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* Patch from nlin to enable DIF state file writing from the ODEPlugin

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* Rebuilt libode.so, ode.dll
* If you roll your own ODE library, make sure to update your opensim-libs.
This commit is contained in:
Teravus Ovares
2008-06-20 04:57:32 +00:00
parent 20e4036853
commit e02a2e31e0
5 changed files with 38 additions and 1 deletions
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28
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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@@ -30,6 +30,7 @@ using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Threading;
using System.IO;
using Axiom.Math;
using log4net;
using Nini.Config;
@@ -247,6 +248,11 @@ namespace OpenSim.Region.Physics.OdePlugin
private IConfigSource m_config;
public bool physics_logging = false;
public int physics_logging_interval = 0;
public bool physics_logging_append_existing_logfile = false;
/// <summary>
/// Initiailizes the scene
/// Sets many properties that ODE requires to be stable
@@ -370,6 +376,10 @@ namespace OpenSim.Region.Physics.OdePlugin
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 550000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 5f);
}
physics_logging = physicsconfig.GetBoolean("physics_logging", false);
physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
}
}
@@ -1759,7 +1769,25 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
// Finished with all sim stepping. If requested, dump world state to file for debugging.
// TODO: This call to the export function is already inside lock(OdeLock) - but is an extra lock needed?
// TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
if(physics_logging && (physics_logging_interval>0) && (framecount % physics_logging_interval == 0) ) {
string fname = "state-" + world.ToString() + ".DIF"; // give each physics world a separate filename
string prefix = "world" + world.ToString(); // prefix for variable names in exported .DIF file
if(physics_logging_append_existing_logfile) {
string header = "-------------- START OF PHYSICS FRAME " + framecount.ToString() + " --------------";
TextWriter fwriter = File.AppendText(fname);
fwriter.WriteLine(header);
fwriter.Close();
}
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
}
}
return fps;
}