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authorRobert Adams2012-10-09 12:58:06 -0700
committerRobert Adams2012-10-11 14:01:07 -0700
commit68698975f1537725a1f53bc4b2db2cfc798ac7f3 (patch)
tree7a021b67a3bde146160a1e7d8befef053698e71e
parentBulletSim: Fix crash when linking large physical linksets. (diff)
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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.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs12
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs33
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs65
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs2
7 files changed, 100 insertions, 29 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2a52e01..c23ccd5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -332,6 +332,13 @@ public class BSCharacter : BSPhysObject
332 }); 332 });
333 } 333 }
334 } 334 }
335 public override OMV.Vector3 ForceVelocity {
336 get { return _velocity; }
337 set {
338 _velocity = value;
339 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
340 }
341 }
335 public override OMV.Vector3 Torque { 342 public override OMV.Vector3 Torque {
336 get { return _torque; } 343 get { return _torque; }
337 set { _torque = value; 344 set { _torque = value;
@@ -432,6 +439,10 @@ public class BSCharacter : BSPhysObject
432 get { return _rotationalVelocity; } 439 get { return _rotationalVelocity; }
433 set { _rotationalVelocity = value; } 440 set { _rotationalVelocity = value; }
434 } 441 }
442 public override OMV.Vector3 ForceRotationalVelocity {
443 get { return _rotationalVelocity; }
444 set { _rotationalVelocity = value; }
445 }
435 public override bool Kinematic { 446 public override bool Kinematic {
436 get { return _kinematic; } 447 get { return _kinematic; }
437 set { _kinematic = value; } 448 set { _kinematic = value; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 3fb2253..76230a1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
481 m_lastPositionVector = Prim.ForcePosition; 481 m_lastPositionVector = Prim.ForcePosition;
482 482
483 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 483 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
484 Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); 484 Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
485 }// end Step 485 }// end Step
486 486
487 // Apply the effect of the linear motor. 487 // Apply the effect of the linear motor.
@@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
540 // add Gravity and Buoyancy 540 // add Gravity and Buoyancy
541 // There is some gravity, make a gravity force vector that is applied after object velocity. 541 // There is some gravity, make a gravity force vector that is applied after object velocity.
542 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 542 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
543 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); 543 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy));
544 544
545 /* 545 /*
546 * RA: Not sure why one would do this 546 * RA: Not sure why one would do this
@@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
678 m_newVelocity.Z = 0; 678 m_newVelocity.Z = 0;
679 679
680 // Apply velocity 680 // Apply velocity
681 Prim.Velocity = m_newVelocity; 681 Prim.ForceVelocity = m_newVelocity;
682 // apply gravity force 682 // apply gravity force
683 // Why is this set here? The physics engine already does gravity. 683 // Why is this set here? The physics engine already does gravity.
684 // m_prim.AddForce(grav, false); 684 Prim.AddForce(grav, false);
685 685
686 // Apply friction 686 // Apply friction
687 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); 687 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
@@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
704 // m_lastAngularVelocity // what was last applied to body 704 // m_lastAngularVelocity // what was last applied to body
705 705
706 // Get what the body is doing, this includes 'external' influences 706 // Get what the body is doing, this includes 'external' influences
707 Vector3 angularVelocity = Prim.RotationalVelocity; 707 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
708 708
709 if (m_angularMotorApply > 0) 709 if (m_angularMotorApply > 0)
710 { 710 {
@@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
810 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; 810 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
811 811
812 // Apply to the body 812 // Apply to the body
813 Prim.RotationalVelocity = m_lastAngularVelocity; 813 Prim.ForceRotationalVelocity = m_lastAngularVelocity;
814 814
815 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); 815 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
816 } //end MoveAngular 816 } //end MoveAngular
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 0665292..cae599c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -85,6 +85,10 @@ public abstract class BSPhysObject : PhysicsActor
85 85
86 public abstract OMV.Quaternion ForceOrientation { get; set; } 86 public abstract OMV.Quaternion ForceOrientation { get; set; }
87 87
88 public abstract OMV.Vector3 ForceVelocity { get; set; }
89
90 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
91
88 #region Collisions 92 #region Collisions
89 93
90 // Requested number of milliseconds between collision events. Zero means disabled. 94 // Requested number of milliseconds between collision events. Zero means disabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 98a18a1..d408be0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject
265 return _position; 265 return _position;
266 } 266 }
267 set { 267 set {
268 // If you must push the position into the physics engine, use ForcePosition.
269 if (_position == value)
270 {
271 return;
272 }
268 _position = value; 273 _position = value;
269 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? 274 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
270 PositionSanityCheck(); 275 PositionSanityCheck();
@@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject
453 } 458 }
454 return; 459 return;
455 } 460 }
456
457 public override OMV.Vector3 Velocity { 461 public override OMV.Vector3 Velocity {
458 get { return _velocity; } 462 get { return _velocity; }
459 set { 463 set {
@@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject
465 }); 469 });
466 } 470 }
467 } 471 }
472 public override OMV.Vector3 ForceVelocity {
473 get { return _velocity; }
474 set {
475 _velocity = value;
476 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
477 }
478 }
468 public override OMV.Vector3 Torque { 479 public override OMV.Vector3 Torque {
469 get { return _torque; } 480 get { return _torque; }
470 set { _torque = value; 481 set { _torque = value;
@@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject
490 return _orientation; 501 return _orientation;
491 } 502 }
492 set { 503 set {
504 if (_orientation == value)
505 return;
493 _orientation = value; 506 _orientation = value;
494 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? 507 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
495 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 508 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
@@ -621,9 +634,9 @@ public sealed class BSPrim : BSPhysObject
621 // There can be special things needed for implementing linksets 634 // There can be special things needed for implementing linksets
622 Linkset.MakeStatic(this); 635 Linkset.MakeStatic(this);
623 // The activation state is 'disabled' so Bullet will not try to act on it. 636 // The activation state is 'disabled' so Bullet will not try to act on it.
624 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); 637 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
625 // Start it out sleeping and physical actions could wake it up. 638 // Start it out sleeping and physical actions could wake it up.
626 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); 639 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
627 640
628 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; 641 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
629 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; 642 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -640,6 +653,9 @@ public sealed class BSPrim : BSPhysObject
640 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 653 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
641 BulletSimAPI.ClearAllForces2(BSBody.ptr); 654 BulletSimAPI.ClearAllForces2(BSBody.ptr);
642 655
656 // For good measure, make sure the transform is set through to the motion state
657 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
658
643 // A dynamic object has mass 659 // A dynamic object has mass
644 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); 660 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
645 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); 661 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
@@ -776,6 +792,15 @@ public sealed class BSPrim : BSPhysObject
776 }); 792 });
777 } 793 }
778 } 794 }
795 public override OMV.Vector3 ForceRotationalVelocity {
796 get {
797 return _rotationalVelocity;
798 }
799 set {
800 _rotationalVelocity = value;
801 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
802 }
803 }
779 public override bool Kinematic { 804 public override bool Kinematic {
780 get { return _kinematic; } 805 get { return _kinematic; }
781 set { _kinematic = value; 806 set { _kinematic = value;
@@ -1307,7 +1332,7 @@ public sealed class BSPrim : BSPhysObject
1307 /* 1332 /*
1308 else 1333 else
1309 { 1334 {
1310 // For debugging, we can also report the movement of children 1335 // For debugging, report the movement of children
1311 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1336 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1312 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, 1337 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
1313 entprop.Acceleration, entprop.RotationalVelocity); 1338 entprop.Acceleration, entprop.RotationalVelocity);
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
90 // let my minuions use my logger 90 // let my minuions use my logger
91 public ILog Logger { get { return m_log; } } 91 public ILog Logger { get { return m_log; } }
92 92
93 // If non-zero, the number of simulation steps between calls to the physics
94 // engine to output detailed physics stats. Debug logging level must be on also.
95 private int m_detailedStatsStep = 0;
96
97 public IMesher mesher; 93 public IMesher mesher;
98 // Level of Detail values kept as float because that's what the Meshmerizer wants 94 // Level of Detail values kept as float because that's what the Meshmerizer wants
99 public float MeshLOD { get; private set; } 95 public float MeshLOD { get; private set; }
@@ -112,6 +108,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
112 private float m_fixedTimeStep; 108 private float m_fixedTimeStep;
113 private long m_simulationStep = 0; 109 private long m_simulationStep = 0;
114 public long SimulationStep { get { return m_simulationStep; } } 110 public long SimulationStep { get { return m_simulationStep; } }
111 private int m_taintsToProcessPerStep;
115 112
116 // A value of the time now so all the collision and update routines do not have to get their own 113 // A value of the time now so all the collision and update routines do not have to get their own
117 // Set to 'now' just before all the prims and actors are called for collisions and updates 114 // 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
131 128
132 public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed 129 public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
133 public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes 130 public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
131 public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
134 132
135 public float PID_D { get; private set; } // derivative 133 public float PID_D { get; private set; } // derivative
136 public float PID_P { get; private set; } // proportional 134 public float PID_P { get; private set; } // proportional
@@ -582,15 +580,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
582 } 580 }
583 } 581 }
584 582
585 // If enabled, call into the physics engine to dump statistics
586 if (m_detailedStatsStep > 0)
587 {
588 if ((m_simulationStep % m_detailedStatsStep) == 0)
589 {
590 BulletSimAPI.DumpBulletStatistics();
591 }
592 }
593
594 // The physics engine returns the number of milliseconds it simulated this call. 583 // The physics engine returns the number of milliseconds it simulated this call.
595 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 584 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
596 // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. 585 // 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
617 BSPhysObject collidee = null; 606 BSPhysObject collidee = null;
618 PhysObjects.TryGetValue(collidingWith, out collidee); 607 PhysObjects.TryGetValue(collidingWith, out collidee);
619 608
620 DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); 609 // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
621 610
622 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) 611 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
623 { 612 {
@@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
704 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process 693 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
705 { 694 {
706 // swizzle a new list into the list location so we can process what's there 695 // swizzle a new list into the list location so we can process what's there
696 int taintCount = m_taintsToProcessPerStep;
697 TaintCallbackEntry oneCallback = new TaintCallbackEntry();
698 while (_taintedObjects.Count > 0 && taintCount-- > 0)
699 {
700 bool gotOne = false;
701 lock (_taintLock)
702 {
703 if (_taintedObjects.Count > 0)
704 {
705 oneCallback = _taintedObjects[0];
706 _taintedObjects.RemoveAt(0);
707 gotOne = true;
708 }
709 }
710 if (gotOne)
711 {
712 try
713 {
714 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
715 oneCallback.callback();
716 }
717 catch (Exception e)
718 {
719 m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
720 }
721 }
722 }
723 /*
724 // swizzle a new list into the list location so we can process what's there
707 List<TaintCallbackEntry> oldList; 725 List<TaintCallbackEntry> oldList;
708 lock (_taintLock) 726 lock (_taintLock)
709 { 727 {
@@ -724,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
724 } 742 }
725 } 743 }
726 oldList.Clear(); 744 oldList.Clear();
745 */
727 } 746 }
728 } 747 }
729 748
@@ -835,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
835 (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, 854 (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
836 (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, 855 (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
837 (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), 856 (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
857 new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
858 ConfigurationParameters.numericFalse,
859 (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
860 (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
861 (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
838 862
839 new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 863 new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
840 8f, 864 8f,
@@ -877,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
877 (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, 901 (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
878 (s) => { return (float)s.m_maxUpdatesPerFrame; }, 902 (s) => { return (float)s.m_maxUpdatesPerFrame; },
879 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), 903 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
904 new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
905 100f,
906 (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
907 (s) => { return (float)s.m_taintsToProcessPerStep; },
908 (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
880 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 909 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
881 10000.01f, 910 10000.01f,
882 (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, 911 (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
@@ -1086,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1086 (s) => { return s.m_params[0].linkConstraintSolverIterations; }, 1115 (s) => { return s.m_params[0].linkConstraintSolverIterations; },
1087 (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), 1116 (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
1088 1117
1089 new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 1118 new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
1090 0f, 1119 0f,
1091 (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, 1120 (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
1092 (s) => { return (float)s.m_detailedStatsStep; }, 1121 (s) => { return (float)s.m_params[0].physicsLoggingFrames; },
1093 (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), 1122 (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
1094 }; 1123 };
1095 1124
1096 // Convert a boolean to our numeric true and false values 1125 // Convert a boolean to our numeric true and false values
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 283b601..e619b48 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -407,7 +407,7 @@ public class BSShapeCollection : IDisposable
407 // made. Native shapes are best used in either case. 407 // made. Native shapes are best used in either case.
408 if (!haveShape) 408 if (!haveShape)
409 { 409 {
410 if (prim.IsPhysical) 410 if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
411 { 411 {
412 // Update prim.BSShape to reference a hull of this shape. 412 // Update prim.BSShape to reference a hull of this shape.
413 ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); 413 ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index bb4d399..7a60afb 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -306,6 +306,8 @@ public struct ConfigurationParameters
306 public float linkConstraintCFM; 306 public float linkConstraintCFM;
307 public float linkConstraintSolverIterations; 307 public float linkConstraintSolverIterations;
308 308
309 public float physicsLoggingFrames;
310
309 public const float numericTrue = 1f; 311 public const float numericTrue = 1f;
310 public const float numericFalse = 0f; 312 public const float numericFalse = 0f;
311} 313}