From 3588d89b2cba36415991c46c300b1f9c94f109bf Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Wed, 13 Feb 2008 23:14:41 +0000 Subject: * Bigish ODE stability Update. Run Prebuild --- OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 12 +- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 238 ++++++++++++++--------- OpenSim/Region/Physics/OdePlugin/OdePlugin.cs | 96 ++++++--- 3 files changed, 229 insertions(+), 117 deletions(-) (limited to 'OpenSim/Region/Physics/OdePlugin') diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index 80c2a48..75d62cc 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs @@ -16,7 +16,7 @@ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY +* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND @@ -35,7 +35,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.OdePlugin { /// - /// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves. + /// Various properties that ODE uses for AMotors but isn't exposed in d.NET so we must define them ourselves. /// public enum dParam : int @@ -87,6 +87,7 @@ namespace OpenSim.Region.Physics.OdePlugin private bool m_hackSentFall = false; private bool m_hackSentFly = false; private bool m_foundDebian = false; + private CollisionLocker ode; private string m_name = String.Empty; @@ -103,8 +104,9 @@ namespace OpenSim.Region.Physics.OdePlugin public d.Mass ShellMass; public bool collidelock = false; - public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos) + public OdeCharacter(String avName, OdeScene parent_scene, PhysicsVector pos, CollisionLocker dode) { + ode = dode; _velocity = new PhysicsVector(); _target_velocity = new PhysicsVector(); _position = pos; @@ -801,5 +803,9 @@ namespace OpenSim.Region.Physics.OdePlugin d.BodyDestroy(Body); } } + public override void CrossingFailure() + { + + } } } diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 6103320..527a5cc 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -16,7 +16,7 @@ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY +* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND @@ -56,6 +56,8 @@ namespace OpenSim.Region.Physics.OdePlugin public bool m_taintremove = false; public bool m_taintdisable = false; public bool m_disabled = false; + public bool m_taintadd = false; + private CollisionLocker ode; private bool m_taintforce = false; private List m_forcelist = new List(); @@ -74,6 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin public int m_interpenetrationcount = 0; public int m_collisionscore = 0; public int m_roundsUnderMotionThreshold = 0; + private int m_crossingfailures = 0; public bool outofBounds = false; private float m_density = 10.000006836f; // Aluminum g/cm3; @@ -90,9 +93,9 @@ namespace OpenSim.Region.Physics.OdePlugin private int debugcounter = 0; public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size, - Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) + Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode) { - + ode = dode; _velocity = new PhysicsVector(); _position = pos; m_taintposition = pos; @@ -136,86 +139,11 @@ namespace OpenSim.Region.Physics.OdePlugin m_targetSpace = _parent_scene.space; } m_primName = primName; - if (mesh != null) - { - } - else - { - if (_parent_scene.needsMeshing(_pbs)) - { - // Don't need to re-enable body.. it's done in SetMesh - mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size); - // createmesh returns null when it's a shape that isn't a cube. - } - } - - lock (OdeScene.OdeLock) - { - if (mesh != null) - { - setMesh(parent_scene, mesh); - } - else - { - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) - { - if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) - { - if (((_size.X / 2f) > 0f)) - { - - - _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2); - } - else - { - _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - } - } - else - { - _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - } - } - //else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) - //{ - //Cyllinder - //if (_size.X == _size.Y) - //{ - //prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z); - //} - //else - //{ - //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - //} - //} - else - { - _parent_scene.waitForSpaceUnlock(m_targetSpace); - prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); - } - } - - d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); - d.Quaternion myrot = new d.Quaternion(); - myrot.W = rotation.w; - myrot.X = rotation.x; - myrot.Y = rotation.y; - myrot.Z = rotation.z; - d.GeomSetQuaternion(prim_geom, ref myrot); - - - if (m_isphysical && Body == (IntPtr) 0) - { - enableBody(); - } - parent_scene.geom_name_map[prim_geom] = primName; - parent_scene.actor_name_map[prim_geom] = (PhysicsActor) this; - // don't do .add() here; old geoms get recycled with the same hash - } + m_taintadd = true; + _parent_scene.AddPhysicsActorTaint(this); + // don't do .add() here; old geoms get recycled with the same hash + parent_scene.geom_name_map[prim_geom] = primName; + parent_scene.actor_name_map[prim_geom] = (PhysicsActor) this; } /// @@ -399,15 +327,18 @@ namespace OpenSim.Region.Physics.OdePlugin public void setMesh(OdeScene parent_scene, IMesh mesh) { + // This sleeper is there to moderate how long it takes between + // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object + + System.Threading.Thread.Sleep(10); + //Kill Body so that mesh can re-make the geom if (IsPhysical && Body != (IntPtr) 0) { disableBody(); } - // This sleeper is there to moderate how long it takes between - // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object - System.Threading.Thread.Sleep(10); + float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory @@ -448,6 +379,10 @@ namespace OpenSim.Region.Physics.OdePlugin public void ProcessTaints(float timestep) { System.Threading.Thread.Sleep(5); + + if (m_taintadd) + changeadd(timestep); + if (m_taintposition != _position) Move(timestep); @@ -477,8 +412,124 @@ namespace OpenSim.Region.Physics.OdePlugin changevelocity(timestep); } - + public void changeadd(float timestep) + { + if (_mesh != null) + { + } + else + { + if (_parent_scene.needsMeshing(_pbs)) + { + // Don't need to re-enable body.. it's done in SetMesh + _mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size); + // createmesh returns null when it's a shape that isn't a cube. + } + } + + lock (OdeScene.OdeLock) + { + if (_mesh != null) + { + setMesh(_parent_scene, _mesh); + } + else + { + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) + { + if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) + { + if (((_size.X / 2f) > 0f)) + { + + + _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { + prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2); + } + catch (System.AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + return; + } + } + else + { + _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { + prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + } + catch (System.AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + return; + } + } + } + else + { + _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { + prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + } + catch (System.AccessViolationException) + { + return; + m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + } + } + } + //else if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) + //{ + //Cyllinder + //if (_size.X == _size.Y) + //{ + //prim_geom = d.CreateCylinder(m_targetSpace, _size.X / 2, _size.Z); + //} + //else + //{ + //prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + //} + //} + else + { + _parent_scene.waitForSpaceUnlock(m_targetSpace); + try + { + prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z); + } + catch (System.AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to create physics proxy for object"); + return; + } + } + } + + d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z); + d.Quaternion myrot = new d.Quaternion(); + myrot.W = _orientation.w; + myrot.X = _orientation.x; + myrot.Y = _orientation.y; + myrot.Z = _orientation.z; + d.GeomSetQuaternion(prim_geom, ref myrot); + + + if (m_isphysical && Body == (IntPtr)0) + { + enableBody(); + } + + + } + m_taintadd = false; + + + } public void Move(float timestep) { if (m_isphysical) @@ -941,7 +992,15 @@ namespace OpenSim.Region.Physics.OdePlugin } set { m_rotationalVelocity = value; } } + public override void CrossingFailure() + { + m_crossingfailures++; + if (m_crossingfailures >= 5) + { + m_log.Warn("[PHYSICS]: Too many crossing failures for: " + m_primName); + } + } public void UpdatePositionAndVelocity() { // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! @@ -969,7 +1028,10 @@ namespace OpenSim.Region.Physics.OdePlugin if (l_position.X > 257f || l_position.X < -1f || l_position.Y > 257f || l_position.Y < -1f) { - base.RequestPhysicsterseUpdate(); + if (m_crossingfailures < 5) + { + base.RequestPhysicsterseUpdate(); + } } if (l_position.Z < 0) diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs index 1c16cfb..66af095 100644 --- a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs @@ -16,7 +16,7 @@ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY +* DISCLAIMEd. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND @@ -46,10 +46,12 @@ namespace OpenSim.Region.Physics.OdePlugin { private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + private CollisionLocker ode; private OdeScene _mScene; public OdePlugin() { + ode = new CollisionLocker(); } public bool Init() @@ -61,7 +63,7 @@ namespace OpenSim.Region.Physics.OdePlugin { if (_mScene == null) { - _mScene = new OdeScene(); + _mScene = new OdeScene(ode); } return (_mScene); } @@ -74,7 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin public void Dispose() { - d.CloseODE(); + } } @@ -82,6 +84,7 @@ namespace OpenSim.Region.Physics.OdePlugin { private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + CollisionLocker ode; // TODO: this should be hard-coded in some common place private const uint m_regionWidth = 256; private const uint m_regionHeight = 256; @@ -137,8 +140,9 @@ namespace OpenSim.Region.Physics.OdePlugin /// Sets many properties that ODE requires to be stable /// These settings need to be tweaked 'exactly' right or weird stuff happens. /// - public OdeScene() + public OdeScene(CollisionLocker dode) { + ode = dode; nearCallback = near; triCallback = TriCallback; triArrayCallback = TriArrayCallback; @@ -178,6 +182,7 @@ namespace OpenSim.Region.Physics.OdePlugin lock (OdeLock) { + // Creat the world and the first space world = d.WorldCreate(); space = d.HashSpaceCreate(IntPtr.Zero); @@ -268,8 +273,14 @@ namespace OpenSim.Region.Physics.OdePlugin // We'll be calling near recursivly if one // of them is a space to find all of the // contact points in the space - - d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); + try + { + d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback); + } + catch (System.AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to collide test a space"); + } //Colliding a space or a geom with a space or a geom. so drill down //Collide all geoms in each space.. @@ -304,7 +315,7 @@ namespace OpenSim.Region.Physics.OdePlugin name2 = "null"; } - //if (id == d.GeomClassID.TriMeshClass) + //if (id == d.GeomClassId.TriMeshClass) //{ // m_log.Info("near: A collision was detected between {1} and {2}", 0, name1, name2); //System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2); @@ -321,6 +332,10 @@ namespace OpenSim.Region.Physics.OdePlugin m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim."); base.TriggerPhysicsBasedRestart(); } + catch (System.AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to collide test an object"); + } PhysicsActor p1; PhysicsActor p2; @@ -438,7 +453,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (contacts[i].depth >= 0.25f) { - // Don't collide, one or both prim will explode. + // Don't collide, one or both prim will expld. op1.m_interpenetrationcount++; @@ -596,8 +611,14 @@ namespace OpenSim.Region.Physics.OdePlugin // 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 // and we'll run it again on all of them. - - d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback); + try + { + d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback); + } + catch (AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to space collide"); + } //float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y); //if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10) //{ @@ -616,8 +637,14 @@ namespace OpenSim.Region.Physics.OdePlugin // This if may not need to be there.. it might be skipped anyway. if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled)) { - - d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback); + try + { + d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback); + } + catch (AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to space collide"); + } //calculateSpaceForGeom(chr.Position) //foreach (OdePrim ch2 in _prims) /// should be a separate space -- lots of avatars will be N**2 slow @@ -634,7 +661,14 @@ namespace OpenSim.Region.Physics.OdePlugin //} //} } - d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback); + try + { + d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback); + } + catch (AccessViolationException) + { + m_log.Warn("[PHYSICS]: Unable to space collide"); + } } } else @@ -663,7 +697,7 @@ namespace OpenSim.Region.Physics.OdePlugin pos.X = position.X; pos.Y = position.Y; pos.Z = position.Z; - OdeCharacter newAv = new OdeCharacter(avName, this, pos); + OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode); _characters.Add(newAv); return newAv; } @@ -1007,7 +1041,7 @@ namespace OpenSim.Region.Physics.OdePlugin OdePrim newPrim; lock (OdeLock) { - newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical); + newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical, ode); _prims.Add(newPrim); } @@ -1203,8 +1237,15 @@ namespace OpenSim.Region.Physics.OdePlugin actor.Move(timeStep); actor.collidelock = true; } + + ode.dlock(world); collision_optimized(timeStep); + + + + ode.dunlock(world); + try { d.WorldQuickStep(world, ODE_STEPSIZE); @@ -1228,25 +1269,28 @@ namespace OpenSim.Region.Physics.OdePlugin actor.UpdatePositionAndVelocity(); } - bool processedtaints = false; - foreach (OdePrim prim in _taintedPrim) + if (!ode.lockquery()) { - prim.ProcessTaints(timeStep); - if (prim.m_taintremove) + bool processedtaints = false; + foreach (OdePrim prim in _taintedPrim) { - RemovePrimThreadLocked(prim); - } - processedtaints = true; - prim.m_collisionscore = 0; + prim.ProcessTaints(timeStep); + if (prim.m_taintremove) + { + RemovePrimThreadLocked(prim); + } + processedtaints = true; + prim.m_collisionscore = 0; + } + if (processedtaints) + _taintedPrim = new List(); } - foreach (OdePrim prim in _activeprims) { prim.m_collisionscore = 0; } - if (processedtaints) - _taintedPrim = new List(); + if (timeStep < 0.2f) { -- cgit v1.1