : PhysicsActor
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
base.SendCollisionUpdate(collisionCollection);
- collisionCollection.Clear();
+ // If there were any collisions in the collection, make sure we don't use the
+ // same instance next time.
+ if (collisionCollection.Count > 0)
+ collisionCollection = null;
// End kludge
}
--
cgit v1.1
From c1c1d48af15b4ac0ed5951816f6225a74ffa6eba Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:24:34 -0700
Subject: BulletSim: add BSConstraint.RecomputConstraintVariables for the
recomputation after linksets changed, etc
---
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 17 +++++++++++++++++
1 file changed, 17 insertions(+)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index da26b72..cf8dbc5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -80,10 +80,27 @@ public abstract class BSConstraint : IDisposable
bool ret = false;
if (m_enabled)
{
+ // Recompute the internal transforms
BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
ret = true;
}
return ret;
}
+
+ // Reset this constraint making sure it has all its internal structures
+ // recomputed and is enabled and ready to go.
+ public virtual bool RecomputeConstraintVariables(float mass)
+ {
+ bool ret = false;
+ if (m_enabled)
+ {
+ ret = CalculateTransforms();
+ if (ret)
+ {
+ BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
+ }
+ }
+ return ret;
+ }
}
}
--
cgit v1.1
From 77a7758cf50e14b3ed7309d0d36612d9987b987b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:25:59 -0700
Subject: BulletSim: Refactor BSConstraintCollection to add a new
RemoveAndDestroyConstraint(BSConstraint xx)
---
.../Physics/BulletSPlugin/BSConstraintCollection.cs | 16 ++++++++++++----
1 file changed, 12 insertions(+), 4 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index 3df2ddc..862b744 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -112,16 +112,24 @@ public class BSConstraintCollection : IDisposable
{
m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID);
// remove the constraint from our collection
- m_constraints.Remove(constrain);
- // tell the engine that all its structures need to be freed
- constrain.Dispose();
- // we destroyed something
+ RemoveAndDestroyConstraint(constrain);
ret = true;
}
return ret;
}
+ // The constraint MUST exist in the collection
+ public bool RemoveAndDestroyConstraint(BSConstraint constrain)
+ {
+ // remove the constraint from our collection
+ m_constraints.Remove(constrain);
+ // tell the engine that all its structures need to be freed
+ constrain.Dispose();
+ // we destroyed something
+ return true;
+ }
+
// Remove all constraints that reference the passed body.
// Return 'true' if any constraints were destroyed.
public bool RemoveAndDestroyConstraint(BulletBody body1)
--
cgit v1.1
From 257446889b5fecf9a5e085f8e3b963dca3613e3f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:38:11 -0700
Subject: BulletSim: fix problem of a null reference exception on shutdown if
there were linksets in the region.
---
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 25 +++++++++++++------------
1 file changed, 13 insertions(+), 12 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index f63ad95..cacab01 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -511,12 +511,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
// return (timeStep * (float)simulateTotalTime);
- // TODO: FIX THIS: fps calculation possibly wrong.
- // This calculation says 1/timeStep is the ideal frame rate. Any time added to
- // that by the physics simulation gives a slower frame rate.
- long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
- if (totalSimulationTime >= timeStep)
- return 0;
+ // TODO: FIX THIS: fps calculation possibly wrong.
+ // This calculation says 1/timeStep is the ideal frame rate. Any time added to
+ // that by the physics simulation gives a slower frame rate.
+ long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
+ if (totalSimulationTime >= timeStep)
+ return 0;
return 1f / (timeStep + totalSimulationTime);
}
@@ -595,12 +595,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// make sure no stepping happens while we're deleting stuff
m_initialized = false;
- if (m_constraintCollection != null)
- {
- m_constraintCollection.Dispose();
- m_constraintCollection = null;
- }
-
foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars)
{
kvp.Value.Destroy();
@@ -613,6 +607,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
m_prims.Clear();
+ // Now that the prims are all cleaned up, there should be no constraints left
+ if (m_constraintCollection != null)
+ {
+ m_constraintCollection.Dispose();
+ m_constraintCollection = null;
+ }
+
// Anything left in the unmanaged code should be cleaned out
BulletSimAPI.Shutdown(WorldID);
--
cgit v1.1
From b05a2fc4edb632f80b16034feb4c680dbda9c006 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 14 Aug 2012 16:41:36 -0700
Subject: BulletSim: don't recreate mesh unless it needs it when rebuilding the
hull. Make sure the collisionCollection is reallocated each tick to fix race
condition of it being cleared while still in use.
---
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 +++++++++++++-------------
1 file changed, 15 insertions(+), 15 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 05cc822..38a9e46 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -497,6 +497,9 @@ public sealed class BSPrim : PhysicsActor
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
+ // recompute any linkset parameters
+ _linkset.Refresh(this);
+
CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
}
@@ -1095,28 +1098,21 @@ public sealed class BSPrim : PhysicsActor
// if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return;
- DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey);
+ DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
- DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
+ DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
- _hulls.Clear();
- DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
- BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
- _mesh = null; // the mesh cannot match either
- _meshKey = 0;
}
_hullKey = newHullKey;
- if (_meshKey != _hullKey)
- {
- // if the underlying mesh has changed, rebuild it
- CreateGeomMesh();
- }
+
+ // Make sure the underlying mesh exists and is correct
+ CreateGeomMesh();
int[] indices = _mesh.getIndexListAsInt();
List<OMV.Vector3> vertices = _mesh.getVertexList();
@@ -1142,7 +1138,7 @@ public sealed class BSPrim : PhysicsActor
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
- // Convert the vertices and indices for passing to unmanaged
+ // Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
@@ -1355,7 +1351,7 @@ public sealed class BSPrim : PhysicsActor
}
// I've collided with something
- CollisionEventUpdate collisionCollection = null;
+ CollisionEventUpdate collisionCollection;
public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
@@ -1367,6 +1363,8 @@ public sealed class BSPrim : PhysicsActor
_collidingGroundStep = _scene.SimulationStep;
}
+ // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
+
// if someone is subscribed to collision events....
if (_subscribedEventsMs != 0) {
// throttle the collisions to the number of milliseconds specified in the subscription
@@ -1387,7 +1385,9 @@ public sealed class BSPrim : PhysicsActor
if (collisionCollection != null && collisionCollection.Count > 0)
{
base.SendCollisionUpdate(collisionCollection);
- collisionCollection.Clear();
+ // The collisionCollection structure is passed around in the simulator.
+ // Make sure we don't have a handle to that one and that a new one is used next time.
+ collisionCollection = null;
}
}
--
cgit v1.1
From 68f112888bd02b33e3b2f58f5b2adb90ce23e84b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 15 Aug 2012 11:33:38 -0700
Subject: BulletSim: clean up detail logging by adding many more debug log
statements and then commenting out most of the additions.
---
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +
.../Region/Physics/BulletSPlugin/BSConstraint.cs | 6 +++
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +-
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 60 +++++++++++-----------
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 8 +--
5 files changed, 44 insertions(+), 34 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index d288ab7..e2f7af9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -488,9 +488,11 @@ public class BSCharacter : PhysicsActor
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
+ /*
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
+ */
}
// Called by the scene when a collision with this object is reported
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index cf8dbc5..25084d8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -97,8 +97,14 @@ public abstract class BSConstraint : IDisposable
ret = CalculateTransforms();
if (ret)
{
+ // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}",
+ // BSScene.DetailLogZero, Body1.ID, Body2.ID);
BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
}
+ else
+ {
+ m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
+ }
}
return ret;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index c197e61..5a9f135 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -613,7 +613,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
MoveAngular(pTimestep);
LimitRotation(pTimestep);
- DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}",
+ DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
}// end Step
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 38a9e46..9c20004 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -163,13 +163,13 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// Undo any links between me and any other object
- BSPrim parentBefore = _linkset.Root;
+ BSPrim parentBefore = _linkset.LinksetRoot;
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);
+ LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
// Undo any vehicle properties
this.VehicleType = (int)Vehicle.TYPE_NONE;
@@ -233,13 +233,13 @@ public sealed class BSPrim : PhysicsActor
if (parent != null)
{
DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID);
- BSPrim parentBefore = _linkset.Root;
+ BSPrim parentBefore = _linkset.LinksetRoot;
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);
+ LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
}
return;
}
@@ -249,15 +249,15 @@ public sealed class BSPrim : PhysicsActor
// 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
DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
- _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString());
+ _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString());
- BSPrim parentBefore = _linkset.Root;
+ BSPrim parentBefore = _linkset.LinksetRoot;
int childrenBefore = _linkset.NumberOfChildren;
_linkset = _linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
- LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren);
+ LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren);
return;
}
@@ -280,7 +280,7 @@ public sealed class BSPrim : PhysicsActor
public override void LockAngularMotion(OMV.Vector3 axis)
{
- DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
+ // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
return;
}
@@ -299,7 +299,7 @@ public sealed class BSPrim : PhysicsActor
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
_scene.TaintedObject("BSPrim.setPosition", delegate()
{
- DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+ // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@@ -336,7 +336,7 @@ public sealed class BSPrim : PhysicsActor
_force = value;
_scene.TaintedObject("BSPrim.setForce", delegate()
{
- DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
+ // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
});
@@ -414,7 +414,7 @@ public sealed class BSPrim : PhysicsActor
_velocity = value;
_scene.TaintedObject("BSPrim.setVelocity", delegate()
{
- DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
+ // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
});
}
@@ -422,7 +422,7 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
- DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
+ // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
}
}
public override float CollisionScore {
@@ -449,7 +449,7 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject("BSPrim.setOrientation", delegate()
{
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
- DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
+ // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@@ -501,7 +501,7 @@ public sealed class BSPrim : PhysicsActor
_linkset.Refresh(this);
CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
- DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
+ // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
}
// prims don't fly
@@ -558,7 +558,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
_scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
- DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
+ // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
});
}
@@ -575,7 +575,7 @@ public sealed class BSPrim : PhysicsActor
_buoyancy = value;
_scene.TaintedObject("BSPrim.setBuoyancy", delegate()
{
- DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
+ // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
});
}
@@ -638,17 +638,17 @@ public sealed class BSPrim : PhysicsActor
}
m_accumulatedForces.Clear();
}
- DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
+ // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
});
}
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
- DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
+ // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
}
public override void SetMomentum(OMV.Vector3 momentum) {
- DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
+ // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
}
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
@@ -992,7 +992,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
{
- DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
+ // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
@@ -1006,7 +1006,7 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
{
- DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
+ // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size;
// TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
@@ -1049,12 +1049,12 @@ public sealed class BSPrim : PhysicsActor
// if this new shape is the same as last time, don't recreate the mesh
if (_meshKey == newMeshKey) return;
- DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
+ // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
// Since we're recreating new, get rid of any previously generated shape
if (_meshKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
- DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
+ // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null;
_meshKey = 0;
@@ -1084,7 +1084,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
- DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
+ // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID);
return;
}
@@ -1098,13 +1098,13 @@ public sealed class BSPrim : PhysicsActor
// if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return;
- DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
+ // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
// Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0)
{
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
- DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
+ // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0;
}
@@ -1198,7 +1198,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f);
- DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
+ // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
return;
}
@@ -1336,11 +1336,12 @@ public sealed class BSPrim : PhysicsActor
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
- DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
+ // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+ // LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate();
}
+ /*
else
{
// For debugging, we also report the movement of children
@@ -1348,6 +1349,7 @@ public sealed class BSPrim : PhysicsActor
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
+ */
}
// I've collided with something
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index cacab01..a31c578 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -362,7 +362,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
BSPrim bsprim = prim as BSPrim;
if (bsprim != null)
{
- DetailLog("{0},RemovePrim,call", bsprim.LocalID);
+ // DetailLog("{0},RemovePrim,call", bsprim.LocalID);
// m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
@@ -388,7 +388,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (!m_initialized) return null;
- DetailLog("{0},AddPrimShape,call", localID);
+ // DetailLog("{0},AddPrimShape,call", localID);
BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (m_prims) m_prims.Add(localID, prim);
@@ -429,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
- DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
+ // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
}
catch (Exception e)
{
m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e);
- DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
+ // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
// updatedEntityCount = 0;
collidersCount = 0;
}
--
cgit v1.1
From 9efe7bf7ba741b0d61ef71c09b5848c424e3c258 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 15 Aug 2012 11:36:21 -0700
Subject: BulletSim: add locking to constraintCollection and rename some of the
public method variables to reduce confusion between a physics scene and the
real scene.
---
.../BulletSPlugin/BSConstraintCollection.cs | 94 ++++----
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 250 +++++++++++++--------
2 files changed, 197 insertions(+), 147 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
index 862b744..22ea367 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs
@@ -56,21 +56,25 @@ public class BSConstraintCollection : IDisposable
public void Clear()
{
- foreach (BSConstraint cons in m_constraints)
+ lock (m_constraints)
{
- cons.Dispose();
+ foreach (BSConstraint cons in m_constraints)
+ {
+ cons.Dispose();
+ }
+ m_constraints.Clear();
}
- m_constraints.Clear();
}
public bool AddConstraint(BSConstraint cons)
{
- // There is only one constraint between any bodies. Remove any old just to make sure.
- RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
- m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID);
+ lock (m_constraints)
+ {
+ // There is only one constraint between any bodies. Remove any old just to make sure.
+ RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
- m_constraints.Add(cons);
+ m_constraints.Add(cons);
+ }
return true;
}
@@ -84,16 +88,19 @@ public class BSConstraintCollection : IDisposable
uint lookingID1 = body1.ID;
uint lookingID2 = body2.ID;
- ForEachConstraint(delegate(BSConstraint constrain)
+ lock (m_constraints)
{
- if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
- || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
+ foreach (BSConstraint constrain in m_constraints)
{
- foundConstraint = constrain;
- found = true;
+ if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
+ || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
+ {
+ foundConstraint = constrain;
+ found = true;
+ break;
+ }
}
- return found;
- });
+ }
returnConstraint = foundConstraint;
return found;
}
@@ -103,17 +110,16 @@ public class BSConstraintCollection : IDisposable
// Return 'true' if a constraint was found and destroyed.
public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
{
- // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID);
-
bool ret = false;
- BSConstraint constrain;
-
- if (this.TryGetConstraint(body1, body2, out constrain))
+ lock (m_constraints)
{
- m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID);
- // remove the constraint from our collection
- RemoveAndDestroyConstraint(constrain);
- ret = true;
+ BSConstraint constrain;
+ if (this.TryGetConstraint(body1, body2, out constrain))
+ {
+ // remove the constraint from our collection
+ RemoveAndDestroyConstraint(constrain);
+ ret = true;
+ }
}
return ret;
@@ -122,8 +128,11 @@ public class BSConstraintCollection : IDisposable
// The constraint MUST exist in the collection
public bool RemoveAndDestroyConstraint(BSConstraint constrain)
{
- // remove the constraint from our collection
- m_constraints.Remove(constrain);
+ lock (m_constraints)
+ {
+ // remove the constraint from our collection
+ m_constraints.Remove(constrain);
+ }
// tell the engine that all its structures need to be freed
constrain.Dispose();
// we destroyed something
@@ -138,16 +147,15 @@ public class BSConstraintCollection : IDisposable
List<BSConstraint> toRemove = new List<BSConstraint>();
uint lookingID = body1.ID;
- ForEachConstraint(delegate(BSConstraint constrain)
+ lock (m_constraints)
{
- if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
+ foreach (BSConstraint constrain in m_constraints)
{
- toRemove.Add(constrain);
+ if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
+ {
+ toRemove.Add(constrain);
+ }
}
- return false;
- });
- lock (m_constraints)
- {
foreach (BSConstraint constrain in toRemove)
{
m_constraints.Remove(constrain);
@@ -159,28 +167,16 @@ public class BSConstraintCollection : IDisposable
public bool RecalculateAllConstraints()
{
- ForEachConstraint(delegate(BSConstraint constrain)
- {
- constrain.CalculateTransforms();
- return false;
- });
- return true;
- }
-
- // Lock the constraint list and loop through it.
- // The constraint action returns 'true' if it wants the loop aborted.
- private void ForEachConstraint(ConstraintAction action)
- {
+ bool ret = false;
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
- if (action(constrain))
- break;
+ constrain.CalculateTransforms();
+ ret = true;
}
}
+ return ret;
}
-
-
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 4a71612..087b9bb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -37,11 +37,12 @@ public class BSLinkset
private static string LogHeader = "[BULLETSIM LINKSET]";
private BSPrim m_linksetRoot;
- public BSPrim Root { get { return m_linksetRoot; } }
+ public BSPrim LinksetRoot { get { return m_linksetRoot; } }
- private BSScene m_scene;
- public BSScene Scene { get { return m_scene; } }
+ private BSScene m_physicsScene;
+ public BSScene PhysicsScene { get { return m_physicsScene; } }
+ // The children under the root in this linkset
private List<BSPrim> m_children;
// We lock the diddling of linkset classes to prevent any badness.
@@ -73,7 +74,7 @@ public class BSLinkset
public BSLinkset(BSScene scene, BSPrim parent)
{
// A simple linkset of one (no children)
- m_scene = scene;
+ m_physicsScene = scene;
m_linksetRoot = parent;
m_children = new List<BSPrim>();
m_mass = parent.MassRaw;
@@ -91,6 +92,9 @@ public class BSLinkset
return this;
}
+ // Remove a child from a linkset.
+ // Returns a new linkset for the child which is a linkset of one (just the
+ // orphened child).
public BSLinkset RemoveMeFromLinkset(BSPrim child)
{
lock (m_linksetActivityLock)
@@ -114,60 +118,9 @@ public class BSLinkset
}
// The child is down to a linkset of just itself
- return new BSLinkset(Scene, child);
+ return new BSLinkset(PhysicsScene, child);
}
- /* DEPRECATED: this is really bad in that it trys to unlink other prims.
- // An existing linkset had one of its members rebuilt or something.
- // Go through the linkset and rebuild the pointers to the bodies of the linkset members.
- public BSLinkset RefreshLinkset(BSPrim requestor)
- {
- BSLinkset ret = requestor.Linkset;
-
- lock (m_linksetActivityLock)
- {
- // The body pointer is refetched in case anything has moved.
- System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID);
- if (aPtr == System.IntPtr.Zero)
- {
- // That's odd. We can't find the root of the linkset.
- // The linkset is somehow dead. The requestor is now a member of a linkset of one.
- DetailLog("{0},RefreshLinkset.RemoveRoot,child={1}", m_linksetRoot.LocalID, m_linksetRoot.LocalID);
- ret = RemoveMeFromLinkset(m_linksetRoot);
- }
- else
- {
- // Reconstruct the pointer to the body of the linkset root.
- DetailLog("{0},RefreshLinkset.RebuildRoot,rootID={1},ptr={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, aPtr);
- m_linksetRoot.Body = new BulletBody(m_linksetRoot.LocalID, aPtr);
-
- List<BSPrim> toRemove = new List<BSPrim>();
- foreach (BSPrim bsp in m_children)
- {
- aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, bsp.LocalID);
- if (aPtr == System.IntPtr.Zero)
- {
- toRemove.Add(bsp);
- }
- else
- {
- // Reconstruct the pointer to the body of the linkset root.
- DetailLog("{0},RefreshLinkset.RebuildChild,rootID={1},ptr={2}", bsp.LocalID, m_linksetRoot.LocalID, aPtr);
- bsp.Body = new BulletBody(bsp.LocalID, aPtr);
- }
- }
- foreach (BSPrim bsp in toRemove)
- {
- RemoveChildFromOtherLinkset(bsp);
- }
- }
- }
-
- return ret;
- }
- */
-
-
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPrim requestor)
{
@@ -183,12 +136,15 @@ public class BSLinkset
public bool HasChild(BSPrim child)
{
bool ret = false;
- foreach (BSPrim bp in m_children)
+ lock (m_linksetActivityLock)
{
- if (child.LocalID == bp.LocalID)
+ foreach (BSPrim bp in m_children)
{
- ret = true;
- break;
+ if (child.LocalID == bp.LocalID)
+ {
+ ret = true;
+ break;
+ }
}
}
return ret;
@@ -209,13 +165,16 @@ public class BSLinkset
OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
float totalMass = m_linksetRoot.MassRaw;
- foreach (BSPrim bp in m_children)
+ lock (m_linksetActivityLock)
{
- com += bp.Position * bp.MassRaw;
- totalMass += bp.MassRaw;
+ foreach (BSPrim bp in m_children)
+ {
+ com += bp.Position * bp.MassRaw;
+ totalMass += bp.MassRaw;
+ }
+ if (totalMass != 0f)
+ com /= totalMass;
}
- if (totalMass != 0f)
- com /= totalMass;
return com;
}
@@ -224,29 +183,84 @@ public class BSLinkset
{
OMV.Vector3 com = m_linksetRoot.Position;
- foreach (BSPrim bp in m_children)
+ lock (m_linksetActivityLock)
{
- com += bp.Position * bp.MassRaw;
+ foreach (BSPrim bp in m_children)
+ {
+ com += bp.Position * bp.MassRaw;
+ }
+ com /= (m_children.Count + 1);
}
- com /= (m_children.Count + 1);
return com;
}
+ // When physical properties are changed the linkset needs to recalculate
+ // its internal properties.
+ public void Refresh(BSPrim requestor)
+ {
+ // If there are no children, there aren't any constraints to recompute
+ if (!HasAnyChildren)
+ return;
+
+ // Only the root does the recomputation
+ if (IsRoot(requestor))
+ {
+ PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
+ {
+ RecomputeLinksetConstraintVariables();
+ });
+ }
+ }
+
+ // Call each of the constraints that make up this linkset and recompute the
+ // various transforms and variables. Used when objects are added or removed
+ // from a linkset to make sure the constraints know about the new mass and
+ // geometry.
+ // Must only be called at taint time!!
+ private bool RecomputeLinksetConstraintVariables()
+ {
+ float linksetMass = LinksetMass;
+ lock (m_linksetActivityLock)
+ {
+ foreach (BSPrim child in m_children)
+ {
+ BSConstraint constrain;
+ if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain))
+ {
+ // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
+ // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
+ constrain.RecomputeConstraintVariables(linksetMass);
+ }
+ else
+ {
+ // Non-fatal error that can happen when children are being added to the linkset but
+ // their constraints have not been created yet.
+ // Caused by the fact that m_children is built at run time but building constraints
+ // happens at taint time.
+ // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}",
+ // m_linksetRoot.Body.ID, child.Body.ID);
+ }
+ }
+ }
+ return false;
+ }
+
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
- public void AddChildToLinkset(BSPrim child)
+ private void AddChildToLinkset(BSPrim child)
{
if (!HasChild(child))
{
m_children.Add(child);
- BSPrim root = Root; // capture the root as of now
- m_scene.TaintedObject("AddChildToLinkset", delegate()
+ BSPrim rootx = LinksetRoot; // capture the root as of now
+ BSPrim childx = child;
+ m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
{
- DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
- DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
- PhysicallyLinkAChildToRoot(root, child); // build the physical binding between me and the child
+ // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
+ // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+ PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child
});
}
return;
@@ -257,31 +271,34 @@ public class BSLinkset
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// has to be updated also (like pointer to prim's parent).
- public void RemoveChildFromOtherLinkset(BSPrim pchild)
+ private void RemoveChildFromOtherLinkset(BSPrim pchild)
{
- pchild.Linkset = new BSLinkset(m_scene, pchild);
+ pchild.Linkset = new BSLinkset(m_physicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
// I am the root of a linkset and one of my children is being removed.
// Safe to call even if the child is not really in my linkset.
- public void RemoveChildFromLinkset(BSPrim child)
+ private void RemoveChildFromLinkset(BSPrim child)
{
if (m_children.Remove(child))
{
- BSPrim root = Root; // capture the root as of now
- m_scene.TaintedObject("RemoveChildFromLinkset", delegate()
+ BSPrim rootx = LinksetRoot; // capture the root as of now
+ BSPrim childx = child;
+ m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
- DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
- DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
+ // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
+ // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
- PhysicallyUnlinkAChildFromRoot(root, child);
+ PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
+
+ RecomputeLinksetConstraintVariables();
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
- // m_scene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+ // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
@@ -293,37 +310,72 @@ public class BSLinkset
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
+ // Relative position normalized to the root prim
+ // Essentually a vector pointing from center of rootPrim to center of childPrim
+ OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
+
+ // real world coordinate of midpoint between the two objects
+ OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
+
+ // create 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, childPrim.LocalID);
+ DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
+ rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
+ BS6DofConstraint constrain = new BS6DofConstraint(
+ m_physicsScene.World, rootPrim.Body, childPrim.Body,
+ midPoint,
+ true,
+ true
+ );
+ /* NOTE: attempt to build constraint with full frame computation, etc.
+ * Using the midpoint is easier since it lets the Bullet code use the transforms
+ * of the objects.
+ * Code left here as an example.
+ // ==================================================================================
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
+ OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
// create 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, childPrim.LocalID);
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
- m_scene.World, rootPrim.Body, childPrim.Body,
- childRelativePosition,
- childRelativeRotation,
+ PhysicsScene.World, rootPrim.Body, childPrim.Body,
OMV.Vector3.Zero,
- -childRelativeRotation
+ OMV.Quaternion.Inverse(rootPrim.Orientation),
+ OMV.Vector3.Zero,
+ OMV.Quaternion.Inverse(childPrim.Orientation),
+ // A point half way between the parent and child
+ // childRelativePosition/2,
+ // childRelativeRotation,
+ // childRelativePosition/2,
+ // inverseChildRelativeRotation,
+ true,
+ true
);
- m_scene.Constraints.AddConstraint(constrain);
+ // ==================================================================================
+ */
+
+ m_physicsScene.Constraints.AddConstraint(constrain);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability
- constrain.UseFrameOffset(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset));
- constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor),
- m_scene.Params.linkConstraintTransMotorMaxVel,
- m_scene.Params.linkConstraintTransMotorMaxForce);
- constrain.SetCFMAndERP(m_scene.Params.linkConstraintCFM, m_scene.Params.linkConstraintERP);
+ constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
+ constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
+ PhysicsScene.Params.linkConstraintTransMotorMaxVel,
+ PhysicsScene.Params.linkConstraintTransMotorMaxForce);
+ constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
+ RecomputeLinksetConstraintVariables();
}
// Remove linkage between myself and a particular child
@@ -334,7 +386,9 @@ public class BSLinkset
// LogHeader, rootPrim.LocalID, childPrim.LocalID);
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
- m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
+ // Find the constraint for this link and get rid of it from the overall collection and from my list
+ m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
+
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
}
@@ -346,20 +400,20 @@ public class BSLinkset
// DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
- m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
+ m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
}
// Invoke the detailed logger and output something if it's enabled.
private void DebugLog(string msg, params Object[] args)
{
- if (m_scene.ShouldDebugLog)
- m_scene.Logger.DebugFormat(msg, args);
+ if (m_physicsScene.ShouldDebugLog)
+ m_physicsScene.Logger.DebugFormat(msg, args);
}
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
- m_scene.PhysicsLogging.Write(msg, args);
+ m_physicsScene.PhysicsLogging.Write(msg, args);
}
}
--
cgit v1.1
From dd10cf01e70f757f70f18d442974688a45a2d433 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 15 Aug 2012 11:36:50 -0700
Subject: BulletSim: add hinge constraint. Update BulletSimAPI with new
constraint related function calls. Reorganize locking in BS6DofConstraint.
Update BS6DofConstraint to do constraint reset correctly. Add new 'midpoint'
construction of 6Dof constraint.
---
.../Physics/BulletSPlugin/BS6DofConstraint.cs | 50 +++++++++++++++++---
.../Physics/BulletSPlugin/BSHingeConstraint.cs | 55 ++++++++++++++++++++++
.../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 27 +++++++++++
3 files changed, 126 insertions(+), 6 deletions(-)
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
index 72df6b9..683bc51 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
@@ -37,7 +37,8 @@ public class BS6DofConstraint : BSConstraint
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
- Vector3 frame2, Quaternion frame2rot )
+ Vector3 frame2, Quaternion frame2rot,
+ bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
@@ -46,16 +47,45 @@ public class BS6DofConstraint : BSConstraint
BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
frame1, frame1rot,
frame2, frame2rot,
- true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/));
+ useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
}
+ public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+ Vector3 joinPoint,
+ bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+ {
+ m_world = world;
+ m_body1 = obj1;
+ m_body2 = obj2;
+ m_constraint = new BulletConstraint(
+ BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+ joinPoint,
+ useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+ m_enabled = true;
+ }
+
+ public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+ {
+ bool ret = false;
+ if (m_enabled)
+ {
+ BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot);
+ ret = true;
+ }
+ return ret;
+ }
+
public bool SetCFMAndERP(float cfm, float erp)
{
- bool ret = true;
- BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
- BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
- BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+ bool ret = false;
+ if (m_enabled)
+ {
+ BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+ BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+ BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+ ret = true;
+ }
return ret;
}
@@ -76,5 +106,13 @@ public class BS6DofConstraint : BSConstraint
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
return ret;
}
+
+ public bool SetBreakingImpulseThreshold(float threshold)
+ {
+ bool ret = false;
+ if (m_enabled)
+ ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold);
+ return ret;
+ }
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
new file mode 100755
index 0000000..d68048b
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyrightD
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the OpenSimulator Project nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+
+class BSHingeConstraint : BSConstraint
+{
+ public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
+ Vector3 pivotInA, Vector3 pivotInB,
+ Vector3 axisInA, Vector3 axisInB,
+ bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+ {
+ m_world = world;
+ m_body1 = obj1;
+ m_body2 = obj2;
+ m_constraint = new BulletConstraint(
+ BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
+ pivotInA, pivotInB,
+ axisInA, axisInB,
+ useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+ m_enabled = true;
+ }
+
+}
+
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 6800b96..504bd3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -416,6 +416,27 @@ public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, Int
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+ Vector3 joinPoint,
+ bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+ Vector3 pivotinA, Vector3 pivotinB,
+ Vector3 axisInA, Vector3 axisInB,
+ bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+ Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -428,6 +449,9 @@ public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CalculateTransforms2(IntPtr constrain);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -518,6 +542,9 @@ public static extern bool SetGravity2(IntPtr obj, Vector3 val);
public static extern IntPtr ClearForces2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetMargin2(IntPtr obj, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
--
cgit v1.1
From 7679384829a8bc8c7761bed19914f05b6b50de9b Mon Sep 17 00:00:00 2001
From: SignpostMarv
Date: Tue, 14 Aug 2012 11:36:51 +0100
Subject: adding ATTACH_*_PEC constants
---
OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs | 2 ++
1 file changed, 2 insertions(+)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index c3eada0..e1c054d 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -226,6 +226,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
public const int ATTACH_BELLY = 28;
public const int ATTACH_RPEC = 29;
public const int ATTACH_LPEC = 30;
+ public const int ATTACH_LEFT_PEC = 29; // Same value as ATTACH_RPEC, see https://jira.secondlife.com/browse/SVC-580
+ public const int ATTACH_RIGHT_PEC = 30; // Same value as ATTACH_LPEC, see https://jira.secondlife.com/browse/SVC-580
public const int ATTACH_HUD_CENTER_2 = 31;
public const int ATTACH_HUD_TOP_RIGHT = 32;
public const int ATTACH_HUD_TOP_CENTER = 33;
--
cgit v1.1
From 5a1b6fdf0638e100f8246f4131dab9bb037d78cf Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Wed, 15 Aug 2012 22:43:32 +0100
Subject: Don't enable the thread watchdog until all regions are ready.
This is to avoid false positives when the machine is under heavy load whilst starting up.
---
OpenSim/Framework/Monitoring/Watchdog.cs | 31 ++++++++++++++++++++++++++-----
OpenSim/Region/Application/OpenSimBase.cs | 9 +++++++--
2 files changed, 33 insertions(+), 7 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Framework/Monitoring/Watchdog.cs b/OpenSim/Framework/Monitoring/Watchdog.cs
index d4cf02f..02f11fa 100644
--- a/OpenSim/Framework/Monitoring/Watchdog.cs
+++ b/OpenSim/Framework/Monitoring/Watchdog.cs
@@ -97,6 +97,32 @@ namespace OpenSim.Framework.Monitoring
/// /summary>
public static event Action<ThreadWatchdogInfo> OnWatchdogTimeout;
+ /// <summary>
+ /// Is this watchdog active?
+ /// </summary>
+ public static bool Enabled
+ {
+ get { return m_enabled; }
+ set
+ {
+// m_log.DebugFormat("[MEMORY WATCHDOG]: Setting MemoryWatchdog.Enabled to {0}", value);
+
+ if (value == m_enabled)
+ return;
+
+ m_enabled = value;
+
+ if (m_enabled)
+ {
+ // Set now so we don't get alerted on the first run
+ LastWatchdogThreadTick = Environment.TickCount & Int32.MaxValue;
+ }
+
+ m_watchdogTimer.Enabled = m_enabled;
+ }
+ }
+ private static bool m_enabled;
+
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static Dictionary<int, ThreadWatchdogInfo> m_threads;
private static System.Timers.Timer m_watchdogTimer;
@@ -115,11 +141,6 @@ namespace OpenSim.Framework.Monitoring
m_watchdogTimer = new System.Timers.Timer(WATCHDOG_INTERVAL_MS);
m_watchdogTimer.AutoReset = false;
m_watchdogTimer.Elapsed += WatchdogTimerElapsed;
-
- // Set now so we don't get alerted on the first run
- LastWatchdogThreadTick = Environment.TickCount & Int32.MaxValue;
-
- m_watchdogTimer.Start();
}
/// <summary>
diff --git a/OpenSim/Region/Application/OpenSimBase.cs b/OpenSim/Region/Application/OpenSimBase.cs
index 37cfe1d..f784398 100644
--- a/OpenSim/Region/Application/OpenSimBase.cs
+++ b/OpenSim/Region/Application/OpenSimBase.cs
@@ -305,8 +305,13 @@ namespace OpenSim
m_httpServerPort = m_networkServersInfo.HttpListenerPort;
SceneManager.OnRestartSim += handleRestartRegion;
- // Only start the memory watchdog once all regions are ready
- SceneManager.OnRegionsReadyStatusChange += sm => MemoryWatchdog.Enabled = sm.AllRegionsReady;
+ // Only enable the watchdogs when all regions are ready. Otherwise we get false positives when cpu is
+ // heavily used during initial startup.
+ //
+ // FIXME: It's also possible that region ready status should be flipped during an OAR load since this
+ // also makes heavy use of the CPU.
+ SceneManager.OnRegionsReadyStatusChange
+ += sm => { MemoryWatchdog.Enabled = sm.AllRegionsReady; Watchdog.Enabled = sm.AllRegionsReady; };
}
/// <summary>
--
cgit v1.1