4 files changed, 90 insertions, 19 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 7704002..e9a849c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
 
     private bool m_initialized = false;
 
+    private int m_detailedStatsStep = 0;
+
     public IMesher mesher;
     private float m_meshLOD;
     public float MeshLOD
@@ -192,6 +194,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         m_meshLOD = 8f;
         m_sculptLOD = 32f;
 
+        m_detailedStatsStep = 0;            // disabled
+
         m_maxSubSteps = 10;
         m_fixedTimeStep = 1f / 60f;
         m_maxCollisionsPerFrame = 2048;
@@ -209,8 +213,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         parms.deactivationTime = 0.2f;
         parms.linearSleepingThreshold = 0.8f;
         parms.angularSleepingThreshold = 1.0f;
-        parms.ccdMotionThreshold = 0.5f;    // set to zero to disable
-        parms.ccdSweptSphereRadius = 0.2f;
+        parms.ccdMotionThreshold = 0.0f;    // set to zero to disable
+        parms.ccdSweptSphereRadius = 0.0f;
+        parms.contactProcessingThreshold = 0.1f;
 
         parms.terrainFriction = 0.5f;
         parms.terrainHitFraction = 0.8f;
@@ -231,6 +236,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
                 _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
 
+                m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
                 m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
                 m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
 
@@ -253,6 +259,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
                 parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
                 parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
                 parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
+                parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold);
 
                 parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
                 parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
@@ -398,6 +405,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             }
         }
 
+        if (m_detailedStatsStep > 0)
+        {
+            if ((m_simulationStep % m_detailedStatsStep) == 0)
+            {
+                BulletSimAPI.DumpBulletStatistics();
+            }
+        }
+
         // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
         return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
     }
@@ -671,6 +686,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
         new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
         new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
+        new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"),
 
         new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
         new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
@@ -685,6 +701,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
         // new PhysParameterEntry("CcdMotionThreshold", "" ),
         // new PhysParameterEntry("CcdSweptSphereRadius", "" ),
+        new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ),
 
         new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
         new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
@@ -715,6 +732,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         string lparm = parm.ToLower();
         switch (lparm)
         {
+            case "detailedstats": m_detailedStatsStep = (int)val; break;
             case "meshlod": m_meshLOD = (int)val; break;
             case "sculptlod": m_sculptLOD = (int)val; break;
             case "maxsubstep": m_maxSubSteps = (int)val; break;
@@ -725,7 +743,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "defaultdensity": m_params[0].defaultDensity = val; break;
             case "defaultrestitution": m_params[0].defaultRestitution = val; break;
             case "collisionmargin": m_params[0].collisionMargin = val; break;
-            case "gravity": m_params[0].gravity = val;  TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
+            case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
 
             case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
             case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
@@ -734,6 +752,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
             case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
             case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
+            case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break;
 
             // set a terrain physical feature and cause terrain to be recalculated
             case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
@@ -741,10 +760,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break;
             // set an avatar physical feature and cause avatar(s) to be recalculated
             case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break;
-            case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val);  break;
+            case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break;
             case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
-            case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val);  break;
-            case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val);  break;
+            case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break;
+            case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break;
 
             default: ret = false; break;
         }
@@ -816,6 +835,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
         bool ret = true;
         switch (parm.ToLower())
         {
+            case "detailedstats": val = (int)m_detailedStatsStep; break;
             case "meshlod": val = (float)m_meshLOD; break;
             case "sculptlod": val = (float)m_sculptLOD; break;
             case "maxsubstep": val = (float)m_maxSubSteps; break;
@@ -835,6 +855,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
             case "angularsleepingthreshold": val = m_params[0].angularDamping; break;
             case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
             case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
+            case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break;
 
             case "terrainfriction": val = m_params[0].terrainFriction; break;
             case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index a610c8d..d12bd7d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -122,6 +122,7 @@ public struct ConfigurationParameters
     public float angularSleepingThreshold;
         public float ccdMotionThreshold;
         public float ccdSweptSphereRadius;
+    public float contactProcessingThreshold;
 
     public float terrainFriction;
     public float terrainHitFraction;
@@ -248,6 +249,9 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpBulletStatistics();
+
 // Log a debug message
 [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
 public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index 68999fc..7c1c046 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -134,9 +134,18 @@ namespace OpenSim.Region.Physics.OdePlugin
                                                         | CollisionCategories.Body
                                                         | CollisionCategories.Character
                                                         | CollisionCategories.Land);
-        internal IntPtr Body = IntPtr.Zero;
+        /// <summary>
+        /// Body for dynamics simulation
+        /// </summary>
+        internal IntPtr Body { get; private set; }
+
         private OdeScene _parent_scene;
-        internal IntPtr Shell = IntPtr.Zero;
+
+        /// <summary>
+        /// Collision geometry
+        /// </summary>
+        internal IntPtr Shell { get; private set; }
+        
         private IntPtr Amotor = IntPtr.Zero;
         private d.Mass ShellMass;
 
@@ -1018,6 +1027,13 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// <param name="tensor"></param>
         private void CreateOdeStructures(float npositionX, float npositionY, float npositionZ, float tensor)
         {
+            if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
+            {
+                m_log.ErrorFormat(
+                    "[ODE CHARACTER]: Creating ODE structures for {0} even though some already exist.  Shell = {1}, Body = {2}, Amotor = {3}",
+                    Name, Shell, Body, Amotor);
+            }
+
             int dAMotorEuler = 1;
 //            _parent_scene.waitForSpaceUnlock(_parent_scene.space);
             if (CAPSULE_LENGTH <= 0)
@@ -1032,6 +1048,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 CAPSULE_RADIUS = 0.01f;
             }
 
+//          lock (OdeScene.UniversalColliderSyncObject)
             Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
 
             d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
@@ -1135,6 +1152,14 @@ namespace OpenSim.Region.Physics.OdePlugin
         /// </summary>
         internal void DestroyOdeStructures()
         {
+            // Create avatar capsule and related ODE data
+            if (Shell == IntPtr.Zero || Body == IntPtr.Zero || Amotor == IntPtr.Zero)
+            {
+                m_log.ErrorFormat(
+                    "[ODE CHARACTER]: Destroying ODE structures for {0} even though some are already null.  Shell = {1}, Body = {2}, Amotor = {3}",
+                    Name, Shell, Body, Amotor);
+            }
+
             // destroy avatar capsule and related ODE data
             if (Amotor != IntPtr.Zero)
             {
@@ -1155,7 +1180,9 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             if (Shell != IntPtr.Zero)
             {
+//              lock (OdeScene.UniversalColliderSyncObject)
                 d.GeomDestroy(Shell);
+
                 _parent_scene.geom_name_map.Remove(Shell);
                 _parent_scene.actor_name_map.Remove(Shell);
 
@@ -1260,15 +1287,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             {
                 if (m_tainted_isPhysical)
                 {
-                    // Create avatar capsule and related ODE data
-                    if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
-                    {
-                        m_log.Warn("[ODE CHARACTER]: re-creating the following avatar ODE data for " + Name + ", even though it already exists - "
-                            + (Shell!=IntPtr.Zero ? "Shell ":"")
-                            + (Body!=IntPtr.Zero ? "Body ":"")
-                            + (Amotor!=IntPtr.Zero ? "Amotor ":""));
-                    }
-
                     CreateOdeStructures(_position.X, _position.Y, _position.Z, m_tensor);
                     _parent_scene.AddCharacter(this);
                 }
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 228eca9..4530c09 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -105,6 +105,32 @@ namespace OpenSim.Region.Physics.OdePlugin
         private readonly ILog m_log;
         // private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
 
+        /// <summary>
+        /// Provide a sync object so that only one thread calls d.Collide() at a time across all OdeScene instances.
+        /// </summary>
+        /// <remarks>
+        /// With ODE as of r1755 (though also tested on r1860), only one thread can call d.Collide() at a
+        /// time, even where physics objects are in entirely different ODE worlds.  This is because generating contacts
+        /// uses a static cache at the ODE level.
+        ///
+        /// Without locking, simulators running multiple regions will eventually crash with a native stack trace similar
+        /// to
+        ///
+        /// mono() [0x489171]
+        /// mono() [0x4d154f]
+        /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f6ded592c60]
+        /// .../opensim/bin/libode-x86_64.so(_ZN6Opcode11OBBCollider8_CollideEPKNS_14AABBNoLeafNodeE+0xd7a) [0x7f6dd822628a]
+        ///
+        /// ODE provides an experimental option to cache in thread local storage but compiling ODE with this option
+        /// causes OpenSimulator to immediately crash with a native stack trace similar to
+        ///
+        /// mono() [0x489171]
+        /// mono() [0x4d154f]
+        /// /lib/x86_64-linux-gnu/libpthread.so.0(+0xfc60) [0x7f03c9849c60]
+        /// .../opensim/bin/libode-x86_64.so(_Z12dCollideCCTLP6dxGeomS0_iP12dContactGeomi+0x92) [0x7f03b44bcf82]
+        /// </remarks>
+        internal static Object UniversalColliderSyncObject = new Object();
+
         private Random fluidRandomizer = new Random(Environment.TickCount);
 
         private const uint m_regionWidth = Constants.RegionSize;
@@ -799,7 +825,9 @@ namespace OpenSim.Region.Physics.OdePlugin
                 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
                     return;
 
-                count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+                lock (OdeScene.UniversalColliderSyncObject)
+                    count = d.Collide(g1, g2, contacts.Length, contacts, d.ContactGeom.SizeOf);
+
                 if (count > contacts.Length)
                     m_log.Error("[ODE SCENE]: Got " + count + " contacts when we asked for a maximum of " + contacts.Length);
             }
@@ -1525,7 +1553,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                 chr.CollidingGround = false;
                 chr.CollidingObj = false;
                 
-                // test the avatar's geometry for collision with the space
+                // Test the avatar's geometry for collision with the space
                 // This will return near and the space that they are the closest to
                 // And we'll run this again against the avatar and the space segment
                 // This will return with a bunch of possible objects in the space segment