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BulletSim: more detail logging for vehicle and general physics debugging.

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Physical linksets are fully functional.
Tweeking of the vehicle code to make it semi-work.
Utilize the new API2 for some setting operations.
Add GetOrientation() API call for proper reporting of children of linksets.
Changes the interface between C# and C++ code so old DLLs won't work!
This commit is contained in:
Robert Adams
2012-07-20 14:08:29 -07:00
parent 24dfb5bcb3
commit ca3b6b1f90
4 changed files with 244 additions and 75 deletions
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48
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@@ -30,9 +30,9 @@ using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using OpenSim.Framework;
using OpenSim.Region.CoreModules.Framework.Statistics.Logging;
using OpenSim.Region.Framework;
using OpenSim.Region.Physics.Manager;
using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
using Nini.Config;
using log4net;
using OpenMetaverse;
@@ -45,15 +45,17 @@ using OpenMetaverse;
// Compute physics FPS reasonably
// Based on material, set density and friction
// More efficient memory usage when passing hull information from BSPrim to BulletSim
// Move all logic out of the C++ code and into the C# code for easier future modifications.
// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
// At the moment, physical and phantom causes object to drop through the terrain
// Physical phantom objects and related typing (collision options )
// Use collision masks for collision with terrain and phantom objects
// Check out llVolumeDetect. Must do something for that.
// Should prim.link() and prim.delink() membership checking happen at taint time?
// changing the position and orientation of a linked prim must rebuild the constraint with the root.
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
// Use collision masks for collision with terrain and phantom objects
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
// Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@@ -61,9 +63,6 @@ using OpenMetaverse;
// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
// Add PID movement operations. What does ScenePresence.MoveToTarget do?
// Check terrain size. 128 or 127?
// Multiple contact points on collision?
// See code in ode::near... calls to collision_accounting_events()
// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
// Raycast
//
namespace OpenSim.Region.Physics.BulletSPlugin
@@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
// Sometimes you just have to log everything.
public LogWriter PhysicsLogging;
public Logging.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 bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
public BSScene(string identifier)
{
@@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// 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);
PhysicsLogging = new Logging.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();
PhysicsLogging = new Logging.LogWriter();
}
// Get the version of the DLL
@@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
// if Debug, enable logging from the unmanaged code
if (m_log.IsDebugEnabled)
if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
{
m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
// the handle is saved to it doesn't get freed after this call
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
if (PhysicsLogging.Enabled)
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
else
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
// the handle is saved in a variable to make sure it doesn't get freed after this call
BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
}
@@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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;
@@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
return ret;
}
// Called directly from unmanaged code so don't do much
private void BulletLogger(string msg)
{
m_log.Debug("[BULLETS UNMANAGED]:" + msg);
}
// Called directly from unmanaged code so don't do much
private void BulletLoggerPhysLog(string msg)
{
PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
}
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
{
@@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
for (int ii = 0; ii < updatedEntityCount; ii++)
{
EntityProperties entprop = m_updateArray[ii];
// m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
BSPrim prim;
if (m_prims.TryGetValue(entprop.ID, out prim))
{