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BulletSim: Add very detailed logging to BSDynamics for vehicle debugging

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This commit is contained in:
Robert Adams
2012-07-18 08:36:41 -07:00
parent e9c437ed0e
commit cda67a68de
3 changed files with 146 additions and 45 deletions
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60
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@@ -29,12 +29,13 @@ using System.Collections.Generic;
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 Nini.Config;
using log4net;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
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)];
}