From 87825b0abee76c28dcffdaa2c532779b813b6d14 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 5 Oct 2012 15:33:17 -0700
Subject: BulletSim: Fix crash when linking large physical linksets. Properly
remove and restore linkage constraints when upgrading a prim's mesh to a
hull. Lots more debug logging. Definitions and use of Bullet structure
dumping. Centralize detail logging so a Flush() can be added for debugging.
---
.../Region/Physics/BulletSPlugin/BSConstraint.cs | 13 +-
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +-
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 137 ++++++++++-----------
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +-
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +-
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 +-
.../Physics/BulletSPlugin/BSShapeCollection.cs | 45 ++++---
.../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 14 ++-
8 files changed, 132 insertions(+), 102 deletions(-)
(limited to 'OpenSim/Region')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 63a4127..a20be3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -49,9 +49,16 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
m_enabled = false;
- bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
- m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
- m_constraint.ptr = System.IntPtr.Zero;
+ if (m_constraint.ptr != IntPtr.Zero)
+ {
+ bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+ m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
+ BSScene.DetailLogZero,
+ m_body1.ID, m_body1.ptr.ToString("X"),
+ m_body2.ID, m_body2.ptr.ToString("X"),
+ success);
+ m_constraint.ptr = System.IntPtr.Zero;
+ }
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4ba2f62..3fb2253 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -862,7 +862,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void VDetailLog(string msg, params Object[] args)
{
if (Prim.PhysicsScene.VehicleLoggingEnabled)
- Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
+ Prim.PhysicsScene.DetailLog(msg, args);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 3e82642..20db4de 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -52,8 +52,8 @@ public class BSLinkset
// the physical 'taint' children separately.
// After taint processing and before the simulation step, these
// two lists must be the same.
- private List<BSPhysObject> m_children;
- private List<BSPhysObject> m_taintChildren;
+ private HashSet<BSPhysObject> m_children;
+ private HashSet<BSPhysObject> m_taintChildren;
// We lock the diddling of linkset classes to prevent any badness.
// This locks the modification of the instances of this class. Changes
@@ -90,8 +90,8 @@ public class BSLinkset
m_nextLinksetID = 1;
PhysicsScene = scene;
LinksetRoot = parent;
- m_children = new List<BSPhysObject>();
- m_taintChildren = new List<BSPhysObject>();
+ m_children = new HashSet<BSPhysObject>();
+ m_taintChildren = new HashSet<BSPhysObject>();
m_mass = parent.MassRaw;
}
@@ -197,6 +197,8 @@ public class BSLinkset
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
{
RecomputeLinksetConstraintVariables();
+ DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
+ LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
});
}
}
@@ -215,13 +217,10 @@ public class BSLinkset
if (IsRoot(child))
{
// If the one with the dependency is root, must undo all children
- DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
- child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
- foreach (BSPhysObject bpo in m_taintChildren)
- {
- PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
- ret = true;
- }
+ DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+ child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
+
+ ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
}
else
{
@@ -229,12 +228,9 @@ public class BSLinkset
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
- // Remove the dependency on the body of this one
- if (m_taintChildren.Contains(child))
- {
- PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
- ret = true;
- }
+ // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
+ // Despite the function name, this removes any link to the specified object.
+ ret = PhysicallyUnlinkAllChildrenFromRoot(child);
}
}
return ret;
@@ -254,7 +250,7 @@ public class BSLinkset
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
- PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
+ PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
}
}
else
@@ -263,7 +259,7 @@ public class BSLinkset
LinksetRoot.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
- PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
+ PhysicallyLinkAChildToRoot(LinksetRoot, child);
}
}
}
@@ -330,22 +326,22 @@ public class BSLinkset
{
m_children.Add(child);
- BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
+ BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject childx = child;
- DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
- rootx.LocalID,
- rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
- childx.LocalID, childx.BSBody.ptr.ToString("X"));
+ DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
- DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
- // build the physical binding between me and the child
- m_taintChildren.Add(childx);
-
+ DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
+ rootx.LocalID,
+ rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
+ childx.LocalID, childx.BSBody.ptr.ToString("X"));
// Since this is taint-time, the body and shape could have changed for the child
- PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody);
+ rootx.ForcePosition = rootx.Position; // DEBUG
+ childx.ForcePosition = childx.Position; // DEBUG
+ PhysicallyLinkAChildToRoot(rootx, childx);
+ m_taintChildren.Add(child);
});
}
return;
@@ -378,10 +374,8 @@ public class BSLinkset
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
- if (m_taintChildren.Contains(childx))
- m_taintChildren.Remove(childx);
-
- PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody);
+ m_taintChildren.Remove(child);
+ PhysicallyUnlinkAChildFromRoot(rootx, childx);
RecomputeLinksetConstraintVariables();
});
@@ -396,8 +390,7 @@ public class BSLinkset
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
- private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
- BSPhysObject childPrim, BulletBody childBody)
+ private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
@@ -409,33 +402,17 @@ public class BSLinkset
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
- DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
+ DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
- rootPrim.LocalID, rootBody.ptr.ToString("X"),
- childPrim.LocalID, childBody.ptr.ToString("X"),
+ rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+ childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
- // There is great subtlty in these paramters. Notice the check for a ptr of zero.
- // We pass the BulletBody structure into the taint in order to capture the pointer
- // of the body at the time of constraint creation. This doesn't work for the very first
- // construction because there is no body yet. The body
- // is constructed later at taint time. Thus we use the body address at time of the
- // taint creation but, if it is zero, use what's in the prim at the moment.
- // There is a possible race condition since shape can change without a taint call
- // (like changing to a mesh that is already constructed). The fix for that would be
- // to only change BSShape at taint time thus syncronizing these operations at
- // the cost of efficiency and lag.
BS6DofConstraint constrain = new BS6DofConstraint(
- PhysicsScene.World,
- rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
- childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
- midPoint,
- true,
- true
- );
+ PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
@@ -452,7 +429,7 @@ public class BSLinkset
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
- DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
+ DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, childPrim.Body,
OMV.Vector3.Zero,
@@ -486,39 +463,44 @@ public class BSLinkset
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
-
- RecomputeLinksetConstraintVariables();
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
- private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
- BSPhysObject childPrim, BulletBody childBody)
+ private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
- DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
+ bool ret = false;
+ DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
- rootPrim.LocalID, rootBody.ptr.ToString("X"),
- childPrim.LocalID, childBody.ptr.ToString("X"));
+ rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
+ childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
- PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
+ if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
+ {
+ // Make the child refresh its location
+ BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+ ret = true;
+ }
- // Make the child refresh its location
- BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
+ return ret;
}
- /*
// Remove linkage between myself and any possible children I might have.
// Called at taint time!
- private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
+ private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
- DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+ DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
+ bool ret = false;
- PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
+ if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
+ {
+ ret = true;
+ }
+ return ret;
}
- */
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
@@ -550,11 +532,17 @@ public class BSLinkset
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
- BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+ BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
+ centerOfMass, OMV.Quaternion.Identity);
+ DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
+ LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
foreach (BSPhysObject child in m_taintChildren)
{
- BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
+ BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
+ centerOfMass, OMV.Quaternion.Identity);
}
+
+ // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
}
return;
}
@@ -563,7 +551,8 @@ public class BSLinkset
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
- PhysicsScene.PhysicsLogging.Write(msg, args);
+ if (PhysicsScene.PhysicsLogging.Enabled)
+ PhysicsScene.DetailLog(msg, args);
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 1ac8c59..0665292 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -207,7 +207,8 @@ public abstract class BSPhysObject : PhysicsActor
// High performance detailed logging routine used by the physical objects.
protected void DetailLog(string msg, params Object[] args)
{
- PhysicsScene.PhysicsLogging.Write(msg, args);
+ if (PhysicsScene.PhysicsLogging.Enabled)
+ PhysicsScene.DetailLog(msg, args);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f7b68ba..98a18a1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject
_isSelected = value;
PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
{
- // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
+ DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
SetObjectDynamic(false);
});
}
@@ -620,8 +620,10 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
- // The activation state is 'disabled' so Bullet will not try to act on it
- BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+ // The activation state is 'disabled' so Bullet will not try to act on it.
+ // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
+ // Start it out sleeping and physical actions could wake it up.
+ BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -1204,6 +1206,7 @@ public sealed class BSPrim : BSPhysObject
{
// Called if the current prim body is about to be destroyed.
// Remove all the physical dependencies on the old body.
+ // (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
});
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index aaed7de..eed915d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -254,7 +254,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
- // Turns out that Bullet really doesn't care about the extents of the simulated
+ // Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
@@ -331,7 +331,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// Called directly from unmanaged code so don't do much
private void BulletLoggerPhysLog(string msg)
{
- PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
+ DetailLog("[BULLETS UNMANAGED]:" + msg);
}
public override void Dispose()
@@ -494,8 +494,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_simulationStep++;
int numSubSteps = 0;
- // Sometimes needed for debugging to find out what happened before the step
- // PhysicsLogging.Flush();
+ // DEBUG
+ DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
try
{
@@ -715,6 +715,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
try
{
+ DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
}
catch (Exception e)
@@ -1270,6 +1271,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public void DetailLog(string msg, params Object[] args)
{
PhysicsLogging.Write(msg, args);
+ // Add the Flush() if debugging crashes to get all the messages written out.
+ PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG
}
// used to fill in the LocalID when there isn't one
public const string DetailLogZero = "0000000000";
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 399a133..283b601 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -136,7 +136,21 @@ public class BSShapeCollection : IDisposable
// New entry
bodyDesc.ptr = body.ptr;
bodyDesc.referenceCount = 1;
- DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount);
+ DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
+ body.ID, body, bodyDesc.referenceCount);
+ BSScene.TaintCallback createOperation = delegate()
+ {
+ if (!BulletSimAPI.IsInWorld2(body.ptr))
+ {
+ BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+ DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}",
+ body.ID, body);
+ }
+ };
+ if (atTaintTime)
+ createOperation();
+ else
+ PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
}
bodyDesc.lastReferenced = System.DateTime.Now;
Bodies[body.ID] = bodyDesc;
@@ -160,21 +174,22 @@ public class BSShapeCollection : IDisposable
Bodies[body.ID] = bodyDesc;
DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
- // If body is no longer being used, free it -- bodies are never shared.
+ // If body is no longer being used, free it -- bodies can never be shared.
if (bodyDesc.referenceCount == 0)
{
Bodies.Remove(body.ID);
BSScene.TaintCallback removeOperation = delegate()
{
- DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
- body.ID, body.ptr.ToString("X"));
+ DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
+ body.ID, body.ptr.ToString("X"), inTaintTime);
// If the caller needs to know the old body is going away, pass the event up.
if (bodyCallback != null) bodyCallback(body);
- // Zero any reference to the shape so it is not freed when the body is deleted.
- BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
// It may have already been removed from the world in which case the next is a NOOP.
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+
+ // Zero any reference to the shape so it is not freed when the body is deleted.
+ BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
};
// If already in taint-time, do the operations now. Otherwise queue for later.
@@ -208,7 +223,7 @@ public class BSShapeCollection : IDisposable
{
// There is an existing instance of this mesh.
meshDesc.referenceCount++;
- DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
+ DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
}
else
@@ -217,7 +232,7 @@ public class BSShapeCollection : IDisposable
meshDesc.ptr = shape.ptr;
// We keep a reference to the underlying IMesh data so a hull can be built
meshDesc.referenceCount = 1;
- DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
+ DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
ret = true;
}
@@ -230,7 +245,7 @@ public class BSShapeCollection : IDisposable
{
// There is an existing instance of this hull.
hullDesc.referenceCount++;
- DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
+ DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
}
else
@@ -238,7 +253,7 @@ public class BSShapeCollection : IDisposable
// This is a new reference to a hull
hullDesc.ptr = shape.ptr;
hullDesc.referenceCount = 1;
- DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
+ DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
ret = true;
@@ -525,7 +540,7 @@ public class BSShapeCollection : IDisposable
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
- // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
+ // Remove usage of the previous shape.
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
@@ -659,6 +674,7 @@ public class BSShapeCollection : IDisposable
if (pbs.SculptEntry)
lod = PhysicsScene.SculptLOD;
+ // Mega prims usually get more detail because one can interact with shape approximations at this size.
float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
lod = PhysicsScene.MeshMegaPrimLOD;
@@ -709,13 +725,13 @@ public class BSShapeCollection : IDisposable
{
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
- // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+ DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
- // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
+ DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(shapeData.ID, bodyPtr);
@@ -731,7 +747,8 @@ public class BSShapeCollection : IDisposable
private void DetailLog(string msg, params Object[] args)
{
- PhysicsScene.PhysicsLogging.Write(msg, args);
+ if (PhysicsScene.PhysicsLogging.Enabled)
+ PhysicsScene.DetailLog(msg, args);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index a43880d..bb4d399 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -192,8 +192,9 @@ public struct ShapeData
SHAPE_SPHERE = 5,
SHAPE_MESH = 6,
SHAPE_HULL = 7,
- SHAPE_GROUNDPLANE = 8,
- SHAPE_TERRAIN = 9,
+ // following defined by BulletSim
+ SHAPE_GROUNDPLANE = 20,
+ SHAPE_TERRAIN = 21,
};
public uint ID;
public PhysicsShapeType Type;
@@ -1108,6 +1109,15 @@ public static extern float GetMargin2(IntPtr shape);
public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
--
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