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authorRobert Adams2012-07-20 14:08:29 -0700
committerRobert Adams2012-07-20 14:08:29 -0700
commitca3b6b1f90f89ab3be4a43863da81f9df0993e2f (patch)
tree3100b50cd2f7aba86edec7ed9600b1e434cc2672 /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
parentRemove an added but unnecessary dependency in prebuild.xml (diff)
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BulletSim: more detail logging for vehicle and general physics debugging.
Physical linksets are fully functional. Tweeking of the vehicle code to make it semi-work. Utilize the new API2 for some setting operations. Add GetOrientation() API call for proper reporting of children of linksets. Changes the interface between C# and C++ code so old DLLs won't work!
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs168
1 files changed, 136 insertions, 32 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 5911897..71a4303 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -148,6 +148,7 @@ public sealed class BSPrim : PhysicsActor
148 public void Destroy() 148 public void Destroy()
149 { 149 {
150 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); 150 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
151 // DetailLog("{0},Destroy", LocalID);
151 // Undo any vehicle properties 152 // Undo any vehicle properties
152 _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); 153 _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
153 _scene.RemoveVehiclePrim(this); // just to make sure 154 _scene.RemoveVehiclePrim(this); // just to make sure
@@ -215,6 +216,7 @@ public sealed class BSPrim : PhysicsActor
215 public override void link(PhysicsActor obj) { 216 public override void link(PhysicsActor obj) {
216 BSPrim parent = obj as BSPrim; 217 BSPrim parent = obj as BSPrim;
217 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); 218 DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
219 DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
218 // TODO: decide if this parent checking needs to happen at taint time 220 // TODO: decide if this parent checking needs to happen at taint time
219 if (_parentPrim == null) 221 if (_parentPrim == null)
220 { 222 {
@@ -250,6 +252,7 @@ public sealed class BSPrim : PhysicsActor
250 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen 252 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
251 DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, 253 DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
252 (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); 254 (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
255 DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString()));
253 if (_parentPrim != null) 256 if (_parentPrim != null)
254 { 257 {
255 _parentPrim.RemoveChildFromLinkset(this); 258 _parentPrim.RemoveChildFromLinkset(this);
@@ -266,6 +269,7 @@ public sealed class BSPrim : PhysicsActor
266 if (!_childrenPrims.Contains(child)) 269 if (!_childrenPrims.Contains(child))
267 { 270 {
268 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); 271 DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
272 DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
269 _childrenPrims.Add(child); 273 _childrenPrims.Add(child);
270 child._parentPrim = this; // the child has gained a parent 274 child._parentPrim = this; // the child has gained a parent
271 RecreateGeomAndObject(); // rebuild my shape with the new child added 275 RecreateGeomAndObject(); // rebuild my shape with the new child added
@@ -284,6 +288,7 @@ public sealed class BSPrim : PhysicsActor
284 if (_childrenPrims.Contains(child)) 288 if (_childrenPrims.Contains(child))
285 { 289 {
286 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); 290 DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
291 DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID);
287 if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) 292 if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
288 { 293 {
289 m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); 294 m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
@@ -317,20 +322,28 @@ public sealed class BSPrim : PhysicsActor
317 base.RequestPhysicsterseUpdate(); 322 base.RequestPhysicsterseUpdate();
318 } 323 }
319 324
320 public override void LockAngularMotion(OMV.Vector3 axis) { return; } 325 public override void LockAngularMotion(OMV.Vector3 axis)
326 {
327 DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
328 return;
329 }
321 330
322 public override OMV.Vector3 Position { 331 public override OMV.Vector3 Position {
323 get { 332 get {
324 // don't do the following GetObjectPosition because this function is called a zillion times 333 // child prims move around based on their parent. Need to get the latest location
334 if (_parentPrim != null)
335 _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
336 // don't do the GetObjectPosition for root elements because this function is called a zillion times
325 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 337 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
326 return _position; 338 return _position;
327 } 339 }
328 set { 340 set {
329 _position = value; 341 _position = value;
342 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
330 _scene.TaintedObject(delegate() 343 _scene.TaintedObject(delegate()
331 { 344 {
345 DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
332 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 346 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
333 // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
334 }); 347 });
335 } 348 }
336 } 349 }
@@ -343,6 +356,7 @@ public sealed class BSPrim : PhysicsActor
343 _force = value; 356 _force = value;
344 _scene.TaintedObject(delegate() 357 _scene.TaintedObject(delegate()
345 { 358 {
359 DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
346 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 360 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
347 }); 361 });
348 } 362 }
@@ -354,15 +368,23 @@ public sealed class BSPrim : PhysicsActor
354 } 368 }
355 set { 369 set {
356 Vehicle type = (Vehicle)value; 370 Vehicle type = (Vehicle)value;
357 _vehicle.ProcessTypeChange(type);
358 _scene.TaintedObject(delegate() 371 _scene.TaintedObject(delegate()
359 { 372 {
373 DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
374 _vehicle.ProcessTypeChange(type);
360 if (type == Vehicle.TYPE_NONE) 375 if (type == Vehicle.TYPE_NONE)
361 { 376 {
362 _scene.RemoveVehiclePrim(this); 377 _scene.RemoveVehiclePrim(this);
363 } 378 }
364 else 379 else
365 { 380 {
381 _scene.TaintedObject(delegate()
382 {
383 // Tell the physics engine to clear state
384 IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
385 BulletSimAPI.ClearForces2(obj);
386 });
387
366 // make it so the scene will call us each tick to do vehicle things 388 // make it so the scene will call us each tick to do vehicle things
367 _scene.AddVehiclePrim(this); 389 _scene.AddVehiclePrim(this);
368 } 390 }
@@ -372,21 +394,39 @@ public sealed class BSPrim : PhysicsActor
372 } 394 }
373 public override void VehicleFloatParam(int param, float value) 395 public override void VehicleFloatParam(int param, float value)
374 { 396 {
375 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 397 m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value);
398 _scene.TaintedObject(delegate()
399 {
400 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
401 });
376 } 402 }
377 public override void VehicleVectorParam(int param, OMV.Vector3 value) 403 public override void VehicleVectorParam(int param, OMV.Vector3 value)
378 { 404 {
379 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); 405 m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value);
406 _scene.TaintedObject(delegate()
407 {
408 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
409 });
380 } 410 }
381 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) 411 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
382 { 412 {
383 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); 413 m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation);
414 _scene.TaintedObject(delegate()
415 {
416 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
417 });
384 } 418 }
385 public override void VehicleFlags(int param, bool remove) 419 public override void VehicleFlags(int param, bool remove)
386 { 420 {
387 _vehicle.ProcessVehicleFlags(param, remove); 421 m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove);
422 _scene.TaintedObject(delegate()
423 {
424 _vehicle.ProcessVehicleFlags(param, remove);
425 });
388 } 426 }
389 // Called each simulation step to advance vehicle characteristics 427
428 // Called each simulation step to advance vehicle characteristics.
429 // Called from Scene when doing simulation step so we're in taint processing time.
390 public void StepVehicle(float timeStep) 430 public void StepVehicle(float timeStep)
391 { 431 {
392 _vehicle.Step(timeStep); 432 _vehicle.Step(timeStep);
@@ -395,14 +435,11 @@ public sealed class BSPrim : PhysicsActor
395 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 435 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
396 public override void SetVolumeDetect(int param) { 436 public override void SetVolumeDetect(int param) {
397 bool newValue = (param != 0); 437 bool newValue = (param != 0);
398 if (_isVolumeDetect != newValue) 438 _isVolumeDetect = newValue;
439 _scene.TaintedObject(delegate()
399 { 440 {
400 _isVolumeDetect = newValue; 441 SetObjectDynamic();
401 _scene.TaintedObject(delegate() 442 });
402 {
403 SetObjectDynamic();
404 });
405 }
406 return; 443 return;
407 } 444 }
408 445
@@ -410,9 +447,11 @@ public sealed class BSPrim : PhysicsActor
410 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } 447 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
411 public override OMV.Vector3 Velocity { 448 public override OMV.Vector3 Velocity {
412 get { return _velocity; } 449 get { return _velocity; }
413 set { _velocity = value; 450 set {
451 _velocity = value;
414 _scene.TaintedObject(delegate() 452 _scene.TaintedObject(delegate()
415 { 453 {
454 DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
416 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); 455 BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
417 }); 456 });
418 } 457 }
@@ -420,6 +459,7 @@ public sealed class BSPrim : PhysicsActor
420 public override OMV.Vector3 Torque { 459 public override OMV.Vector3 Torque {
421 get { return _torque; } 460 get { return _torque; }
422 set { _torque = value; 461 set { _torque = value;
462 DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
423 } 463 }
424 } 464 }
425 public override float CollisionScore { 465 public override float CollisionScore {
@@ -432,13 +472,21 @@ public sealed class BSPrim : PhysicsActor
432 set { _acceleration = value; } 472 set { _acceleration = value; }
433 } 473 }
434 public override OMV.Quaternion Orientation { 474 public override OMV.Quaternion Orientation {
435 get { return _orientation; } 475 get {
476 if (_parentPrim != null)
477 {
478 // children move around because tied to parent. Get a fresh value.
479 _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
480 }
481 return _orientation;
482 }
436 set { 483 set {
437 _orientation = value; 484 _orientation = value;
438 // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); 485 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
439 _scene.TaintedObject(delegate() 486 _scene.TaintedObject(delegate()
440 { 487 {
441 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 488 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
489 DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
442 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 490 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
443 }); 491 });
444 } 492 }
@@ -471,8 +519,9 @@ public sealed class BSPrim : PhysicsActor
471 get { return !IsPhantom && !_isVolumeDetect; } 519 get { return !IsPhantom && !_isVolumeDetect; }
472 } 520 }
473 521
474 // make gravity work if the object is physical and not selected 522 // Make gravity work if the object is physical and not selected
475 // no locking here because only called when it is safe 523 // No locking here because only called when it is safe
524 // Only called at taint time so it is save to call into Bullet.
476 private void SetObjectDynamic() 525 private void SetObjectDynamic()
477 { 526 {
478 // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); 527 // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
@@ -489,6 +538,7 @@ public sealed class BSPrim : PhysicsActor
489 RecreateGeomAndObject(); 538 RecreateGeomAndObject();
490 539
491 } 540 }
541 DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass);
492 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); 542 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
493 } 543 }
494 544
@@ -529,11 +579,24 @@ public sealed class BSPrim : PhysicsActor
529 set { _floatOnWater = value; } 579 set { _floatOnWater = value; }
530 } 580 }
531 public override OMV.Vector3 RotationalVelocity { 581 public override OMV.Vector3 RotationalVelocity {
532 get { return _rotationalVelocity; } 582 get {
533 set { _rotationalVelocity = value; 583 /*
584 OMV.Vector3 pv = OMV.Vector3.Zero;
585 // if close to zero, report zero
586 // This is copied from ODE but I'm not sure why it returns zero but doesn't
587 // zero the property in the physics engine.
588 if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
589 return pv;
590 */
591
592 return _rotationalVelocity;
593 }
594 set {
595 _rotationalVelocity = value;
534 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 596 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
535 _scene.TaintedObject(delegate() 597 _scene.TaintedObject(delegate()
536 { 598 {
599 DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
537 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); 600 BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
538 }); 601 });
539 } 602 }
@@ -546,11 +609,13 @@ public sealed class BSPrim : PhysicsActor
546 } 609 }
547 public override float Buoyancy { 610 public override float Buoyancy {
548 get { return _buoyancy; } 611 get { return _buoyancy; }
549 set { _buoyancy = value; 612 set {
550 _scene.TaintedObject(delegate() 613 _buoyancy = value;
551 { 614 _scene.TaintedObject(delegate()
552 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); 615 {
553 }); 616 DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
617 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
618 });
554 } 619 }
555 } 620 }
556 621
@@ -586,27 +651,45 @@ public sealed class BSPrim : PhysicsActor
586 public override float APIDStrength { set { return; } } 651 public override float APIDStrength { set { return; } }
587 public override float APIDDamping { set { return; } } 652 public override float APIDDamping { set { return; } }
588 653
654 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
589 public override void AddForce(OMV.Vector3 force, bool pushforce) { 655 public override void AddForce(OMV.Vector3 force, bool pushforce) {
590 if (force.IsFinite()) 656 if (force.IsFinite())
591 { 657 {
592 _force.X += force.X; 658 // _force += force;
593 _force.Y += force.Y; 659 lock (m_accumulatedForces)
594 _force.Z += force.Z; 660 m_accumulatedForces.Add(new OMV.Vector3(force));
595 } 661 }
596 else 662 else
597 { 663 {
598 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); 664 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
665 return;
599 } 666 }
600 _scene.TaintedObject(delegate() 667 _scene.TaintedObject(delegate()
601 { 668 {
602 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 669 lock (m_accumulatedForces)
670 {
671 if (m_accumulatedForces.Count > 0)
672 {
673 OMV.Vector3 fSum = OMV.Vector3.Zero;
674 foreach (OMV.Vector3 v in m_accumulatedForces)
675 {
676 fSum += v;
677 }
678 m_accumulatedForces.Clear();
679
680 DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
681 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
682 }
683 }
603 }); 684 });
604 } 685 }
605 686
606 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 687 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
688 DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
607 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); 689 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
608 } 690 }
609 public override void SetMomentum(OMV.Vector3 momentum) { 691 public override void SetMomentum(OMV.Vector3 momentum) {
692 DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
610 } 693 }
611 public override void SubscribeEvents(int ms) { 694 public override void SubscribeEvents(int ms) {
612 _subscribedEventsMs = ms; 695 _subscribedEventsMs = ms;
@@ -931,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor
931 { 1014 {
932 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); 1015 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
933 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; 1016 _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
1017 DetailLog("{0},CreateGeom,sphere", LocalID);
934 // Bullet native objects are scaled by the Bullet engine so pass the size in 1018 // Bullet native objects are scaled by the Bullet engine so pass the size in
935 _scale = _size; 1019 _scale = _size;
936 } 1020 }
@@ -938,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor
938 else 1022 else
939 { 1023 {
940 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); 1024 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
1025 DetailLog("{0},CreateGeom,box", LocalID);
941 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; 1026 _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
942 _scale = _size; 1027 _scale = _size;
943 } 1028 }
@@ -974,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor
974 // if this new shape is the same as last time, don't recreate the mesh 1059 // if this new shape is the same as last time, don't recreate the mesh
975 if (_meshKey == newMeshKey) return; 1060 if (_meshKey == newMeshKey) return;
976 1061
1062 DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
977 // Since we're recreating new, get rid of any previously generated shape 1063 // Since we're recreating new, get rid of any previously generated shape
978 if (_meshKey != 0) 1064 if (_meshKey != 0)
979 { 1065 {
980 // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); 1066 // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
1067 DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
981 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); 1068 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
982 _mesh = null; 1069 _mesh = null;
983 _meshKey = 0; 1070 _meshKey = 0;
@@ -1007,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor
1007 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; 1094 _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
1008 // meshes are already scaled by the meshmerizer 1095 // meshes are already scaled by the meshmerizer
1009 _scale = new OMV.Vector3(1f, 1f, 1f); 1096 _scale = new OMV.Vector3(1f, 1f, 1f);
1097 DetailLog("{0},CreateGeomMesh,done", LocalID);
1010 return; 1098 return;
1011 } 1099 }
1012 1100
@@ -1020,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor
1020 // if the hull hasn't changed, don't rebuild it 1108 // if the hull hasn't changed, don't rebuild it
1021 if (newHullKey == _hullKey) return; 1109 if (newHullKey == _hullKey) return;
1022 1110
1111 DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
1112
1023 // Since we're recreating new, get rid of any previously generated shape 1113 // Since we're recreating new, get rid of any previously generated shape
1024 if (_hullKey != 0) 1114 if (_hullKey != 0)
1025 { 1115 {
1026 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); 1116 // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
1117 DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
1027 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); 1118 BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
1028 _hullKey = 0; 1119 _hullKey = 0;
1029 _hulls.Clear(); 1120 _hulls.Clear();
1121 DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
1030 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); 1122 BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
1031 _mesh = null; // the mesh cannot match either 1123 _mesh = null; // the mesh cannot match either
1032 _meshKey = 0; 1124 _meshKey = 0;
@@ -1123,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor
1123 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; 1215 _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
1124 // meshes are already scaled by the meshmerizer 1216 // meshes are already scaled by the meshmerizer
1125 _scale = new OMV.Vector3(1f, 1f, 1f); 1217 _scale = new OMV.Vector3(1f, 1f, 1f);
1218 DetailLog("{0},CreateGeomHull,done", LocalID);
1126 return; 1219 return;
1127 } 1220 }
1128 1221
@@ -1310,6 +1403,7 @@ public sealed class BSPrim : PhysicsActor
1310 */ 1403 */
1311 1404
1312 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. 1405 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1406
1313 // Updates only for individual prims and for the root object of a linkset. 1407 // Updates only for individual prims and for the root object of a linkset.
1314 if (this._parentPrim == null) 1408 if (this._parentPrim == null)
1315 { 1409 {
@@ -1319,8 +1413,12 @@ public sealed class BSPrim : PhysicsActor
1319 _velocity = entprop.Velocity; 1413 _velocity = entprop.Velocity;
1320 _acceleration = entprop.Acceleration; 1414 _acceleration = entprop.Acceleration;
1321 _rotationalVelocity = entprop.RotationalVelocity; 1415 _rotationalVelocity = entprop.RotationalVelocity;
1416
1322 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", 1417 // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
1323 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1418 // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1419 DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1420 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1421
1324 base.RequestPhysicsterseUpdate(); 1422 base.RequestPhysicsterseUpdate();
1325 } 1423 }
1326 } 1424 }
@@ -1361,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor
1361 collisionCollection.Clear(); 1459 collisionCollection.Clear();
1362 } 1460 }
1363 } 1461 }
1462
1463 // Invoke the detailed logger and output something if it's enabled.
1464 private void DetailLog(string msg, params Object[] args)
1465 {
1466 Scene.PhysicsLogging.Write(msg, args);
1467 }
1364} 1468}
1365} 1469}