From 48f718f39fcd61501262878a8bcfbd98efed29d2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 21:43:43 -0800 Subject: BulletSim: first round of conversion from direct BulletSimAPI interfacing by BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 4133107..bfc9df2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -50,6 +50,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; + // The handle to the underlying managed or unmanaged version of Bullet being used. + public BulletSimAPITemplate PE; + public Dictionary PhysObjects; public BSShapeCollection Shapes; @@ -187,12 +190,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Allocate pinned memory to pass parameters. UnmanagedParams = new ConfigurationParameters[1]; - m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); - // allocate more pinned memory close to the above in an attempt to get the memory all together + // For the moment, only one version of the interface + PE = new BSAPIUnman(); + + // Allocate more pinned memory. Do this early to try and get all pinned memory close together. + m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; -- cgit v1.1 From c2a7af18b639646b647eb4cdff4168a2b9746ee4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Dec 2012 14:26:57 -0800 Subject: BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. Only initialization and debug fuctions left. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index bfc9df2..28c6680 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -51,7 +51,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; // The handle to the underlying managed or unmanaged version of Bullet being used. - public BulletSimAPITemplate PE; + public BSAPITemplate PE; public Dictionary PhysObjects; public BSShapeCollection Shapes; -- cgit v1.1 From 3d0fc708647ceb734385f90e2f22be9774e2171e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 31 Dec 2012 16:22:45 -0800 Subject: BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate. Update BulletSim DLLs and SOs with simplier step function interface. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 127 ++++++++++++------------ 1 file changed, 62 insertions(+), 65 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 28c6680..258b72f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -26,6 +26,7 @@ */ using System; using System.Collections.Generic; +using System.Reflection; using System.Runtime.InteropServices; using System.Text; using System.Threading; @@ -42,8 +43,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSScene : PhysicsScene, IPhysicsParameters { - private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS SCENE]"; + internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + internal static readonly string LogHeader = "[BULLETS SCENE]"; // The name of the region we're working for. public string RegionName { get; private set; } @@ -51,6 +52,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; // The handle to the underlying managed or unmanaged version of Bullet being used. + public string BulletEngineName { get; private set; } public BSAPITemplate PE; public Dictionary PhysObjects; @@ -102,11 +104,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Pinned memory used to pass step information between managed and unmanaged internal int m_maxCollisionsPerFrame; internal CollisionDesc[] m_collisionArray; - internal GCHandle m_collisionArrayPinnedHandle; internal int m_maxUpdatesPerFrame; internal EntityProperties[] m_updateArray; - internal GCHandle m_updateArrayPinnedHandle; public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -152,12 +152,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. internal ConfigurationParameters[] UnmanagedParams; - GCHandle m_paramsHandle; - - // Handle to the callback used by the unmanaged code to call into the managed code. - // Used for debug logging. - // Need to store the handle in a persistant variable so it won't be freed. - private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; // Sometimes you just have to log everything. public Logging.LogWriter PhysicsLogging; @@ -194,15 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); - // For the moment, only one version of the interface - PE = new BSAPIUnman(); - - // Allocate more pinned memory. Do this early to try and get all pinned memory close together. - m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); - m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; - m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); - m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; - m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Get the connection to the physics engine (could be native or one of many DLLs) + PE = SelectUnderlyingBulletEngine(BulletEngineName); // Enable very detailed logging. // By creating an empty logger when not logging, the log message invocation code @@ -217,22 +204,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters PhysicsLogging = new Logging.LogWriter(); } - // If Debug logging level, enable logging from the unmanaged code - m_DebugLogCallbackHandle = null; - if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) - { - m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - if (PhysicsLogging.Enabled) - // The handle is saved in a variable to make sure it doesn't get freed after this call - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); - else - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - } - - // Get the version of the DLL - // TODO: this doesn't work yet. Something wrong with marshaling the returned string. - // BulletSimVersion = BulletSimAPI.GetVersion(); - // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); + // Allocate memory for returning of the updates and collisions from the physics engine + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; // The bounding box for the simulated world. The origin is 0,0,0 unless we're // a child in a mega-region. @@ -240,11 +214,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // area. It tracks active objects no matter where they are. Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(), - m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), - m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), - m_DebugLogCallbackHandle)); + World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray); Constraints = new BSConstraintCollection(World); @@ -274,6 +244,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { BSParam.SetParameterConfigurationValues(this, pConfig); + // There are two Bullet implementations to choose from + BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged"); + // Very detailed logging for physics debugging // TODO: the boolean values can be moved to the normal parameter processing. m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -315,16 +288,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters return ret; } - // Called directly from unmanaged code so don't do much - private void BulletLogger(string msg) + // Select the connection to the actual Bullet implementation. + // The main engine selection is the engineName up to the first hypen. + // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name + // is passed to the engine to do its special selection, etc. + private BSAPITemplate SelectUnderlyingBulletEngine(string engineName) { - m_log.Debug("[BULLETS UNMANAGED]:" + msg); - } + // For the moment, do a simple switch statement. + // Someday do fancyness with looking up the interfaces in the assembly. + BSAPITemplate ret = null; - // Called directly from unmanaged code so don't do much - private void BulletLoggerPhysLog(string msg) - { - DetailLog("[BULLETS UNMANAGED]:" + msg); + string selectionName = engineName.ToLower(); + int hyphenIndex = engineName.IndexOf("-"); + if (hyphenIndex > 0) + selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1); + + switch (selectionName) + { + case "bulletunmanaged": + ret = new BSAPIUnman(engineName, this); + break; + case "bulletxna": + // ret = new BSAPIXNA(engineName, this); + break; + } + + if (ret == null) + { + m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); + } + else + { + m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); + } + + return ret; } public override void Dispose() @@ -361,7 +359,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } // Anything left in the unmanaged code should be cleaned out - BulletSimAPI.Shutdown2(World.ptr); + PE.Shutdown(World); // Not logging any more PhysicsLogging.Close(); @@ -474,9 +472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters LastTimeStep = timeStep; int updatedEntityCount = 0; - IntPtr updatedEntitiesPtr; int collidersCount = 0; - IntPtr collidersPtr; int beforeTime = 0; int simTime = 0; @@ -492,6 +488,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TriggerPreStepEvent(timeStep); // the prestep actions might have added taints + numTaints += _taintOperations.Count; ProcessTaints(); InTaintTime = false; // Only used for debugging so locking is not necessary. @@ -499,23 +496,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. if (m_physicsPhysicalDumpEnabled) - BulletSimAPI.DumpAllInfo2(World.ptr); + PE.DumpAllInfo(World); // step the physical world one interval m_simulationStep++; int numSubSteps = 0; - try { - if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); + if (PhysicsLogging.Enabled) + beforeTime = Util.EnvironmentTickCount(); - numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, - out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); + numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); - if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, - updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + if (PhysicsLogging.Enabled) + { + simTime = Util.EnvironmentTickCountSubtract(beforeTime); + DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, + updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + } } catch (Exception e) { @@ -527,8 +526,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } - // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in. - // Get a value for 'now' so all the collision and update routines don't have to get their own. SimulationNowTime = Util.EnvironmentTickCount(); @@ -570,7 +567,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. // This complex collision processing is required to create an empty collision - // event call after all collisions have happened on an object. This enables + // event call after all real collisions have happened on an object. This enables // the simulator to generate the 'collision end' event. if (ObjectsWithNoMoreCollisions.Count > 0) { @@ -599,11 +596,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. if (m_physicsPhysicalDumpEnabled) - BulletSimAPI.DumpAllInfo2(World.ptr); + PE.DumpAllInfo(World); // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // Multiply by 55 to give a nominal frame rate of 55. + // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55). return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; } -- cgit v1.1