From bd880f917812280eb90af51b3f1e74e3a6ba457b Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Thu, 14 Feb 2008 09:31:22 +0000 Subject: * Another ODE Stability update. This might fix the recent Linux issues with the ODEPlugin. --- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 171 ++++++++++++++++++++------ OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 129 +++++++++++-------- 2 files changed, 210 insertions(+), 90 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 12da6a7..4c041a1 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -28,6 +28,7 @@ using System; using System.Collections.Generic; +using System.Runtime.InteropServices; using Axiom.Math; using Ode.NET; using OpenSim.Framework; @@ -57,6 +58,7 @@ namespace OpenSim.Region.Physics.OdePlugin public bool m_taintdisable = false; public bool m_disabled = false; public bool m_taintadd = false; + public GCHandle gc; private CollisionLocker ode; private bool m_taintforce = false; @@ -67,6 +69,7 @@ namespace OpenSim.Region.Physics.OdePlugin private OdeScene _parent_scene; public IntPtr m_targetSpace = (IntPtr) 0; public IntPtr prim_geom; + public IntPtr prev_geom; public IntPtr _triMeshData; private bool iscolliding = false; @@ -95,6 +98,9 @@ namespace OpenSim.Region.Physics.OdePlugin public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { + + + gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned); ode = dode; _velocity = new PhysicsVector(); _position = pos; @@ -116,6 +122,9 @@ namespace OpenSim.Region.Physics.OdePlugin _position.Y = 0; } + prim_geom = (IntPtr)0; + prev_geom = (IntPtr)0; + _size = size; m_taintsize = _size; _acceleration = new PhysicsVector(); @@ -173,6 +182,13 @@ namespace OpenSim.Region.Physics.OdePlugin set { return; } } + public void SetGeom(IntPtr geom) + { + prev_geom = prim_geom; + prim_geom = geom; + m_log.Warn("Setting Geom to: " + prim_geom); + + } public void enableBody() { @@ -337,9 +353,6 @@ namespace OpenSim.Region.Physics.OdePlugin disableBody(); } - - - float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage int VertexCount = vertexList.GetLength(0)/3; @@ -356,7 +369,10 @@ namespace OpenSim.Region.Physics.OdePlugin try { - prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null); + if (prim_geom == (IntPtr)0) + { + SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null)); + } } catch (System.AccessViolationException) { @@ -377,10 +393,12 @@ namespace OpenSim.Region.Physics.OdePlugin public void ProcessTaints(float timestep) { - + if (m_taintadd) + { changeadd(timestep); + } if (m_taintposition != _position) Move(timestep); @@ -433,6 +451,11 @@ namespace OpenSim.Region.Physics.OdePlugin } public void changeadd(float timestep) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position); IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position); @@ -441,6 +464,11 @@ namespace OpenSim.Region.Physics.OdePlugin m_targetSpace = targetspace; + if (m_targetSpace != (IntPtr)0) + { + m_log.Warn("[PHYSICS]: target: " + m_targetSpace.ToString()); + } + if (_mesh != null) { } @@ -473,11 +501,12 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2); + SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); } catch (System.AccessViolationException) { m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + ode.dunlock(_parent_scene.world); return; } } @@ -486,11 +515,12 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } catch (System.AccessViolationException) { m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + ode.dunlock(_parent_scene.world); return; } } @@ -500,12 +530,13 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } catch (System.AccessViolationException) { - return; m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + ode.dunlock(_parent_scene.world); + return; } } } @@ -526,23 +557,26 @@ namespace OpenSim.Region.Physics.OdePlugin _parent_scene.waitForSpaceUnlock(m_targetSpace); try { - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } catch (System.AccessViolationException) { m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + ode.dunlock(_parent_scene.world); return; } } } - - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.W = _orientation.w; - myrot.X = _orientation.x; - myrot.Y = _orientation.y; - myrot.Z = _orientation.z; - d.GeomSetQuaternion(prim_geom, ref myrot); + if (prim_geom != (IntPtr) 0) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.W = _orientation.w; + myrot.X = _orientation.x; + myrot.Y = _orientation.y; + myrot.Z = _orientation.z; + d.GeomSetQuaternion(prim_geom, ref myrot); + } if (m_isphysical && Body == (IntPtr)0) @@ -551,7 +585,8 @@ namespace OpenSim.Region.Physics.OdePlugin } - } + } + ode.dunlock(_parent_scene.world); _parent_scene.geom_name_map[prim_geom] = this.m_primName; _parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this; m_taintadd = false; @@ -560,32 +595,55 @@ namespace OpenSim.Region.Physics.OdePlugin } public void Move(float timestep) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + + if (m_isphysical) { // This is a fallback.. May no longer be necessary. if (Body == (IntPtr) 0) enableBody(); //Prim auto disable after 20 frames, - ///if you move it, re-enable the prim manually. - d.BodyEnable(Body); + //if you move it, re-enable the prim manually. + d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); + d.BodyEnable(Body); + } else { string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); - m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + _parent_scene.waitForSpaceUnlock(m_targetSpace); + + IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace); + m_targetSpace = tempspace; _parent_scene.waitForSpaceUnlock(m_targetSpace); - d.SpaceAdd(m_targetSpace, prim_geom); + if (prim_geom != (IntPtr) 0) + { + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + + _parent_scene.waitForSpaceUnlock(m_targetSpace); + d.SpaceAdd(m_targetSpace, prim_geom); + } } + ode.dunlock(_parent_scene.world); + resetCollisionAccounting(); m_taintposition = _position; } public void rotate(float timestep) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + d.Quaternion myrot = new d.Quaternion(); myrot.W = _orientation.w; myrot.X = _orientation.x; @@ -596,6 +654,9 @@ namespace OpenSim.Region.Physics.OdePlugin { d.BodySetQuaternion(Body, ref myrot); } + + ode.dunlock(_parent_scene.world); + resetCollisionAccounting(); m_taintrot = _orientation; } @@ -608,11 +669,17 @@ namespace OpenSim.Region.Physics.OdePlugin } public void changedisable(float timestep) - { + { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); m_disabled = true; if (Body != (IntPtr) 0) d.BodyDisable(Body); - + + ode.dunlock(_parent_scene.world); + m_taintdisable = false; } @@ -638,6 +705,10 @@ namespace OpenSim.Region.Physics.OdePlugin public void changesize(float timestamp) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); //if (!_parent_scene.geom_name_map.ContainsKey(prim_geom)) //{ // m_taintsize = _size; @@ -684,20 +755,20 @@ namespace OpenSim.Region.Physics.OdePlugin if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000)) { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2); + SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); } else { m_log.Info("[PHYSICS]: Failed to load a sphere bad size"); _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } } else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } } //else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight) @@ -715,7 +786,7 @@ namespace OpenSim.Region.Physics.OdePlugin else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); @@ -734,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2); + SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2)); } else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } } //else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight) @@ -757,7 +828,7 @@ namespace OpenSim.Region.Physics.OdePlugin else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); d.Quaternion myrot = new d.Quaternion(); @@ -779,12 +850,21 @@ namespace OpenSim.Region.Physics.OdePlugin } _parent_scene.geom_name_map[prim_geom] = oldname; + + ode.dunlock(_parent_scene.world); + resetCollisionAccounting(); m_taintsize = _size; } public void changeshape(float timestamp) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + + string oldname = _parent_scene.geom_name_map[prim_geom]; // Cleanup of old prim geometry and Bodies @@ -809,13 +889,13 @@ namespace OpenSim.Region.Physics.OdePlugin else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } } else { _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z)); } if (IsPhysical && Body == (IntPtr) 0) { @@ -833,12 +913,20 @@ namespace OpenSim.Region.Physics.OdePlugin d.GeomSetQuaternion(prim_geom, ref myrot); } _parent_scene.geom_name_map[prim_geom] = oldname; + + ode.dunlock(_parent_scene.world); + resetCollisionAccounting(); m_taintshape = false; } public void changeAddForce(float timestamp) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + System.Threading.Thread.Sleep(2); lock (m_forcelist) { @@ -855,6 +943,9 @@ namespace OpenSim.Region.Physics.OdePlugin } m_forcelist.Clear(); } + + ode.dunlock(_parent_scene.world); + m_collisionscore = 0; m_interpenetrationcount = 0; m_taintforce = false; @@ -862,6 +953,11 @@ namespace OpenSim.Region.Physics.OdePlugin } private void changevelocity(float timestep) { + while (ode.lockquery()) + { + } + ode.dlock(_parent_scene.world); + System.Threading.Thread.Sleep(20); if (IsPhysical) { @@ -870,7 +966,10 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); } } - resetCollisionAccounting(); + + ode.dunlock(_parent_scene.world); + + //resetCollisionAccounting(); m_taintVelocity = PhysicsVector.Zero; } public override bool IsPhysical diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index f934341..9392192 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -596,7 +596,7 @@ namespace OpenSim.Region.Physics.OdePlugin /// private void collision_optimized(float timeStep) { - starttiming(); + foreach (OdeCharacter chr in _characters) { // Reset the collision values to false @@ -626,7 +626,7 @@ namespace OpenSim.Region.Physics.OdePlugin //forcedZ = true; //} } - int avms = stoptiming(); + // If the sim is running slow this frame, // don't process collision for prim! @@ -719,8 +719,9 @@ namespace OpenSim.Region.Physics.OdePlugin { OdePrim p = (OdePrim) prim; - p.setPrimForRemoval(); - AddPhysicsActorTaint(prim); + //p.setPrimForRemoval(); + //AddPhysicsActorTaint(prim); + RemovePrimThreadLocked(p); } } } @@ -736,10 +737,14 @@ namespace OpenSim.Region.Physics.OdePlugin /// public void RemovePrimThreadLocked(OdePrim prim) { - prim.ResetTaints(); - lock (OdeLock) + while (ode.lockquery()) { - System.Threading.Thread.Sleep(20); + } + ode.dlock(world); + //System.Threading.Thread.Sleep(20); + prim.ResetTaints(); + + if (prim.IsPhysical) { prim.disableBody(); @@ -748,27 +753,38 @@ namespace OpenSim.Region.Physics.OdePlugin if (prim.m_targetSpace != space && prim.IsPhysical == false) { // If the geometry is in the targetspace, remove it from the target space - if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom)) + //m_log.Warn(prim.m_targetSpace); + if (prim.prim_geom == (IntPtr)0) + prim.prim_geom = prim.prev_geom; + + if (prim.m_targetSpace != (IntPtr)0) { - if (!(prim.m_targetSpace.Equals(null))) + if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom)) { if (d.GeomIsSpace(prim.m_targetSpace)) - { + { waitForSpaceUnlock(prim.m_targetSpace); d.SpaceRemove(prim.m_targetSpace, prim.prim_geom); + prim.m_targetSpace = space; } else { m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + - ((OdePrim) prim).m_targetSpace.ToString()); + ((OdePrim)prim).m_targetSpace.ToString()); } + } } + m_log.Warn(prim.prim_geom); try { - - d.GeomDestroy(prim.prim_geom); + if (prim.prim_geom != (IntPtr)0) + { + d.GeomDestroy(prim.prim_geom); + prim.prim_geom = (IntPtr) 0; + } + } catch (System.AccessViolationException) { @@ -777,30 +793,31 @@ namespace OpenSim.Region.Physics.OdePlugin _prims.Remove(prim); //If there are no more geometries in the sub-space, we don't need it in the main space anymore - if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0) - { - if (!(prim.m_targetSpace.Equals(null))) - { - if (d.GeomIsSpace(prim.m_targetSpace)) - { - waitForSpaceUnlock(prim.m_targetSpace); - d.SpaceRemove(space, prim.m_targetSpace); + //if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0) + //{ + //if (!(prim.m_targetSpace.Equals(null))) + //{ + //if (d.GeomIsSpace(prim.m_targetSpace)) + //{ + //waitForSpaceUnlock(prim.m_targetSpace); + //d.SpaceRemove(space, prim.m_targetSpace); // free up memory used by the space. - d.SpaceDestroy(prim.m_targetSpace); - int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position); - resetSpaceArrayItemToZero(xyspace[0], xyspace[1]); - } - else - { - m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + - ((OdePrim) prim).m_targetSpace.ToString()); - } - } - } + //d.SpaceDestroy(prim.m_targetSpace); + //int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position); + //resetSpaceArrayItemToZero(xyspace[0], xyspace[1]); + //} + //else + //{ + //m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" + + //((OdePrim) prim).m_targetSpace.ToString()); + //} + //} + //} } - - } + + + ode.dunlock(world); } /// /// Takes a space pointer and zeros out the array we're using to hold the spaces @@ -905,9 +922,11 @@ namespace OpenSim.Region.Physics.OdePlugin else { // this is a physical object that got disabled. ;.; - if (d.SpaceQuery(currentspace, geom)) + if (currentspace != (IntPtr)0 && geom != (IntPtr)0) { - if (currentspace != (IntPtr) 0) + if (d.SpaceQuery(currentspace, geom)) + { + if (d.GeomIsSpace(currentspace)) { waitForSpaceUnlock(currentspace); @@ -918,23 +937,24 @@ namespace OpenSim.Region.Physics.OdePlugin m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString()); } - } - else - { - IntPtr sGeomIsIn = d.GeomGetSpace(geom); - if (!(sGeomIsIn.Equals(null))) + } + else { - if (sGeomIsIn != (IntPtr) 0) + IntPtr sGeomIsIn = d.GeomGetSpace(geom); + if (!(sGeomIsIn.Equals(null))) { - if (d.GeomIsSpace(sGeomIsIn)) + if (sGeomIsIn != (IntPtr)0) { - waitForSpaceUnlock(sGeomIsIn); - d.SpaceRemove(sGeomIsIn, geom); - } - else - { - m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + - sGeomIsIn.ToString() + " Geom:" + geom.ToString()); + if (d.GeomIsSpace(sGeomIsIn)) + { + waitForSpaceUnlock(sGeomIsIn); + d.SpaceRemove(sGeomIsIn, geom); + } + else + { + m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + + sGeomIsIn.ToString() + " Geom:" + geom.ToString()); + } } } } @@ -1041,6 +1061,7 @@ namespace OpenSim.Region.Physics.OdePlugin _prims.Add(newPrim); } + return newPrim; } @@ -1268,10 +1289,10 @@ namespace OpenSim.Region.Physics.OdePlugin bool processedtaints = false; foreach (OdePrim prim in _taintedPrim) { - if (prim.m_taintremove) - { - RemovePrimThreadLocked(prim); - } + //if (prim.m_taintremove) + //{ + //RemovePrimThreadLocked(prim); + //} prim.ProcessTaints(timeStep); -- cgit v1.1