From 8efe4bfc2ed7086e9fdf4812297e6525f955f6ac Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Mon, 29 Jul 2013 23:18:29 +0100
Subject: Make "abnormal thread terminations" into
"ClientLogoutsDueToNoReceives" and add this to the StatsManager
This reflects the actual use of this stat - it hasn't recorded general exceptions for some time.
Make the sim extra stats collector draw the data from the stats manager rather than maintaing this data itself.
---
.../Framework/Monitoring/SimExtraStatsCollector.cs | 25 +++------
OpenSim/Framework/Monitoring/StatsManager.cs | 65 ++++++++++++++++++++--
.../Region/ClientStack/Linden/UDP/LLUDPServer.cs | 26 +++++++--
3 files changed, 89 insertions(+), 27 deletions(-)
diff --git a/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs b/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
index 6a68322..f6f458d 100644
--- a/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
+++ b/OpenSim/Framework/Monitoring/SimExtraStatsCollector.cs
@@ -27,6 +27,7 @@
using System;
using System.Collections.Generic;
+using System.Linq;
using System.Text;
using OpenMetaverse;
using OpenMetaverse.StructuredData;
@@ -39,8 +40,6 @@ namespace OpenSim.Framework.Monitoring
///
public class SimExtraStatsCollector : BaseStatsCollector
{
- private long abnormalClientThreadTerminations;
-
// private long assetsInCache;
// private long texturesInCache;
// private long assetCacheMemoryUsage;
@@ -73,11 +72,6 @@ namespace OpenSim.Framework.Monitoring
private volatile float activeScripts;
private volatile float scriptLinesPerSecond;
- ///
- /// Number of times that a client thread terminated because of an exception
- ///
- public long AbnormalClientThreadTerminations { get { return abnormalClientThreadTerminations; } }
-
// ///
// /// These statistics are being collected by push rather than pull. Pull would be simpler, but I had the
// /// notion of providing some flow statistics (which pull wouldn't give us). Though admittedly these
@@ -166,11 +160,6 @@ namespace OpenSim.Framework.Monitoring
private IDictionary packetQueueStatsCollectors
= new Dictionary();
- public void AddAbnormalClientThreadTermination()
- {
- abnormalClientThreadTerminations++;
- }
-
// public void AddAsset(AssetBase asset)
// {
// assetsInCache++;
@@ -324,10 +313,12 @@ Asset service request failures: {3}" + Environment.NewLine,
sb.Append(Environment.NewLine);
sb.Append("CONNECTION STATISTICS");
sb.Append(Environment.NewLine);
- sb.Append(
- string.Format(
- "Abnormal client thread terminations: {0}" + Environment.NewLine,
- abnormalClientThreadTerminations));
+
+ List stats = StatsManager.GetStatsFromEachContainer("clientstack", "ClientLogoutsDueToNoReceives");
+
+ sb.AppendFormat(
+ "Client logouts due to no data receive timeout: {0}\n\n",
+ stats != null ? stats.Sum(s => s.Value).ToString() : "unknown");
// sb.Append(Environment.NewLine);
// sb.Append("INVENTORY STATISTICS");
@@ -338,7 +329,7 @@ Asset service request failures: {3}" + Environment.NewLine,
// InventoryServiceRetrievalFailures));
sb.Append(Environment.NewLine);
- sb.Append("FRAME STATISTICS");
+ sb.Append("SAMPLE FRAME STATISTICS");
sb.Append(Environment.NewLine);
sb.Append("Dilatn SimFPS PhyFPS AgntUp RootAg ChldAg Prims AtvPrm AtvScr ScrLPS");
sb.Append(Environment.NewLine);
diff --git a/OpenSim/Framework/Monitoring/StatsManager.cs b/OpenSim/Framework/Monitoring/StatsManager.cs
index a5b54c9..e6a2304 100644
--- a/OpenSim/Framework/Monitoring/StatsManager.cs
+++ b/OpenSim/Framework/Monitoring/StatsManager.cs
@@ -271,7 +271,7 @@ namespace OpenSim.Framework.Monitoring
// Stat name is not unique across category/container/shortname key.
// XXX: For now just return false. This is to avoid problems in regression tests where all tests
// in a class are run in the same instance of the VM.
- if (TryGetStat(stat, out category, out container))
+ if (TryGetStatParents(stat, out category, out container))
return false;
// We take a copy-on-write approach here of replacing dictionaries when keys are added or removed.
@@ -307,7 +307,7 @@ namespace OpenSim.Framework.Monitoring
lock (RegisteredStats)
{
- if (!TryGetStat(stat, out category, out container))
+ if (!TryGetStatParents(stat, out category, out container))
return false;
newContainer = new SortedDictionary(container);
@@ -323,12 +323,67 @@ namespace OpenSim.Framework.Monitoring
}
}
- public static bool TryGetStats(string category, out SortedDictionary> stats)
+ public static bool TryGetStat(string category, string container, string statShortName, out Stat stat)
{
- return RegisteredStats.TryGetValue(category, out stats);
+ stat = null;
+ SortedDictionary> categoryStats;
+
+ lock (RegisteredStats)
+ {
+ if (!TryGetStatsForCategory(category, out categoryStats))
+ return false;
+
+ SortedDictionary containerStats;
+
+ if (!categoryStats.TryGetValue(container, out containerStats))
+ return false;
+
+ return containerStats.TryGetValue(statShortName, out stat);
+ }
+ }
+
+ public static bool TryGetStatsForCategory(
+ string category, out SortedDictionary> stats)
+ {
+ lock (RegisteredStats)
+ return RegisteredStats.TryGetValue(category, out stats);
+ }
+
+ ///
+ /// Get the same stat for each container in a given category.
+ ///
+ ///
+ /// The stats if there were any to fetch. Otherwise null.
+ ///
+ ///
+ ///
+ public static List GetStatsFromEachContainer(string category, string statShortName)
+ {
+ SortedDictionary> categoryStats;
+
+ lock (RegisteredStats)
+ {
+ if (!RegisteredStats.TryGetValue(category, out categoryStats))
+ return null;
+
+ List stats = null;
+
+ foreach (SortedDictionary containerStats in categoryStats.Values)
+ {
+ if (containerStats.ContainsKey(statShortName))
+ {
+ if (stats == null)
+ stats = new List();
+
+ stats.Add(containerStats[statShortName]);
+ }
+ }
+
+ return stats;
+ }
}
- public static bool TryGetStat(
+ public static bool TryGetStatParents(
Stat stat,
out SortedDictionary> category,
out SortedDictionary container)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
index 25e10be..9e6a401 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
@@ -69,9 +69,22 @@ namespace OpenSim.Region.ClientStack.LindenUDP
StatsManager.RegisterStat(
new Stat(
+ "ClientLogoutsDueToNoReceives",
+ "Number of times a client has been logged out because no packets were received before the timeout.",
+ "",
+ "",
+ "clientstack",
+ scene.Name,
+ StatType.Pull,
+ MeasuresOfInterest.None,
+ stat => stat.Value = m_udpServer.ClientLogoutsDueToNoReceives,
+ StatVerbosity.Debug));
+
+ StatsManager.RegisterStat(
+ new Stat(
"IncomingUDPReceivesCount",
"Number of UDP receives performed",
- "Number of UDP receives performed",
+ "",
"",
"clientstack",
scene.Name,
@@ -84,7 +97,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
new Stat(
"IncomingPacketsProcessedCount",
"Number of inbound LL protocol packets processed",
- "Number of inbound LL protocol packets processed",
+ "",
"",
"clientstack",
scene.Name,
@@ -97,7 +110,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
new Stat(
"OutgoingUDPSendsCount",
"Number of UDP sends performed",
- "Number of UDP sends performed",
+ "",
"",
"clientstack",
scene.Name,
@@ -149,6 +162,9 @@ namespace OpenSim.Region.ClientStack.LindenUDP
/// Maximum transmission unit, or UDP packet size, for the LLUDP protocol
public const int MTU = 1400;
+ /// Number of forced client logouts due to no receipt of packets before timeout.
+ public int ClientLogoutsDueToNoReceives { get; private set; }
+
///
/// Default packet debug level given to new clients
///
@@ -1037,7 +1053,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
timeoutTicks = m_pausedAckTimeout;
if (client.IsActive &&
- (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > timeoutTicks)
+ (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > -1)
{
// We must set IsActive synchronously so that we can stop the packet loop reinvoking this method, even
// though it's set later on by LLClientView.Close()
@@ -1778,7 +1794,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
"[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}",
client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName);
- StatsManager.SimExtraStats.AddAbnormalClientThreadTermination();
+ ClientLogoutsDueToNoReceives++;
if (!client.SceneAgent.IsChildAgent)
client.Kick("Simulator logged you out due to connection timeout");
--
cgit v1.1
From 8004e6f31cb03abc9b6170622099879ccaf5570b Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Mon, 29 Jul 2013 23:38:54 +0100
Subject: Fix issue just introduced in 8efe4bfc2ed7086e9fdf4812297e6525f955f6ac
where I accidentally left in a test line to force very quick client unack
---
OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
index 9e6a401..bf50868 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
@@ -1053,7 +1053,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
timeoutTicks = m_pausedAckTimeout;
if (client.IsActive &&
- (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > -1)
+ (Environment.TickCount & Int32.MaxValue) - udpClient.TickLastPacketReceived > timeoutTicks)
{
// We must set IsActive synchronously so that we can stop the packet loop reinvoking this method, even
// though it's set later on by LLClientView.Close()
--
cgit v1.1
From 1416c909326d89566cbe785b6dacac228e31a5a0 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Mon, 29 Jul 2013 23:53:59 +0100
Subject: minor: Add timeout secs to connection timeout message. Change
message to reflect it is a timeout due to no data received rather than an ack
issue.
---
OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs | 17 +++++++++--------
1 file changed, 9 insertions(+), 8 deletions(-)
diff --git a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
index bf50868..85fe1a4 100644
--- a/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
+++ b/OpenSim/Region/ClientStack/Linden/UDP/LLUDPServer.cs
@@ -1062,7 +1062,7 @@ namespace OpenSim.Region.ClientStack.LindenUDP
// Fire this out on a different thread so that we don't hold up outgoing packet processing for
// everybody else if this is being called due to an ack timeout.
// This is the same as processing as the async process of a logout request.
- Util.FireAndForget(o => DeactivateClientDueToTimeout(client));
+ Util.FireAndForget(o => DeactivateClientDueToTimeout(client, timeoutTicks));
return;
}
@@ -1786,18 +1786,19 @@ namespace OpenSim.Region.ClientStack.LindenUDP
/// regular client pings.
///
///
- private void DeactivateClientDueToTimeout(LLClientView client)
+ ///
+ private void DeactivateClientDueToTimeout(LLClientView client, int timeoutTicks)
{
lock (client.CloseSyncLock)
- {
- m_log.WarnFormat(
- "[LLUDPSERVER]: Ack timeout, disconnecting {0} agent for {1} in {2}",
- client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, m_scene.RegionInfo.RegionName);
-
+ {
ClientLogoutsDueToNoReceives++;
+
+ m_log.WarnFormat(
+ "[LLUDPSERVER]: No packets received from {0} agent of {1} for {2}ms in {3}. Disconnecting.",
+ client.SceneAgent.IsChildAgent ? "child" : "root", client.Name, timeoutTicks, m_scene.Name);
if (!client.SceneAgent.IsChildAgent)
- client.Kick("Simulator logged you out due to connection timeout");
+ client.Kick("Simulator logged you out due to connection timeout.");
client.CloseWithoutChecks();
}
--
cgit v1.1
From 5a7784a0e6c3f549d0e7b59380ad05729cb93a4f Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 24 Jul 2013 10:52:54 -0700
Subject: BulletSim: make density display and return value consistant with how
the simulator expects it (scaled to 100kg/m^3).
---
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +-
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 13 +++++++------
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 15 ++++++++++++++-
3 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 59e7f5f..58a417e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject
RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
- Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
+ Density = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 0bdb5f1..4520171 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -463,7 +463,7 @@ public static class BSParam
// Density is passed around as 100kg/m3. This scales that to 1kg/m3.
// Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
- 0.0001f ),
+ 0.01f ),
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
2200f ),
@@ -474,8 +474,9 @@ public static class BSParam
0.2f,
(s) => { return DefaultFriction; },
(s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
+ // For historical reasons, the viewer and simulator multiply the density by 100
new ParameterDefn("DefaultDensity", "Density for new objects" ,
- 10.000006836f, // Aluminum g/cm3
+ 1000.0006836f, // Aluminum g/cm3 * 100
(s) => { return DefaultDensity; },
(s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
@@ -555,8 +556,9 @@ public static class BSParam
0.95f ),
new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
1.3f ),
- new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
- 3.5f) ,
+ // For historical reasons, density is reported * 100
+ new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
+ 3500f) , // 3.5 * 100
new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
0f ),
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
@@ -608,9 +610,8 @@ public static class BSParam
0.0f ),
new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
0.0f ),
- // Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f;
new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
- 1.0f ),
+ 0.2f ),
new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
60.0f ),
new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index d34b797..0704591 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
Friction = matAttrib.friction;
Restitution = matAttrib.restitution;
- Density = matAttrib.density / BSParam.DensityScaleFactor;
+ Density = matAttrib.density;
// DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
}
+ public override float Density
+ {
+ get
+ {
+ return base.Density;
+ }
+ set
+ {
+ DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
+ base.Density = value;
+ }
+ }
+
// Stop all physical motion.
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);
--
cgit v1.1
From 6ad577d32bcb7520a33e4c0c7510d81a7cad674c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Jul 2013 15:22:32 -0700
Subject: BulletSim: test method for debugging of extended physics script
operations.
---
.../Scripting/ExtendedPhysics/ExtendedPhysics.cs | 54 ++++++++++++++++++----
1 file changed, 46 insertions(+), 8 deletions(-)
diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
index 6009dc5..0cbc5f9 100755
--- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
+++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs
@@ -31,10 +31,10 @@ using System.Reflection;
using System.Text;
using OpenSim.Framework;
+using OpenSim.Region.CoreModules;
using OpenSim.Region.Framework;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
-using OpenSim.Region.CoreModules;
using Mono.Addins;
using Nini.Config;
@@ -49,6 +49,10 @@ public class ExtendedPhysics : INonSharedRegionModule
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static string LogHeader = "[EXTENDED PHYSICS]";
+ // Since BulletSim is a plugin, this these values aren't defined easily in one place.
+ // This table must coorespond to an identical table in BSScene.
+ public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType";
+
private IConfig Configuration { get; set; }
private bool Enabled { get; set; }
private Scene BaseScene { get; set; }
@@ -143,13 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule
[ScriptConstant]
public static int PHYS_CENTER_OF_MASS = 1 << 0;
- [ScriptConstant]
- public static int PHYS_LINKSET_TYPE_CONSTRAINT = 1;
- [ScriptConstant]
- public static int PHYS_LINKSET_TYPE_COMPOUND = 2;
- [ScriptConstant]
- public static int PHYS_LINKSET_TYPE_MANUAL = 3;
-
[ScriptInvocation]
public string physGetEngineType(UUID hostID, UUID scriptID)
{
@@ -163,9 +160,50 @@ public class ExtendedPhysics : INonSharedRegionModule
return ret;
}
+ [ScriptConstant]
+ public static int PHYS_LINKSET_TYPE_CONSTRAINT = 0;
+ [ScriptConstant]
+ public static int PHYS_LINKSET_TYPE_COMPOUND = 1;
+ [ScriptConstant]
+ public static int PHYS_LINKSET_TYPE_MANUAL = 2;
+
[ScriptInvocation]
public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
{
+ if (!Enabled) return;
+
+ // The part that is requesting the change.
+ SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID);
+
+ if (requestingPart != null)
+ {
+ // The change is always made to the root of a linkset.
+ SceneObjectGroup containingGroup = requestingPart.ParentGroup;
+ SceneObjectPart rootPart = containingGroup.RootPart;
+
+ if (rootPart != null)
+ {
+ Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor;
+ if (rootPhysActor != null)
+ {
+ rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType);
+ }
+ else
+ {
+ m_log.WarnFormat("{0} physSetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}",
+ LogHeader, rootPart.Name, hostID);
+ }
+ }
+ else
+ {
+ m_log.WarnFormat("{0} physSetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}",
+ LogHeader, requestingPart.Name, hostID);
+ }
+ }
+ else
+ {
+ m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID);
+ }
}
}
}
--
cgit v1.1
From 0d189165a83bb97f243a1f29cfa6896936ca6db0 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 30 Jul 2013 15:23:33 -0700
Subject: BulletSim: distribute vehicle physical settings to all members of a
linkset. Enables constraint based linksets. Rename some internal variables to
clarify whether values world or vehicle relative.
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 75 +++++++++++-----------
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 18 +++++-
.../Physics/BulletSPlugin/BSLinksetCompound.cs | 11 +++-
3 files changed, 61 insertions(+), 43 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 82d7c44..f0d17d3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_vehicleMass = ControllingPrim.TotalMass;
// Friction affects are handled by this vehicle code
- m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
- m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
- // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
- // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
+ // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
+ // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
+ ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
+ ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
// Moderate angular movement introduced by Bullet.
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
// Vehicles report collision events so we know when it's on the ground
- m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
- // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
+ // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+ ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
- Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
- ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
- m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
- m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
- // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
+ // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
+ // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
+ // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
+ // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
+ ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
// Set the gravity for the vehicle depending on the buoyancy
// TODO: what should be done if prim and vehicle buoyancy differ?
m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
- m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
- // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
+ // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
+ ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
m_VhoverTargetHeight = m_VhoverHeight;
}
-
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is already heigher, use its height as target height
@@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
verticalError, verticalCorrection);
}
-
}
}
@@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void ComputeAngularTurning(float pTimestep)
{
// The user wants this many radians per second angular change?
+ Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
@@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// TODO: This is here because this is where ODE put it but documentation says it
// is a linear effect. Where should this check go?
//if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
- // {
+ // {
// angularMotorContributionV.X = 0f;
// angularMotorContributionV.Y = 0f;
- // }
+ // }
// Reduce any velocity by friction.
Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
angularMotorContributionV -= (currentAngularV * frictionFactorW);
- VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
-
-
+ Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
+ VehicleRotationalVelocity += angularMotorContributionW;
- VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
+ VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
+ ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
}
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
@@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
// since only computing half the distance between the angles.
- float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
+ float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
// Make a prediction of where the up axis will be when this is applied rather then where it is now as
// this makes for a smoother adjustment and less fighting between the various forces.
@@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
- Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
+ Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
VehicleRotationalVelocity += vertContributionV;
- VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+ VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
ControllingPrim.LocalID,
+ verticalAttractionSpeed,
vehicleUpAxis,
predictedUp,
torqueVector,
@@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
// Create a rotation that is only the vehicle's rotation around Z
- Vector3 currentEuler = Vector3.Zero;
- VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
- Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
+ Vector3 currentEulerW = Vector3.Zero;
+ VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
+ Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
// Create the axis that is perpendicular to the up vector and the rotated up vector.
- Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
+ Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
// Compute the angle between those to vectors.
double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
// TODO: add 'efficiency'.
- differenceAngle /= m_verticalAttractionTimescale;
+ // differenceAngle /= m_verticalAttractionTimescale;
// Create the quaterian representing the correction angle
- Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
+ Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
// Turn that quaternion into Euler values to make it into velocities to apply.
- Vector3 vertContributionV = Vector3.Zero;
- correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
- vertContributionV *= -1f;
+ Vector3 vertContributionW = Vector3.Zero;
+ correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
+ vertContributionW *= -1f;
+ vertContributionW /= m_verticalAttractionTimescale;
- VehicleRotationalVelocity += vertContributionV;
+ VehicleRotationalVelocity += vertContributionW;
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
ControllingPrim.LocalID,
vehicleUpAxis,
- differenceAxis,
+ differenceAxisW,
differenceAngle,
- correctionRotation,
- vertContributionV);
+ correctionRotationW,
+ vertContributionW);
break;
}
case 2:
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 960c0b4..7f94666 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,16 +309,18 @@ public abstract class BSLinkset
}
);
}
- public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+ public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
{
- OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+ OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
member.Inertia = inertia * inertiaFactor;
- m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+ m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+ DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
+
}
return false; // 'false' says to continue looping
}
@@ -334,6 +336,16 @@ public abstract class BSLinkset
}
);
}
+ public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+ {
+ ForEachMember((member) =>
+ {
+ if (member.PhysBody.HasPhysicalBody)
+ m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
+ return false; // 'false' says to continue looping
+ }
+ );
+ }
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 33ae5a5..6359046 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
}
- public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+ public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
{
- OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+ OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
LinksetRoot.Inertia = inertia * inertiaFactor;
- m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+ m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
}
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
@@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
+ public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+ {
+ if (LinksetRoot.PhysBody.HasPhysicalBody)
+ m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
+ }
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
--
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