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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/BSScene.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/BSScene.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs48
1 files changed, 20 insertions, 28 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index c4b4332..9d41ce8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -30,9 +30,9 @@ using System.Runtime.InteropServices;
30using System.Text; 30using System.Text;
31using System.Threading; 31using System.Threading;
32using OpenSim.Framework; 32using OpenSim.Framework;
33using OpenSim.Region.CoreModules.Framework.Statistics.Logging;
34using OpenSim.Region.Framework; 33using OpenSim.Region.Framework;
35using OpenSim.Region.Physics.Manager; 34using OpenSim.Region.Physics.Manager;
35using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
36using Nini.Config; 36using Nini.Config;
37using log4net; 37using log4net;
38using OpenMetaverse; 38using OpenMetaverse;
@@ -45,15 +45,17 @@ using OpenMetaverse;
45// Compute physics FPS reasonably 45// Compute physics FPS reasonably
46// Based on material, set density and friction 46// Based on material, set density and friction
47// More efficient memory usage when passing hull information from BSPrim to BulletSim 47// More efficient memory usage when passing hull information from BSPrim to BulletSim
48// Move all logic out of the C++ code and into the C# code for easier future modifications.
48// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? 49// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
49// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) 50// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
50// At the moment, physical and phantom causes object to drop through the terrain 51// At the moment, physical and phantom causes object to drop through the terrain
51// Physical phantom objects and related typing (collision options ) 52// Physical phantom objects and related typing (collision options )
53// Use collision masks for collision with terrain and phantom objects
52// Check out llVolumeDetect. Must do something for that. 54// Check out llVolumeDetect. Must do something for that.
53// Should prim.link() and prim.delink() membership checking happen at taint time? 55// Should prim.link() and prim.delink() membership checking happen at taint time?
56// changing the position and orientation of a linked prim must rebuild the constraint with the root.
54// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once 57// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
55// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect 58// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
56// Use collision masks for collision with terrain and phantom objects
57// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) 59// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
58// Implement LockAngularMotion 60// Implement LockAngularMotion
59// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) 61// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@@ -61,9 +63,6 @@ using OpenMetaverse;
61// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. 63// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
62// Add PID movement operations. What does ScenePresence.MoveToTarget do? 64// Add PID movement operations. What does ScenePresence.MoveToTarget do?
63// Check terrain size. 128 or 127? 65// Check terrain size. 128 or 127?
64// Multiple contact points on collision?
65// See code in ode::near... calls to collision_accounting_events()
66// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
67// Raycast 66// Raycast
68// 67//
69namespace OpenSim.Region.Physics.BulletSPlugin 68namespace OpenSim.Region.Physics.BulletSPlugin
@@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
160 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; 159 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
161 160
162 // Sometimes you just have to log everything. 161 // Sometimes you just have to log everything.
163 public LogWriter PhysicsLogging; 162 public Logging.LogWriter PhysicsLogging;
164 private bool m_physicsLoggingEnabled; 163 private bool m_physicsLoggingEnabled;
165 private string m_physicsLoggingDir; 164 private string m_physicsLoggingDir;
166 private string m_physicsLoggingPrefix; 165 private string m_physicsLoggingPrefix;
167 private int m_physicsLoggingFileMinutes; 166 private int m_physicsLoggingFileMinutes;
168 167
169 public LogWriter VehicleLogging;
170 private bool m_vehicleLoggingEnabled; 168 private bool m_vehicleLoggingEnabled;
171 private string m_vehicleLoggingDir; 169 public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
172 private string m_vehicleLoggingPrefix;
173 private int m_vehicleLoggingFileMinutes;
174 170
175 public BSScene(string identifier) 171 public BSScene(string identifier)
176 { 172 {
@@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
197 // can be left in and every call doesn't have to check for null. 193 // can be left in and every call doesn't have to check for null.
198 if (m_physicsLoggingEnabled) 194 if (m_physicsLoggingEnabled)
199 { 195 {
200 PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); 196 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
201 } 197 }
202 else 198 else
203 { 199 {
204 PhysicsLogging = new LogWriter(); 200 PhysicsLogging = new Logging.LogWriter();
205 }
206 if (m_vehicleLoggingEnabled)
207 {
208 VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes);
209 }
210 else
211 {
212 VehicleLogging = new LogWriter();
213 } 201 }
214 202
215 // Get the version of the DLL 203 // Get the version of the DLL
@@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
218 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); 206 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
219 207
220 // if Debug, enable logging from the unmanaged code 208 // if Debug, enable logging from the unmanaged code
221 if (m_log.IsDebugEnabled) 209 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
222 { 210 {
223 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); 211 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
224 // the handle is saved to it doesn't get freed after this call 212 if (PhysicsLogging.Enabled)
225 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); 213 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
214 else
215 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
216 // the handle is saved in a variable to make sure it doesn't get freed after this call
226 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); 217 BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
227 } 218 }
228 219
@@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
363 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); 354 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
364 // Very detailed logging for vehicle debugging 355 // Very detailed logging for vehicle debugging
365 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 356 m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
366 m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", ".");
367 m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-");
368 m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5);
369 } 357 }
370 } 358 }
371 m_params[0] = parms; 359 m_params[0] = parms;
@@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
386 return ret; 374 return ret;
387 } 375 }
388 376
389
390 // Called directly from unmanaged code so don't do much 377 // Called directly from unmanaged code so don't do much
391 private void BulletLogger(string msg) 378 private void BulletLogger(string msg)
392 { 379 {
393 m_log.Debug("[BULLETS UNMANAGED]:" + msg); 380 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
394 } 381 }
382
383 // Called directly from unmanaged code so don't do much
384 private void BulletLoggerPhysLog(string msg)
385 {
386 PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
387 }
395 388
396 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) 389 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
397 { 390 {
@@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
532 for (int ii = 0; ii < updatedEntityCount; ii++) 525 for (int ii = 0; ii < updatedEntityCount; ii++)
533 { 526 {
534 EntityProperties entprop = m_updateArray[ii]; 527 EntityProperties entprop = m_updateArray[ii];
535 // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
536 BSPrim prim; 528 BSPrim prim;
537 if (m_prims.TryGetValue(entprop.ID, out prim)) 529 if (m_prims.TryGetValue(entprop.ID, out prim))
538 { 530 {