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authorRobert Adams2012-10-29 11:38:01 -0700
committerRobert Adams2012-11-03 21:13:52 -0700
commit9568f24c2628312f366c99ce6beb5c193aace33c (patch)
treec5729ac232d53e51855a9fa9b80735bd2d126664 /OpenSim
parentBulletSim: remove unneeded parameter from Refresh(). (diff)
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BulletSim: add post taint taints and post step taints. The post taints operation is most useful and is used by linksets to build and rebuild only once before the simulation step.
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs138
1 files changed, 122 insertions, 16 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 9e95ce5..cb52937 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -171,7 +171,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
171 } 171 }
172 } 172 }
173 private Object _taintLock = new Object(); // lock for using the next object 173 private Object _taintLock = new Object(); // lock for using the next object
174 private List<TaintCallbackEntry> _taintedObjects; 174 private List<TaintCallbackEntry> _taintOperations;
175 private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
176 private List<TaintCallbackEntry> _postStepOperations;
175 177
176 // A pointer to an instance if this structure is passed to the C++ code 178 // A pointer to an instance if this structure is passed to the C++ code
177 // Used to pass basic configuration values to the unmanaged code. 179 // Used to pass basic configuration values to the unmanaged code.
@@ -203,7 +205,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
203 public override void Initialise(IMesher meshmerizer, IConfigSource config) 205 public override void Initialise(IMesher meshmerizer, IConfigSource config)
204 { 206 {
205 mesher = meshmerizer; 207 mesher = meshmerizer;
206 _taintedObjects = new List<TaintCallbackEntry>(); 208 _taintOperations = new List<TaintCallbackEntry>();
209 _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
210 _postStepOperations = new List<TaintCallbackEntry>();
207 PhysObjects = new Dictionary<uint, BSPhysObject>(); 211 PhysObjects = new Dictionary<uint, BSPhysObject>();
208 Shapes = new BSShapeCollection(this); 212 Shapes = new BSShapeCollection(this);
209 213
@@ -475,23 +479,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
475 if (!m_initialized) return 5.0f; 479 if (!m_initialized) return 5.0f;
476 480
477 // update the prim states while we know the physics engine is not busy 481 // update the prim states while we know the physics engine is not busy
478 int numTaints = _taintedObjects.Count; 482 int numTaints = _taintOperations.Count;
479 ProcessTaints(); 483 ProcessTaints();
480 484
481 // Some of the prims operate with special vehicle properties 485 // Some of the prims operate with special vehicle properties
482 ProcessVehicles(timeStep); 486 ProcessVehicles(timeStep);
483 numTaints += _taintedObjects.Count; 487 numTaints += _taintOperations.Count;
484 ProcessTaints(); // the vehicles might have added taints 488 ProcessTaints(); // the vehicles might have added taints
485 489
486 // step the physical world one interval 490 // step the physical world one interval
487 m_simulationStep++; 491 m_simulationStep++;
488 int numSubSteps = 0; 492 int numSubSteps = 0;
489 493
490 // DEBUG
491 // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
492
493 try 494 try
494 { 495 {
496 // DumpVehicles(); // DEBUG
495 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); 497 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
496 498
497 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, 499 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -500,6 +502,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
500 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); 502 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
501 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", 503 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
502 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); 504 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
505 // DumpVehicles(); // DEBUG
503 } 506 }
504 catch (Exception e) 507 catch (Exception e)
505 { 508 {
@@ -579,6 +582,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
579 // Only enable this in a limited test world with few objects. 582 // Only enable this in a limited test world with few objects.
580 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG 583 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
581 584
585 ProcessPostStepTaints();
586
582 // The physics engine returns the number of milliseconds it simulated this call. 587 // The physics engine returns the number of milliseconds it simulated this call.
583 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 588 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
584 // We multiply by 55 to give a recognizable running rate (55 or less). 589 // We multiply by 55 to give a recognizable running rate (55 or less).
@@ -670,6 +675,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
670 675
671 public override bool IsThreaded { get { return false; } } 676 public override bool IsThreaded { get { return false; } }
672 677
678 #region Taints
679
673 // Calls to the PhysicsActors can't directly call into the physics engine 680 // Calls to the PhysicsActors can't directly call into the physics engine
674 // because it might be busy. We delay changes to a known time. 681 // because it might be busy. We delay changes to a known time.
675 // We rely on C#'s closure to save and restore the context for the delegate. 682 // We rely on C#'s closure to save and restore the context for the delegate.
@@ -679,7 +686,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
679 686
680 lock (_taintLock) 687 lock (_taintLock)
681 { 688 {
682 _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); 689 _taintOperations.Add(new TaintCallbackEntry(ident, callback));
683 } 690 }
684 691
685 return; 692 return;
@@ -690,19 +697,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
690 // here just before the physics engine is called to step the simulation. 697 // here just before the physics engine is called to step the simulation.
691 public void ProcessTaints() 698 public void ProcessTaints()
692 { 699 {
693 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process 700 ProcessRegularTaints();
701 ProcessPostTaintTaints();
702 }
703
704 private void ProcessRegularTaints()
705 {
706 if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process
694 { 707 {
695 int taintCount = m_taintsToProcessPerStep; 708 int taintCount = m_taintsToProcessPerStep;
696 TaintCallbackEntry oneCallback = new TaintCallbackEntry(); 709 TaintCallbackEntry oneCallback = new TaintCallbackEntry();
697 while (_taintedObjects.Count > 0 && taintCount-- > 0) 710 while (_taintOperations.Count > 0 && taintCount-- > 0)
698 { 711 {
699 bool gotOne = false; 712 bool gotOne = false;
700 lock (_taintLock) 713 lock (_taintLock)
701 { 714 {
702 if (_taintedObjects.Count > 0) 715 if (_taintOperations.Count > 0)
703 { 716 {
704 oneCallback = _taintedObjects[0]; 717 oneCallback = _taintOperations[0];
705 _taintedObjects.RemoveAt(0); 718 _taintOperations.RemoveAt(0);
706 gotOne = true; 719 gotOne = true;
707 } 720 }
708 } 721 }
@@ -746,6 +759,89 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
746 } 759 }
747 } 760 }
748 761
762 // Schedule an update to happen after all the regular taints are processed.
763 // Note that new requests for the same operation ("ident") for the same object ("ID")
764 // will replace any previous operation by the same object.
765 public void PostTaintObject(String ident, uint ID, TaintCallback callback)
766 {
767 if (!m_initialized) return;
768
769 lock (_taintLock)
770 {
771 _postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback);
772 }
773
774 return;
775 }
776
777 private void ProcessPostTaintTaints()
778 {
779 if (_postTaintOperations.Count > 0)
780 {
781 Dictionary<string, TaintCallbackEntry> oldList;
782 lock (_taintLock)
783 {
784 oldList = _postTaintOperations;
785 _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
786 }
787
788 foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
789 {
790 try
791 {
792 DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
793 kvp.Value.callback();
794 }
795 catch (Exception e)
796 {
797 m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
798 }
799 }
800 oldList.Clear();
801 }
802 }
803
804 public void PostStepTaintObject(String ident, TaintCallback callback)
805 {
806 if (!m_initialized) return;
807
808 lock (_taintLock)
809 {
810 _postStepOperations.Add(new TaintCallbackEntry(ident, callback));
811 }
812
813 return;
814 }
815
816 private void ProcessPostStepTaints()
817 {
818 if (_postStepOperations.Count > 0)
819 {
820 List<TaintCallbackEntry> oldList;
821 lock (_taintLock)
822 {
823 oldList = _postStepOperations;
824 _postStepOperations = new List<TaintCallbackEntry>();
825 }
826
827 foreach (TaintCallbackEntry tcbe in oldList)
828 {
829 try
830 {
831 DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
832 tcbe.callback();
833 }
834 catch (Exception e)
835 {
836 m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
837 }
838 }
839 oldList.Clear();
840 }
841 }
842
843 #endregion // Taints
844
749 #region Vehicles 845 #region Vehicles
750 846
751 public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) 847 public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
@@ -1006,7 +1102,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1006 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, 1102 (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
1007 (s) => { return s.m_params[0].ccdSweptSphereRadius; }, 1103 (s) => { return s.m_params[0].ccdSweptSphereRadius; },
1008 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, 1104 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
1009 (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ), 1105 (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ),
1010 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 1106 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
1011 0.1f, 1107 0.1f,
1012 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, 1108 (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
@@ -1128,12 +1224,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1128 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, 1224 (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
1129 (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), 1225 (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
1130 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", 1226 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
1131 0.001f, 1227 0.1f,
1132 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, 1228 (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
1133 (s) => { return s.m_params[0].linkConstraintCFM; }, 1229 (s) => { return s.m_params[0].linkConstraintCFM; },
1134 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), 1230 (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
1135 new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", 1231 new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
1136 0.8f, 1232 0.1f,
1137 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, 1233 (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
1138 (s) => { return s.m_params[0].linkConstraintERP; }, 1234 (s) => { return s.m_params[0].linkConstraintERP; },
1139 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), 1235 (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
@@ -1326,6 +1422,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1326 1422
1327 #endregion Runtime settable parameters 1423 #endregion Runtime settable parameters
1328 1424
1425 // Debugging routine for dumping detailed physical information for vehicle prims
1426 private void DumpVehicles()
1427 {
1428 foreach (BSPrim prim in m_vehicles)
1429 {
1430 BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr);
1431 BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr);
1432 }
1433 }
1434
1329 // Invoke the detailed logger and output something if it's enabled. 1435 // Invoke the detailed logger and output something if it's enabled.
1330 public void DetailLog(string msg, params Object[] args) 1436 public void DetailLog(string msg, params Object[] args)
1331 { 1437 {