From cda67a68de11790ff7f3f19937b4d08309bc1e89 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jul 2012 08:36:41 -0700 Subject: BulletSim: Add very detailed logging to BSDynamics for vehicle debugging --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 130 ++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 60 +++++++++- 3 files changed, 146 insertions(+), 45 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index eb20eb3..bef7aec 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -131,8 +131,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_type = Vehicle.TYPE_NONE; } - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) { + DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -229,8 +230,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessFloatVehicleParam - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) + internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) { + DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -265,6 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { + DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -278,6 +281,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { + DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); if (remove) { if (pParam == -1) @@ -434,6 +438,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessTypeChange(Vehicle pType) { + DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); // Set Defaults For Type m_type = pType; switch (pType) @@ -594,7 +599,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); break; - } }//end SetDefaultsForType @@ -609,12 +613,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveLinear(pTimestep, pParentScene); MoveAngular(pTimestep); LimitRotation(pTimestep); + DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}", + m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep, BSScene _pParentScene) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { + Vector3 origDir = m_linearMotorDirection; + Vector3 origVel = m_lastLinearVelocityVector; + // add drive to body Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? @@ -630,9 +639,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // decay applied velocity Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); - //Console.WriteLine("decay: " + decayfraction); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - //Console.WriteLine("actual: " + m_linearMotorDirection); + + DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", + m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else { // requested is not significant @@ -643,63 +653,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin // convert requested object velocity to world-referenced vector m_dir = m_lastLinearVelocityVector; - Quaternion rot = m_prim.Orientation; - Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - m_dir *= rotq; // apply obj rotation to velocity vector + m_dir *= m_prim.Orientation; + + // Add the various forces into m_dir which will be our new direction vector (velocity) - // add Gravity andBuoyancy + // add Gravity and Buoyancy // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. Vector3 grav = Vector3.Zero; - // There is some gravity, make a gravity force vector - // that is applied after object velocity. - float objMass = m_prim.Mass; + // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); + grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity Vector3 pos = m_prim.Position; + Vector3 posChange = pos; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); - Vector3 posChange = new Vector3(); - posChange.X = pos.X - m_lastPositionVector.X; - posChange.Y = pos.Y - m_lastPositionVector.Y; - posChange.Z = pos.Z - m_lastPositionVector.Z; double Zchange = Math.Abs(posChange.Z); if (m_BlockingEndPoint != Vector3.Zero) { + bool changed = false; if (pos.X >= (m_BlockingEndPoint.X - (float)1)) { pos.X -= posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) { pos.Y -= posChange.Y + 1; - m_prim.Position = pos; + changed = true; } if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) { pos.Z -= posChange.Z + 1; - m_prim.Position = pos; + changed = true; } if (pos.X <= 0) { pos.X += posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y <= 0) { pos.Y += posChange.Y + 1; + changed = true; + } + if (changed) + { m_prim.Position = pos; + DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) { pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; m_prim.Position = pos; + DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } // Check if hovering @@ -746,6 +759,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); + // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs @@ -774,12 +789,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); + float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { grav.Z = (float)(grav.Z * 1.037125); } + DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); //End Experimental Values } if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -803,29 +819,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.Force = grav; - // apply friction + // Apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + + DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", + m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); + } // end MoveLinear() private void MoveAngular(float pTimestep) { - /* - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private int m_angularMotorApply = 0; // application frame counter - private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body - */ + // m_angularMotorDirection // angular velocity requested by LSL motor + // m_angularMotorApply // application frame counter + // m_angularMotorVelocity // current angular motor velocity (ramps up and down) + // m_angularMotorTimescale // motor angular velocity ramp up rate + // m_angularMotorDecayTimescale // motor angular velocity decay rate + // m_angularFrictionTimescale // body angular velocity decay rate + // m_lastAngularVelocity // what was last applied to body // Get what the body is doing, this includes 'external' influences Vector3 angularVelocity = m_prim.RotationalVelocity; - // Vector3 angularVelocity = Vector3.Zero; if (m_angularMotorApply > 0) { + // Rather than snapping the angular motor velocity from the old value to + // a newly set velocity, this routine steps the value from the previous + // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). + // There are m_angularMotorApply steps. + Vector3 origAngularVelocity = m_angularMotorVelocity; // ramp up to new value // current velocity += error / (time to get there / step interval) // requested speed - last motor speed @@ -833,23 +855,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", + m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected // velocity may still be acheived. } else { - // no motor recently applied, keep the body velocity - /* m_angularMotorVelocity.X = angularVelocity.X; - m_angularMotorVelocity.Y = angularVelocity.Y; - m_angularMotorVelocity.Z = angularVelocity.Z; */ - + // No motor recently applied, keep the body velocity // and decay the velocity m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); } // end motor section // Vertical attractor section Vector3 vertattr = Vector3.Zero; - if (m_verticalAttractionTimescale < 300) { float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); @@ -871,7 +891,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Error is 0 (no error) to +/- 2 (max error) // scale it by VAservo verterr = verterr * VAservo; -//if (frcount == 0) Console.WriteLine("VAerr=" + verterr); // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. @@ -884,11 +903,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; + DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", + m_prim.LocalID, verterr, bounce, vertattr); + } // else vertical attractor is off - // m_lastVertAttractor = vertattr; + // m_lastVertAttractor = vertattr; // Bank section tba + // Deflection section tba // Sum velocities @@ -898,11 +921,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity.X = 0; m_lastAngularVelocity.Y = 0; + DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. + DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } // apply friction @@ -912,10 +937,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply to the body m_prim.RotationalVelocity = m_lastAngularVelocity; + DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); + } //end MoveAngular + } //end MoveAngular internal void LimitRotation(float timestep) { - Quaternion rotq = m_prim.Orientation; // rotq = rotation of object + Quaternion rotq = m_prim.Orientation; Quaternion m_rot = rotq; bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) @@ -923,18 +951,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq.X >= m_RollreferenceFrame.X) { m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y >= m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); + changed = true; } if (rotq.X <= -m_RollreferenceFrame.X) { m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y <= -m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); + changed = true; } changed = true; } @@ -944,8 +976,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_rot.Y = 0; changed = true; } + if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) + { + m_rot.X = 0; + m_rot.Y = 0; + changed = true; + } if (changed) m_prim.Orientation = m_rot; + + DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + m_prim.Scene.VehicleLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 23b276e..227696e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -52,6 +52,7 @@ public sealed class BSPrim : PhysicsActor private List _hulls; private BSScene _scene; + public BSScene Scene { get { return _scene; } } private String _avName; private uint _localID = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 150326e..c4b4332 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -29,12 +29,13 @@ using System.Collections.Generic; using System.Runtime.InteropServices; using System.Text; using System.Threading; -using Nini.Config; -using log4net; using OpenSim.Framework; +using OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Framework; using OpenSim.Region.Physics.Manager; +using Nini.Config; +using log4net; using OpenMetaverse; -using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // Debug linkset @@ -158,6 +159,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; + // Sometimes you just have to log everything. + public LogWriter PhysicsLogging; + private bool m_physicsLoggingEnabled; + private string m_physicsLoggingDir; + private string m_physicsLoggingPrefix; + private int m_physicsLoggingFileMinutes; + + public LogWriter VehicleLogging; + private bool m_vehicleLoggingEnabled; + private string m_vehicleLoggingDir; + private string m_vehicleLoggingPrefix; + private int m_vehicleLoggingFileMinutes; + public BSScene(string identifier) { m_initialized = false; @@ -178,6 +192,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Enable very detailed logging. + // By creating an empty logger when not logging, the log message invocation code + // can be left in and every call doesn't have to check for null. + if (m_physicsLoggingEnabled) + { + PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + } + else + { + PhysicsLogging = new LogWriter(); + } + if (m_vehicleLoggingEnabled) + { + VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes); + } + else + { + VehicleLogging = new LogWriter(); + } + // Get the version of the DLL // TODO: this doesn't work yet. Something wrong with marshaling the returned string. // BulletSimVersion = BulletSimAPI.GetVersion(); @@ -321,6 +355,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); + + // Very detailed logging for physics debugging + m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); + m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); + m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); + m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + // Very detailed logging for vehicle debugging + m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", "."); + m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-"); + m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5); } } m_params[0] = parms; @@ -560,8 +605,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters }); } + // Someday we will have complex terrain with caves and tunnels + // For the moment, it's flat and convex + public float GetTerrainHeightAtXYZ(Vector3 loc) + { + return GetTerrainHeightAtXY(loc.X, loc.Y); + } + public float GetTerrainHeightAtXY(float tX, float tY) { + if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize) + return 30; return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; } -- cgit v1.1