From 5c36561424c8b093e24c683c2ff6e83410739388 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 28 Aug 2017 15:23:32 -0700
Subject: BulletSim: add clock and change logic for taint processing a little
so taints check if they are not in simulation time and execute immediately if
not.
---
.../Region/PhysicsModules/BulletS/BSCharacter.cs | 6 +-
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs | 2 +-
OpenSim/Region/PhysicsModules/BulletS/BSScene.cs | 76 ++++++++++++++++------
.../PhysicsModules/BulletS/BSShapeCollection.cs | 4 +-
.../Region/PhysicsModules/BulletS/BulletSimData.cs | 1 +
5 files changed, 62 insertions(+), 27 deletions(-)
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 57f03fb..04ac659 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -496,8 +496,8 @@ public sealed class BSCharacter : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
- PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
- DetailLog("{0}: BSCharacter.ForceVelocity.set = {1}", LocalID, value);
+ PhysScene.AssertNotInSimulationTime("BSCharacter.ForceVelocity");
+ DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value);
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
@@ -638,7 +638,7 @@ public sealed class BSCharacter : BSPhysObject
public override float ForceBuoyancy {
get { return _buoyancy; }
set {
- PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
+ PhysScene.AssertNotInSimulationTime("BSCharacter.ForceBuoyancy");
_buoyancy = value;
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
index b153761..e1990ee 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -790,7 +790,7 @@ public class BSPrim : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
- PhysScene.AssertInTaintTime("BSPrim.ForceVelocity");
+ PhysScene.AssertNotInSimulationTime("BSPrim.ForceVelocity");
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
if (PhysBody.HasPhysicalBody)
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index 7ff0a07..bcc3b4a 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -128,6 +128,9 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
public bool InTaintTime { get; private set; }
+ // Flag that is true when the simulator is active and shouldn't be touched
+ public bool InSimulationTime { get; private set; }
+
// Pinned memory used to pass step information between managed and unmanaged
internal int m_maxCollisionsPerFrame;
internal CollisionDesc[] m_collisionArray;
@@ -344,6 +347,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Put some informational messages into the log file.
m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
+ InSimulationTime = false;
InTaintTime = false;
m_initialized = true;
@@ -658,21 +662,21 @@ namespace OpenSim.Region.PhysicsModule.BulletS
int beforeTime = Util.EnvironmentTickCount();
int simTime = 0;
- int numTaints = _taintOperations.Count;
- InTaintTime = true; // Only used for debugging so locking is not necessary.
-
+ InTaintTime = true;
// update the prim states while we know the physics engine is not busy
- ProcessTaints();
+ int numTaints = ProcessTaints();
// Some of the physical objects requre individual, pre-step calls
// (vehicles and avatar movement, in particular)
TriggerPreStepEvent(timeStep);
// the prestep actions might have added taints
- numTaints += _taintOperations.Count;
- ProcessTaints();
+ numTaints += ProcessTaints();
- InTaintTime = false; // Only used for debugging so locking is not necessary.
+ lock (_taintLock)
+ {
+ InSimulationTime = true;
+ }
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
@@ -700,6 +704,18 @@ namespace OpenSim.Region.PhysicsModule.BulletS
if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
PE.DumpPhysicsStatistics(World);
+ lock (_taintLock)
+ {
+ InTaintTime = false;
+ InSimulationTime = false;
+ }
+
+ // Some actors want to know when the simulation step is complete.
+ TriggerPostStepEvent(timeStep);
+
+ // In case there were any parameter updates that happened during the simulation step
+ numTaints += ProcessTaints();
+
// Get a value for 'now' so all the collision and update routines don't have to get their own.
SimulationNowTime = Util.EnvironmentTickCount();
@@ -748,9 +764,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
}
- // Some actors want to know when the simulation step is complete.
- TriggerPostStepEvent(timeStep);
-
simTime = Util.EnvironmentTickCountSubtract(beforeTime);
if (PhysicsLogging.Enabled)
{
@@ -1090,6 +1103,15 @@ namespace OpenSim.Region.PhysicsModule.BulletS
{
if (!m_initialized) return;
+ lock (_taintLock) {
+ if (inTaintTime || !InSimulationTime) {
+ pCallback();
+ }
+ else {
+ _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
+ }
+ }
+ /*
if (inTaintTime)
pCallback();
else
@@ -1099,6 +1121,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
_taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
}
}
+ */
}
private void TriggerPreStepEvent(float timeStep)
@@ -1120,14 +1143,19 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// When someone tries to change a property on a BSPrim or BSCharacter, the object queues
// a callback into itself to do the actual property change. That callback is called
// here just before the physics engine is called to step the simulation.
- public void ProcessTaints()
+ // Returns the number of taints processed
+ public int ProcessTaints()
{
- ProcessRegularTaints();
- ProcessPostTaintTaints();
+ int ret = 0;
+ ret += ProcessRegularTaints();
+ ret += ProcessPostTaintTaints();
+ return ret;
}
- private void ProcessRegularTaints()
+ // Returns the number of taints processed
+ private int ProcessRegularTaints()
{
+ int ret = 0;
if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process
{
// swizzle a new list into the list location so we can process what's there
@@ -1144,6 +1172,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
+ ret++;
}
catch (Exception e)
{
@@ -1152,6 +1181,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
oldList.Clear();
}
+ return ret;
}
// Schedule an update to happen after all the regular taints are processed.
@@ -1170,8 +1200,10 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
// Taints that happen after the normal taint processing but before the simulation step.
- private void ProcessPostTaintTaints()
+ // Returns the number of taints processed
+ private int ProcessPostTaintTaints()
{
+ int ret = 0;
if (m_initialized && _postTaintOperations.Count > 0)
{
Dictionary<string, TaintCallbackEntry> oldList;
@@ -1187,6 +1219,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
{
DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
kvp.Value.callback();
+ ret++;
}
catch (Exception e)
{
@@ -1195,18 +1228,19 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
oldList.Clear();
}
+ return ret;
}
- // Only used for debugging. Does not change state of anything so locking is not necessary.
- public bool AssertInTaintTime(string whereFrom)
+ // Verify that things are being diddled when the physics engine is not running.
+ public bool AssertNotInSimulationTime(string whereFrom)
{
- if (!InTaintTime)
+ if (InSimulationTime)
{
- DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
- m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
+ DetailLog("{0},BSScene.AssertInTaintTime,IN SIMULATION TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
+ m_log.ErrorFormat("{0} IN SIMULATION TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
// Util.PrintCallStack(DetailLog);
}
- return InTaintTime;
+ return InSimulationTime;
}
#endregion // Taints
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
index 4ec6f51..8d8fc95 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
@@ -75,7 +75,7 @@ public sealed class BSShapeCollection : IDisposable
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
- m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
+ m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.GetBodyAndShape");
bool ret = false;
@@ -344,7 +344,7 @@ public sealed class BSShapeCollection : IDisposable
if (!body.HasPhysicalBody)
return;
- m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
+ m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.DereferenceBody");
lock (m_collectionActivityLock)
{
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs b/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
index 3329395..308769b 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
@@ -100,6 +100,7 @@ public class BulletBody
}
}
+// Handle to btCollisionObject - a shape that can be added to a btRidgidBody
public class BulletShape
{
public BulletShape()
--
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