move terrain geom to own ode space. Limit range on raycast if includes

terrain until ode doesn't eat all stack. Add a pre-simulation method to do
pending actors changes (except mesh assets still not ready to use), to be
optionaly called before firing heartbeat. [UNTESTED]

3 files changed, 226 insertions, 83 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index c2c4384..535a4e2 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -1325,12 +1325,48 @@ namespace OpenSim.Region.Physics.OdePlugin
             }

         }

 

+

+        private void SetGeom(IntPtr geom)

+        {

+            prim_geom = geom;

+            //Console.WriteLine("SetGeom to " + prim_geom + " for " + Name);

+            if (prim_geom != IntPtr.Zero)

+            {

+

+                if (m_NoColide)

+                {

+                    d.GeomSetCategoryBits(prim_geom, 0);

+                    if (m_isphysical)

+                    {

+                        d.GeomSetCollideBits(prim_geom, (uint)CollisionCategories.Land);

+                    }

+                    else

+                    {

+                        d.GeomSetCollideBits(prim_geom, 0);

+                        d.GeomDisable(prim_geom);

+                    }

+                }

+                else

+                {

+                    d.GeomSetCategoryBits(prim_geom, (uint)m_collisionCategories);

+                    d.GeomSetCollideBits(prim_geom, (uint)m_collisionFlags);

+                }

+

+                UpdatePrimBodyData();

+                _parent_scene.actor_name_map[prim_geom] = this;

+

+            }

+            else

+                m_log.Warn("Setting bad Geom");

+        }

+

         private bool GetMeshGeom()

         {

             IntPtr vertices, indices;

             int vertexCount, indexCount;

             int vertexStride, triStride;

 

+            

             IMesh mesh = m_mesh;

 

             if (mesh == null)

@@ -1356,6 +1392,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 m_mesh = null;

                 return false;

             }

+

+            IntPtr geo = IntPtr.Zero;

+

             try

             {

                 _triMeshData = d.GeomTriMeshDataCreate();

@@ -1363,7 +1402,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount, triStride);

                 d.GeomTriMeshDataPreprocess(_triMeshData);

 

-                prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);

+                geo = d.CreateTriMesh(m_targetSpace, _triMeshData, null, null, null);

             }

 

             catch (Exception e)

@@ -1380,15 +1419,15 @@ namespace OpenSim.Region.Physics.OdePlugin
                     }

                 }

                 _triMeshData = IntPtr.Zero;

-                prim_geom = IntPtr.Zero;

 

                 m_hasOBB = false;

                 m_OBBOffset = Vector3.Zero;

                 m_OBB = _size * 0.5f;

                 m_physCost = 0.1f;

-                m_streamCost = 1.0f;              

+                m_streamCost = 1.0f;

+              

                 _parent_scene.mesher.ReleaseMesh(mesh);

-                m_meshState = MeshState.AssetFailed;

+                m_meshState = MeshState.MeshFailed;

                 m_mesh = null;

                 return false;

             }

@@ -1397,12 +1436,13 @@ namespace OpenSim.Region.Physics.OdePlugin
             // todo

             m_streamCost = 1.0f;

 

+            SetGeom(geo);

+

             return true;

         }

 

         private void CreateGeom()

         {

-            IntPtr geo = IntPtr.Zero;

             bool hasMesh = false;

 

             m_NoColide = false;

@@ -1418,8 +1458,11 @@ namespace OpenSim.Region.Physics.OdePlugin
                     m_NoColide = true;

             }

 

+

             if (!hasMesh)

             {

+                IntPtr geo = IntPtr.Zero;

+

                 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1

                     && _size.X == _size.Y && _size.Y == _size.Z)

                 { // it's a sphere

@@ -1447,7 +1490,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 }

                 m_physCost = 0.1f;

                 m_streamCost = 1.0f;

-                prim_geom = geo;

+                SetGeom(geo);

             }

         }

 

@@ -2740,8 +2783,6 @@ namespace OpenSim.Region.Physics.OdePlugin
         {

         }

 

- 

-

         private void changeAddPhysRep(ODEPhysRepData repData)

         {

             _size = repData.size; //??

@@ -2763,10 +2804,6 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             if (prim_geom != IntPtr.Zero)

             {

-                UpdatePrimBodyData();

-

-                _parent_scene.actor_name_map[prim_geom] = this;

-

                 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

                 d.Quaternion myrot = new d.Quaternion();

                 myrot.X = _orientation.X;

@@ -2774,23 +2811,23 @@ namespace OpenSim.Region.Physics.OdePlugin
                 myrot.Z = _orientation.Z;

                 myrot.W = _orientation.W;

                 d.GeomSetQuaternion(prim_geom, ref myrot);

+            }

 

-                if (!m_isphysical)

-                {

-                    SetInStaticSpace(this);

-                    UpdateCollisionCatFlags();

-                    ApplyCollisionCatFlags();

-                }

-                else

-                    MakeBody();

+            if (!m_isphysical)

+            {

+                SetInStaticSpace(this);

+                UpdateCollisionCatFlags();

+                ApplyCollisionCatFlags();

+            }

+            else

+                MakeBody();

 

-                if ((m_meshState & MeshState.NeedMask) != 0)

-                {

-                    repData.size = _size;

-                    repData.pbs = _pbs;

-                    repData.shapetype = m_shapetype;

-                    _parent_scene.m_meshWorker.RequestMesh(repData);

-                }

+            if ((m_meshState & MeshState.NeedMask) != 0)

+            {

+                repData.size = _size;

+                repData.pbs = _pbs;

+                repData.shapetype = m_shapetype;

+                _parent_scene.m_meshWorker.RequestMesh(repData);

             }

         }

 

@@ -2831,14 +2868,10 @@ namespace OpenSim.Region.Physics.OdePlugin
 

             primVolume = repData.volume;

 

-            CreateGeom();

+            CreateGeom();          

 

             if (prim_geom != IntPtr.Zero)

             {

-                UpdatePrimBodyData();

-

-                _parent_scene.actor_name_map[prim_geom] = this;

-

                 d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);

                 d.Quaternion myrot = new d.Quaternion();

                 myrot.X = _orientation.X;

@@ -2846,29 +2879,28 @@ namespace OpenSim.Region.Physics.OdePlugin
                 myrot.Z = _orientation.Z;

                 myrot.W = _orientation.W;

                 d.GeomSetQuaternion(prim_geom, ref myrot);

+            }

 

-                if (m_isphysical)

+            if (m_isphysical)

+            {

+                if (chp)

                 {

-                    if (chp)

+                    if (parent != null)

                     {

-                        if (parent != null)

-                        {

-                            parent.MakeBody();

-                        }

+                        parent.MakeBody();

                     }

-                    else

-                        MakeBody();

                 }

-

                 else

-                {

-                    SetInStaticSpace(this);

-                    UpdateCollisionCatFlags();

-                    ApplyCollisionCatFlags();

-                }

-

-                resetCollisionAccounting();

+                    MakeBody();

             }

+            else

+            {

+                SetInStaticSpace(this);

+                UpdateCollisionCatFlags();

+                ApplyCollisionCatFlags();

+            }

+

+            resetCollisionAccounting();

 

             if ((m_meshState & MeshState.NeedMask) != 0)

             {

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
index 21fe9c0..06cb302 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -129,7 +129,7 @@ namespace OpenSim.Region.Physics.OdePlugin
             req.length = length;
             req.Normal = direction;
             req.Origin = position;
-            req.filter = RayFilterFlags.AllPrims;
+            req.filter = RayFilterFlags.AllPrims | RayFilterFlags.land;
 
             m_PendingRequests.Enqueue(req);
         }
@@ -261,6 +261,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                     closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
                     backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
 
+                    // current ode land to ray collisions is very bad
+                    // so for now limit its range badly
+
+                    if (req.length > 30.0f && (CurrentRayFilter & RayFilterFlags.land) != 0)
+                        req.length = 30.0f;
+
                     d.GeomRaySetLength(ray, req.length);
                     d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
                     d.GeomRaySetParams(ray, 0, backfacecull);
@@ -288,7 +294,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                             catflags |= CollisionCategories.Water;
 
                         if (catflags != 0)
+                        {
+                            d.GeomSetCollideBits(ray, (uint)catflags);
                             doSpaceRay(req);
+                        }
                     }
                     else
                     {
@@ -314,7 +323,8 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// 
 
         private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhanton;
-        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
+//        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
+        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
 
         private void doSpaceRay(ODERayRequest req)
         {
@@ -323,6 +333,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
             if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
                 d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
+            if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
 
             if (req.callbackMethod is RaycastCallback)
             {
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index ed2a531..beaba13 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -300,6 +300,7 @@ namespace OpenSim.Region.Physics.OdePlugin
         public IntPtr TopSpace; // the global space
         public IntPtr ActiveSpace; // space for active prims
         public IntPtr StaticSpace; // space for the static things around
+        public IntPtr GroundSpace; // space for ground
 
         // some speedup variables
         private int spaceGridMaxX;
@@ -372,6 +373,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                     // now the major subspaces
                     ActiveSpace = d.HashSpaceCreate(TopSpace);
                     StaticSpace = d.HashSpaceCreate(TopSpace);
+                    GroundSpace = d.HashSpaceCreate(TopSpace);
                     }
                 catch
                     {
@@ -381,10 +383,12 @@ namespace OpenSim.Region.Physics.OdePlugin
                 d.HashSpaceSetLevels(TopSpace, -2, 8);
                 d.HashSpaceSetLevels(ActiveSpace, -2, 8);
                 d.HashSpaceSetLevels(StaticSpace, -2, 8);
+                d.HashSpaceSetLevels(GroundSpace, 0, 8);
 
                 // demote to second level
                 d.SpaceSetSublevel(ActiveSpace, 1);
                 d.SpaceSetSublevel(StaticSpace, 1);
+                d.SpaceSetSublevel(GroundSpace, 1);
 
                 d.GeomSetCategoryBits(ActiveSpace, (uint)(CollisionCategories.Space |
                                                         CollisionCategories.Geom |
@@ -402,6 +406,8 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                         ));
                 d.GeomSetCollideBits(StaticSpace, 0);
 
+                d.GeomSetCategoryBits(GroundSpace, (uint)(CollisionCategories.Land));
+                d.GeomSetCollideBits(GroundSpace, 0);
 
                 contactgroup = d.JointGroupCreate(0);
                 //contactgroup
@@ -1210,6 +1216,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         chr.CollidingObj = false;
                         // do colisions with static space
                         d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
+                        // no coll with gnd
                     }
                 }
                 catch (AccessViolationException)
@@ -1238,7 +1245,10 @@ namespace OpenSim.Region.Physics.OdePlugin
                         if (!prm.m_outbounds)
                         {
                             if (d.BodyIsEnabled(prm.Body))
+                            {
                                 d.SpaceCollide2(StaticSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
+                                d.SpaceCollide2(GroundSpace, prm.collide_geom, IntPtr.Zero, nearCallback);
+                            }
                         }
                     }
                 }
@@ -1595,8 +1605,52 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         /// <param name="prim"></param>
         public override void AddPhysicsActorTaint(PhysicsActor prim)
+        {
+        }
+
+        // does all pending changes generated during region load process
+        public override void PrepareSimulation()
+        {
+            lock (OdeLock)
             {
+                if (world == IntPtr.Zero)
+                {
+                    ChangesQueue.Clear();
+                    return;
+                }
+
+                ODEchangeitem item;
+
+                int donechanges = 0;
+                if (ChangesQueue.Count > 0)
+                {
+                    m_log.InfoFormat("[ODE] start processing pending actor operations");
+                    int tstart = Util.EnvironmentTickCount();
+
+                    while (ChangesQueue.Dequeue(out item))
+                    {
+                        if (item.actor != null)
+                        {
+                            try
+                            {
+                                if (item.actor is OdeCharacter)
+                                    ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
+                                else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
+                                    RemovePrimThreadLocked((OdePrim)item.actor);
+                            }
+                            catch
+                            {
+                                m_log.WarnFormat("[PHYSICS]: Operation failed for a actor {0} {1}",
+                                    item.actor.Name, item.what.ToString());
+                            }
+                        }
+                        donechanges++;
+                    }
+                    int time = Util.EnvironmentTickCountSubtract(tstart);
+                    m_log.InfoFormat("[ODE] finished {0} operations in {1}ms", donechanges, time);
+                }
             }
+        }
 
         /// <summary>
         /// This is our main simulate loop
@@ -1642,7 +1696,40 @@ namespace OpenSim.Region.Physics.OdePlugin
                 lock(OdeLock)
             {
                 if (world == IntPtr.Zero)
+                {
+                    ChangesQueue.Clear();
                     return 0;
+                }
+
+                ODEchangeitem item;
+
+                if (ChangesQueue.Count > 0)
+                {
+                    int ttmpstart = Util.EnvironmentTickCount();
+                    int ttmp;
+
+                    while (ChangesQueue.Dequeue(out item))
+                    {
+                        if (item.actor != null)
+                        {
+                            try
+                            {
+                                if (item.actor is OdeCharacter)
+                                    ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
+                                else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
+                                    RemovePrimThreadLocked((OdePrim)item.actor);
+                            }
+                            catch
+                            {
+                                m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
+                                    item.actor.Name, item.what.ToString());
+                            }
+                        }
+                        ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
+                        if (ttmp > 20)
+                            break;
+                    }
+                }
                 
                 d.WorldSetQuickStepNumIterations(world, curphysiteractions);
 
@@ -1653,35 +1740,6 @@ namespace OpenSim.Region.Physics.OdePlugin
                         // clear pointer/counter to contacts to pass into joints
                         m_global_contactcount = 0;
 
-                        ODEchangeitem item;
-                        
-                        if(ChangesQueue.Count >0)
-                        {
-                            int ttmpstart = Util.EnvironmentTickCount();
-                            int ttmp;
-
-                            while(ChangesQueue.Dequeue(out item))
-                            {
-                                if (item.actor != null)
-                                {
-                                    try
-                                    {
-                                        if (item.actor is OdeCharacter)
-                                            ((OdeCharacter)item.actor).DoAChange(item.what, item.arg);
-                                        else if (((OdePrim)item.actor).DoAChange(item.what, item.arg))
-                                                RemovePrimThreadLocked((OdePrim)item.actor);
-                                    }
-                                    catch
-                                    {
-                                        m_log.WarnFormat("[PHYSICS]: doChange failed for a actor {0} {1}",
-                                            item.actor.Name, item.what.ToString());
-                                    }
-                                }
-                                ttmp = Util.EnvironmentTickCountSubtract(ttmpstart);
-                                if (ttmp > 20)
-                                    break;
-                            }
-                        }
 
                         // Move characters
                         lock (_characters)
@@ -1813,10 +1871,47 @@ namespace OpenSim.Region.Physics.OdePlugin
                     mesher.ExpireReleaseMeshs();
                     m_lastMeshExpire = now;
                 }
+
+// information block running in debug only
 /*
-                int nactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
-                int nstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
+                int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
+                int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
+                int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace);
+
+                int nactivegeoms = 0;
+                int nactivespaces = 0;
+
+                int nstaticgeoms = 0;
+                int nstaticspaces = 0;
+                IntPtr sp;
+
+                for (int i = 0; i < ntopactivegeoms; i++)
+                {
+                    sp = d.SpaceGetGeom(ActiveSpace, i);
+                    if (d.GeomIsSpace(sp))
+                    {
+                        nactivespaces++;
+                        nactivegeoms += d.SpaceGetNumGeoms(sp);
+                    }
+                    else
+                        nactivegeoms++;
+                }
+
+                for (int i = 0; i < ntopstaticgeoms; i++)
+                {
+                    sp = d.SpaceGetGeom(StaticSpace, i);
+                    if (d.GeomIsSpace(sp))
+                    {
+                        nstaticspaces++;
+                        nstaticgeoms += d.SpaceGetNumGeoms(sp);
+                    }
+                    else
+                        nstaticgeoms++;
+                }
+
                 int ntopgeoms = d.SpaceGetNumGeoms(TopSpace);
+
+                int totgeoms = nstaticgeoms + nactivegeoms + ngroundgeoms + 1; // one ray
                 int nbodies = d.NTotalBodies;
                 int ngeoms = d.NTotalGeoms;
 */
@@ -2113,7 +2208,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                  offset, thickness, wrap);
 
                 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
-                GroundGeom = d.CreateHeightfield(StaticSpace, HeightmapData, 1);
+
+                GroundGeom = d.CreateHeightfield(GroundSpace, HeightmapData, 1);
+
                 if (GroundGeom != IntPtr.Zero)
                 {
                     d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
@@ -2234,12 +2331,13 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                  thickness, wrap);
 
 //                d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
-                GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1);
+                GroundGeom = d.CreateUbitTerrain(GroundSpace, HeightmapData, 1);
                 if (GroundGeom != IntPtr.Zero)
                 {
                     d.GeomSetCategoryBits(GroundGeom, (uint)(CollisionCategories.Land));
                     d.GeomSetCollideBits(GroundGeom, 0);
 
+
                     PhysicsActor pa = new NullPhysicsActor();
                     pa.Name = "Terrain";
                     pa.PhysicsActorType = (int)ActorTypes.Ground;
@@ -2455,6 +2553,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                         d.GeomDestroy(GroundGeom);
                 }
 
+
                 RegionTerrain.Clear();
 
                 if (TerrainHeightFieldHeightsHandlers.Count > 0)