From 11532a4390ce3054f5a6798b4bf8dcf39d002e77 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 17 Dec 2012 13:22:04 -0800 Subject: BulletSim: fix vehicles going underground when unsat. Problem was that, when doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 43 ++++++++++++---------- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 +- 4 files changed, 32 insertions(+), 29 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index ef68471..48ba419 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -87,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularCorrection = Vector3.Zero; + private Vector3 m_lastAngularVelocity = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties @@ -128,7 +128,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return Type != Vehicle.TYPE_NONE; } + get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } } internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) @@ -664,6 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // an UpdateProperties event to send the changes up to the simulator. BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); } + m_knownChanged = 0; } // Since the computation of terrain height can be a little involved, this routine @@ -993,11 +994,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; + float distanceAboveGround = 0f; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); - float distanceAboveGround = VehiclePosition.Z - targetHeight; + distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { @@ -1010,9 +1012,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); } + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", + Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); return ret; } @@ -1049,8 +1051,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== m_lastVertAttractor = verticalAttractionContribution; + // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. + Vector3 originalAngularMotorContrib = angularMotorContribution; + if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) + angularMotorContribution *= pTimestep; + // Sum corrections - m_lastAngularCorrection = angularMotorContribution + m_lastAngularVelocity = angularMotorContribution + verticalAttractionContribution + deflectionContribution + bankingContribution; @@ -1058,19 +1065,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Apply the correction velocity. // TODO: Should this be applied as an angular force (torque)? - if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) + if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { - // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. - Vector3 scaledCorrection = m_lastAngularCorrection; - if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) - scaledCorrection *= pTimestep; - VehicleRotationalVelocity = scaledCorrection; + VehicleRotationalVelocity = m_lastAngularVelocity; - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, - m_lastAngularCorrection, scaledCorrection + m_lastAngularVelocity ); } else @@ -1124,18 +1127,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 ret = Vector3.Zero; - // If vertical attaction timescale is reasonable and we applied an angular force last time... + // If vertical attaction timescale is reasonable if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) { // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) - // is now leaning to one side (rotated around the X axis) and the Y value will - // go from zero (nearly straight up) to one (completely to the side) or leaning - // front-to-back (rotated around the Y axis) and the value of X will be between - // zero and one. + // is now: + // leaning to one side: rotated around the X axis with the Y value going + // from zero (nearly straight up) to one (completely to the side)) or + // leaning front-to-back: rotated around the Y axis with the value of X being between + // zero and one. // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. // If verticalError.Z is negative, the vehicle is upside down. Add additional push. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 4d4f712..2a7b72c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -94,10 +94,10 @@ public sealed class BSLinksetCompound : BSLinkset } // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild() + private void ScheduleRebuild(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", - LinksetRoot.LocalID, Rebuilding); + requestor.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) @@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); - ScheduleRebuild(); + ScheduleRebuild(LinksetRoot); } else { @@ -153,7 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { - ScheduleRebuild(); + ScheduleRebuild(LinksetRoot); } else { @@ -182,7 +182,7 @@ public sealed class BSLinksetCompound : BSLinkset && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { updated.LinksetInfo = null; - ScheduleRebuild(); + ScheduleRebuild(updated); } } @@ -266,7 +266,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Rebuild the compound shape with the new child shape included - ScheduleRebuild(); + ScheduleRebuild(child); } return; } @@ -294,7 +294,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(); + ScheduleRebuild(child); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7b44574..ebaf97e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1240,7 +1240,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 31dd790..0d9a156 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -5,7 +5,7 @@ Eliminate all crashes (DONEish) Border crossing of physical linkset (DONE) Enable vehicle border crossings (at least as poorly as ODE) Avatar created in previous region and not new region when crossing border - Vehicle recreated in new sim at small Z value (offset from root value?) + Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) Calibrate turning radius limitMotorUp calibration (more down?) study PID motors (include 'efficiency' implementation -- cgit v1.1 From e6fd8365af0b0dc7a4664278c369752cb4e87155 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Mon, 17 Dec 2012 21:37:02 +0000 Subject: Extend default 1 second wait for event completion to other thread script reset (as called by llResetOtherScript()). As with script stop (via llDie()) aborting other scripts event threads, llResetOtherScript() can also abort any current event thread on another script. On mono 2.6, 2.10 and possibly later this may cause locking problems in certain code areas. This commit reuses the recently introduced [XEngine] WaitForEventCompletionOnScriptStop to make this a 1 sec timeout, rather than 0 secs. --- .../ScriptEngine/Interfaces/IScriptInstance.cs | 31 +++++++++++++++++++++- .../ScriptEngine/Shared/Instance/ScriptInstance.cs | 4 +-- OpenSim/Region/ScriptEngine/XEngine/XEngine.cs | 2 +- 3 files changed, 33 insertions(+), 4 deletions(-) diff --git a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs index 00a99c3..2f5b526 100644 --- a/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs +++ b/OpenSim/Region/ScriptEngine/Interfaces/IScriptInstance.cs @@ -147,7 +147,13 @@ namespace OpenSim.Region.ScriptEngine.Interfaces /// /// Stop the script instance. /// + /// + /// This must not be called by a thread that is in the process of handling an event for this script. Otherwise + /// there is a danger that it will self-abort and not complete the reset. + /// /// + /// How many milliseconds we will wait for an existing script event to finish before + /// forcibly aborting that event. /// true if the script was successfully stopped, false otherwise bool Stop(int timeout); @@ -169,8 +175,31 @@ namespace OpenSim.Region.ScriptEngine.Interfaces object EventProcessor(); int EventTime(); - void ResetScript(); + + /// + /// Reset the script. + /// + /// + /// This must not be called by a thread that is in the process of handling an event for this script. Otherwise + /// there is a danger that it will self-abort and not complete the reset. Such a thread must call + /// ApiResetScript() instead. + /// + /// + /// How many milliseconds we will wait for an existing script event to finish before + /// forcibly aborting that event prior to script reset. + /// + void ResetScript(int timeout); + + /// + /// Reset the script. + /// + /// + /// This must not be called by any thread other than the one executing the scripts current event. This is + /// because there is no wait or abort logic if another thread is in the middle of processing a script event. + /// Such an external thread should use ResetScript() instead. + /// void ApiResetScript(); + Dictionary GetVars(); void SetVars(Dictionary vars); DetectParams GetDetectParams(int idx); diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs index dfe8386..01a5e34 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs @@ -877,7 +877,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance return (DateTime.Now - m_EventStart).Seconds; } - public void ResetScript() + public void ResetScript(int timeout) { if (m_Script == null) return; @@ -887,7 +887,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance RemoveState(); ReleaseControls(); - Stop(0); + Stop(timeout); SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID); part.Inventory.GetInventoryItem(ItemID).PermsMask = 0; part.Inventory.GetInventoryItem(ItemID).PermsGranter = UUID.Zero; diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs index 1dd50c7..f38d17d 100644 --- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs +++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs @@ -1691,7 +1691,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine { IScriptInstance instance = GetInstance(itemID); if (instance != null) - instance.ResetScript(); + instance.ResetScript(m_WaitForEventCompletionOnScriptStop); } public void StartScript(UUID itemID) -- cgit v1.1 From 8653ea93b2669a180beaedad8765bdeec385d501 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 17 Dec 2012 13:51:39 -0800 Subject: BulletSim: apply friction to linear and angular motion before returning advanced motor value. This seems to be the problem with BulletSim vehicles turning too quickly. Also removed the configuration parameter that controlled the timestep scaling kludge for angular velocity that was added to research the question of quick turning. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 ------ OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ------ 3 files changed, 2 insertions(+), 14 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 48ba419..5887249 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1051,12 +1051,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== m_lastVertAttractor = verticalAttractionContribution; - // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. - Vector3 originalAngularMotorContrib = angularMotorContribution; - if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) - angularMotorContribution *= pTimestep; - - // Sum corrections m_lastAngularVelocity = angularMotorContribution + verticalAttractionContribution + deflectionContribution diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index cf0a9dc..e0faf4e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -134,8 +134,6 @@ public class BSVMotor : BSMotor Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; - returnCurrent = CurrentValue; - // The desired value reduces to zero which also reduces the difference with current. // If the decay time is infinite, don't decay at all. float decayFactor = 0f; @@ -156,6 +154,8 @@ public class BSVMotor : BSMotor CurrentValue *= (Vector3.One - frictionFactor); } + returnCurrent = CurrentValue; + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ebaf97e..069cb0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -189,7 +189,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } public bool VehiclePhysicalLoggingEnabled { get; private set; } - public bool VehicleScaleAngularVelocityByTimestep { get; private set; } #region Construction and Initialization public BSScene(string identifier) @@ -1239,11 +1238,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), - new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, - (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, -- cgit v1.1