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ubOde: hashSpaces aren't that nice

httptests
UbitUmarov 2017-09-08 19:59:38 +01:00
parent ca493a1beb
commit 0ac81f6a09
3 changed files with 107 additions and 188 deletions
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3
OpenSim/Region/PhysicsModules/ubOde/ODECharacter.cs
View File

@ -751,8 +751,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_parent_scene.waitForSpaceUnlock(m_parent_scene.CharsSpace);
collider = d.HashSpaceCreate(m_parent_scene.CharsSpace);
d.HashSpaceSetLevels(collider, -4, 3);
collider = d.SimpleSpaceCreate(m_parent_scene.CharsSpace);
d.SpaceSetSublevel(collider, 3);
d.SpaceSetCleanup(collider, false);
d.GeomSetCategoryBits(collider, (uint)m_collisionCategories);

65
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@ -196,8 +196,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private int m_eventsubscription;
private int m_cureventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame = null;
private CollisionEventUpdate CollisionVDTCEventsThisFrame = null;
private CollisionEventUpdate CollisionEvents = null;
private CollisionEventUpdate CollisionVDTCEvents = null;
private bool SentEmptyCollisionsEvent;
public volatile bool childPrim;
@ -1138,24 +1138,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
m_eventsubscription = ms;
m_cureventsubscription = 0;
if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate();
if (CollisionVDTCEventsThisFrame == null)
CollisionVDTCEventsThisFrame = new CollisionEventUpdate();
if (CollisionEvents == null)
CollisionEvents = new CollisionEventUpdate();
if (CollisionVDTCEvents == null)
CollisionVDTCEvents = new CollisionEventUpdate();
SentEmptyCollisionsEvent = false;
}
public override void UnSubscribeEvents()
{
if (CollisionVDTCEventsThisFrame != null)
if (CollisionVDTCEvents != null)
{
CollisionVDTCEventsThisFrame.Clear();
CollisionVDTCEventsThisFrame = null;
CollisionVDTCEvents.Clear();
CollisionVDTCEvents = null;
}
if (CollisionEventsThisFrame != null)
if (CollisionEvents != null)
{
CollisionEventsThisFrame.Clear();
CollisionEventsThisFrame = null;
CollisionEvents.Clear();
CollisionEvents = null;
}
m_eventsubscription = 0;
_parent_scene.RemoveCollisionEventReporting(this);
@ -1163,27 +1163,27 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (CollisionEventsThisFrame == null)
CollisionEventsThisFrame = new CollisionEventUpdate();
if (CollisionEvents == null)
CollisionEvents = new CollisionEventUpdate();
CollisionEventsThisFrame.AddCollider(CollidedWith, contact);
CollisionEvents.AddCollider(CollidedWith, contact);
_parent_scene.AddCollisionEventReporting(this);
}
public override void AddVDTCCollisionEvent(uint CollidedWith, ContactPoint contact)
{
if (CollisionVDTCEventsThisFrame == null)
CollisionVDTCEventsThisFrame = new CollisionEventUpdate();
if (CollisionVDTCEvents == null)
CollisionVDTCEvents = new CollisionEventUpdate();
CollisionVDTCEventsThisFrame.AddCollider(CollidedWith, contact);
CollisionVDTCEvents.AddCollider(CollidedWith, contact);
_parent_scene.AddCollisionEventReporting(this);
}
internal void SleeperAddCollisionEvents()
{
if(CollisionEventsThisFrame != null && CollisionEventsThisFrame.m_objCollisionList.Count != 0)
if(CollisionEvents != null && CollisionEvents.m_objCollisionList.Count != 0)
{
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEventsThisFrame.m_objCollisionList)
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionEvents.m_objCollisionList)
{
if(kvp.Key == 0)
continue;
@ -1196,9 +1196,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
other.AddCollisionEvent(ParentActor.LocalID,cp);
}
}
if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.m_objCollisionList.Count != 0)
if(CollisionVDTCEvents != null && CollisionVDTCEvents.m_objCollisionList.Count != 0)
{
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionVDTCEventsThisFrame.m_objCollisionList)
foreach(KeyValuePair<uint,ContactPoint> kvp in CollisionVDTCEvents.m_objCollisionList)
{
OdePrim other = _parent_scene.getPrim(kvp.Key);
if(other == null)
@ -1213,8 +1213,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
internal void clearSleeperCollisions()
{
if(CollisionVDTCEventsThisFrame != null && CollisionVDTCEventsThisFrame.Count >0 )
CollisionVDTCEventsThisFrame.Clear();
if(CollisionVDTCEvents != null && CollisionVDTCEvents.Count >0 )
CollisionVDTCEvents.Clear();
}
public void SendCollisions(int timestep)
@ -1226,14 +1226,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (m_cureventsubscription < m_eventsubscription)
return;
if (CollisionEventsThisFrame == null)
if (CollisionEvents == null)
return;
int ncolisions = CollisionEventsThisFrame.m_objCollisionList.Count;
int ncolisions = CollisionEvents.m_objCollisionList.Count;
if (!SentEmptyCollisionsEvent || ncolisions > 0)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
base.SendCollisionUpdate(CollisionEvents);
m_cureventsubscription = 0;
if (ncolisions == 0)
@ -1244,7 +1244,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
else if(Body == IntPtr.Zero || (d.BodyIsEnabled(Body) && m_bodydisablecontrol >= 0 ))
{
SentEmptyCollisionsEvent = false;
CollisionEventsThisFrame.Clear();
CollisionEvents.Clear();
}
}
}
@ -1832,7 +1832,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// should only be called for non physical prims unless they are becoming non physical
private void SetInStaticSpace(OdePrim prim)
{
IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim._position, prim.m_targetSpace);
IntPtr targetSpace = _parent_scene.MoveGeomToStaticSpace(prim.prim_geom, prim.m_targetSpace);
prim.m_targetSpace = targetSpace;
collide_geom = IntPtr.Zero;
}
@ -2069,8 +2069,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
else
{
m_targetSpace = d.HashSpaceCreate(_parent_scene.ActiveSpace);
d.HashSpaceSetLevels(m_targetSpace, -2, 8);
m_targetSpace = d.SimpleSpaceCreate(_parent_scene.ActiveSpace);
d.SpaceSetSublevel(m_targetSpace, 3);
d.SpaceSetCleanup(m_targetSpace, false);
@ -2964,7 +2963,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, m_targetSpace);
}
}
}
@ -3103,7 +3102,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.GeomSetPosition(prim_geom, newPos.X, newPos.Y, newPos.Z);
_position = newPos;
m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, _position, m_targetSpace);
m_targetSpace = _parent_scene.MoveGeomToStaticSpace(prim_geom, m_targetSpace);
}
}
}

227
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
View File

@ -201,7 +201,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public float ODE_STEPSIZE = 0.020f;
public float HalfOdeStep = 0.01f;
public int odetimestepMS = 20; // rounded
private float metersInSpace = 25.6f;
private float m_timeDilation = 1.0f;
private double m_lastframe;
@ -284,16 +283,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public IntPtr StaticSpace; // space for the static things around
public IntPtr GroundSpace; // space for ground
// some speedup variables
private int spaceGridMaxX;
private int spaceGridMaxY;
private float spacesPerMeterX;
private float spacesPerMeterY;
// split static geometry collision into a grid as before
private IntPtr[,] staticPrimspace;
private IntPtr[] staticPrimspaceOffRegion;
public Object OdeLock;
public static Object SimulationLock;
@ -386,13 +375,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
try
{
world = d.WorldCreate();
TopSpace = d.HashSpaceCreate(IntPtr.Zero);
// now the major subspaces
ActiveSpace = d.HashSpaceCreate(TopSpace);
CharsSpace = d.HashSpaceCreate(TopSpace);
StaticSpace = d.HashSpaceCreate(TopSpace);
GroundSpace = d.HashSpaceCreate(TopSpace);
TopSpace = d.SimpleSpaceCreate(IntPtr.Zero);
ActiveSpace = d.SimpleSpaceCreate(TopSpace);
CharsSpace = d.SimpleSpaceCreate(TopSpace);
GroundSpace = d.SimpleSpaceCreate(TopSpace);
float sx = WorldExtents.X + 16;
float sy = WorldExtents.Y + 16;
d.Vector3 ex =new d.Vector3(sx, sy, 0);
d.Vector3 px =new d.Vector3(sx * 0.5f, sx * 0.5f, 0);
if(sx < sy)
sx = sy;
sx = (float)Math.Log(sx) * 1.442695f + 0.5f;
int dp = (int)sx - 2;
if(dp > 8)
dp = 8;
else if(dp < 4)
dp = 4;
StaticSpace = d.QuadTreeSpaceCreate(TopSpace, ref px, ref ex, dp);
}
catch
{
@ -400,12 +399,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// i did!
}
d.HashSpaceSetLevels(TopSpace, -5, 12);
d.HashSpaceSetLevels(ActiveSpace, -5, 10);
d.HashSpaceSetLevels(CharsSpace, -4, 3);
d.HashSpaceSetLevels(StaticSpace, -5, 12);
d.HashSpaceSetLevels(GroundSpace, 0, 8);
// demote to second level
d.SpaceSetSublevel(ActiveSpace, 1);
d.SpaceSetSublevel(CharsSpace, 1);
@ -469,8 +462,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
gravityy = physicsconfig.GetFloat("world_gravityy", gravityy);
gravityz = physicsconfig.GetFloat("world_gravityz", gravityz);
metersInSpace = physicsconfig.GetFloat("meters_in_small_space", metersInSpace);
// contactsurfacelayer = physicsconfig.GetFloat("world_contact_surface_layer", contactsurfacelayer);
ODE_STEPSIZE = physicsconfig.GetFloat("world_stepsize", ODE_STEPSIZE);
@ -560,76 +551,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_materialContactsData[(int)Material.light].mu = 0.0f;
m_materialContactsData[(int)Material.light].bounce = 0.0f;
spacesPerMeterX = 1.0f / metersInSpace;
spacesPerMeterY = spacesPerMeterX;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
if (spaceGridMaxX > 24)
{
spaceGridMaxX = 24;
spacesPerMeterX = spaceGridMaxX / WorldExtents.X;
}
if (spaceGridMaxY > 24)
{
spaceGridMaxY = 24;
spacesPerMeterY = spaceGridMaxY / WorldExtents.Y;
}
staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
// create all spaces now
int i, j;
IntPtr newspace;
for (i = 0; i < spaceGridMaxX; i++)
for (j = 0; j < spaceGridMaxY; j++)
{
newspace = d.HashSpaceCreate(StaticSpace);
d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
waitForSpaceUnlock(newspace);
d.SpaceSetSublevel(newspace, 2);
d.HashSpaceSetLevels(newspace, -2, 8);
d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Land |
CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(newspace, 0);
staticPrimspace[i, j] = newspace;
}
// let this now be index limit
spaceGridMaxX--;
spaceGridMaxY--;
// create 4 off world spaces (x<0,x>max,y<0,y>max)
staticPrimspaceOffRegion = new IntPtr[4];
for (i = 0; i < 4; i++)
{
newspace = d.HashSpaceCreate(StaticSpace);
d.GeomSetCategoryBits(newspace, (int)CollisionCategories.Space);
waitForSpaceUnlock(newspace);
d.SpaceSetSublevel(newspace, 2);
d.HashSpaceSetLevels(newspace, -2, 8);
d.GeomSetCategoryBits(newspace, (uint)(CollisionCategories.Space |
CollisionCategories.Geom |
CollisionCategories.Land |
CollisionCategories.Water |
CollisionCategories.Phantom |
CollisionCategories.VolumeDtc
));
d.GeomSetCollideBits(newspace, 0);
staticPrimspaceOffRegion[i] = newspace;
}
m_lastframe = Util.GetTimeStamp();
m_lastMeshExpire = m_lastframe;
step_time = -1;
@ -758,7 +679,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
//
*/
if (d.GeomGetCategoryBits(g1) == (uint)CollisionCategories.VolumeDtc ||
d.GeomGetCategoryBits(g2) == (uint)CollisionCategories.VolumeDtc)
{
@ -1307,6 +1227,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
public override void RemoveAvatar(PhysicsActor actor)
{
//m_log.Debug("[PHYSICS]:ODELOCK");
if (world == IntPtr.Zero)
return;
lock (OdeLock)
{
d.AllocateODEDataForThread(0);
@ -1461,27 +1384,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
/// <summary>
/// Called when a static prim moves or becomes static
/// Places the prim in a space one the static sub-spaces grid
/// Places the prim in a space one the static space
/// </summary>
/// <param name="geom">the pointer to the geom that moved</param>
/// <param name="pos">the position that the geom moved to</param>
/// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
/// <returns>a pointer to the new space it's in</returns>
public IntPtr MoveGeomToStaticSpace(IntPtr geom, Vector3 pos, IntPtr currentspace)
public IntPtr MoveGeomToStaticSpace(IntPtr geom, IntPtr currentspace)
{
// moves a prim into another static sub-space or from another space into a static sub-space
// moves a prim into static sub-space
// Called ODEPrim so
// it's already in locked space.
if (geom == IntPtr.Zero) // shouldn't happen
return IntPtr.Zero;
// get the static sub-space for current position
IntPtr newspace = calculateSpaceForGeom(pos);
if (newspace == currentspace) // if we are there all done
return newspace;
if (StaticSpace == currentspace) // if we are there all done
return StaticSpace;
// else remove it from its current space
if (currentspace != IntPtr.Zero && d.SpaceQuery(currentspace, geom))
@ -1516,44 +1435,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
d.SpaceDestroy(currentspace);
}
}
}
}
// put the geom in the newspace
waitForSpaceUnlock(newspace);
d.SpaceAdd(newspace, geom);
waitForSpaceUnlock(StaticSpace);
d.SpaceAdd(StaticSpace, geom);
// let caller know this newspace
return newspace;
return StaticSpace;
}
/// <summary>
/// Calculates the space the prim should be in by its position
/// </summary>
/// <param name="pos"></param>
/// <returns>a pointer to the space. This could be a new space or reused space.</returns>
public IntPtr calculateSpaceForGeom(Vector3 pos)
{
int x, y;
if (pos.X < 0)
return staticPrimspaceOffRegion[0];
if (pos.Y < 0)
return staticPrimspaceOffRegion[2];
x = (int)(pos.X * spacesPerMeterX);
if (x > spaceGridMaxX)
return staticPrimspaceOffRegion[1];
y = (int)(pos.Y * spacesPerMeterY);
if (y > spaceGridMaxY)
return staticPrimspaceOffRegion[3];
return staticPrimspace[x, y];
}
#endregion
@ -1642,6 +1534,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
/// <returns></returns>
public override float Simulate(float reqTimeStep)
{
if (world == IntPtr.Zero)
return 0;
double now = Util.GetTimeStamp();
double timeStep = now - m_lastframe;
m_lastframe = now;
@ -1680,9 +1575,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
double maxChangestime = (int)(reqTimeStep * 500f); // half the time
double maxLoopTime = (int)(reqTimeStep * 1200f); // 1.2 the time
// double collisionTime = 0;
// double qstepTIme = 0;
// double tmpTime = 0;
double collisionTime = 0;
double qstepTIme = 0;
double tmpTime = 0;
double changestot = 0;
double collisonRepo = 0;
double updatesTime = 0;
double moveTime = 0;
double rayTime = 0;
d.AllocateODEDataForThread(~0U);
@ -1720,6 +1621,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_global_contactcount = 0;
tmpTime = Util.GetTimeStampMS();
// Move characters
lock (_characters)
{
@ -1747,13 +1650,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
aprim.Move();
}
}
moveTime += Util.GetTimeStampMS() - tmpTime;
tmpTime = Util.GetTimeStampMS();
m_rayCastManager.ProcessQueuedRequests();
rayTime += Util.GetTimeStampMS() - tmpTime;
// tmpTime = Util.GetTimeStampMS();
tmpTime = Util.GetTimeStampMS();
collision_optimized();
// collisionTime += Util.GetTimeStampMS() - tmpTime;
collisionTime += Util.GetTimeStampMS() - tmpTime;
tmpTime = Util.GetTimeStampMS();
lock(_collisionEventPrimRemove)
{
foreach (PhysicsActor obj in _collisionEventPrimRemove)
@ -1792,12 +1699,14 @@ namespace OpenSim.Region.PhysicsModule.ubOde
foreach(OdePrim prm in sleepers)
prm.SleeperAddCollisionEvents();
sleepers.Clear();
collisonRepo += Util.GetTimeStampMS() - tmpTime;
// do a ode simulation step
// tmpTime = Util.GetTimeStampMS();
tmpTime = Util.GetTimeStampMS();
d.WorldQuickStep(world, ODE_STEPSIZE);
d.JointGroupEmpty(contactgroup);
// qstepTIme += Util.GetTimeStampMS() - tmpTime;
qstepTIme += Util.GetTimeStampMS() - tmpTime;
// update managed ideia of physical data and do updates to core
/*
@ -1815,7 +1724,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
*/
// tmpTime = Util.GetTimeStampMS();
lock (_activegroups)
{
{
@ -1828,6 +1737,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
}
// updatesTime += Util.GetTimeStampMS() - tmpTime;
}
catch (Exception e)
{
@ -1835,10 +1745,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// ode.dunlock(world);
}
step_time -= ODE_STEPSIZE;
nodeframes++;
looptimeMS = Util.GetTimeStampMS() - loopstartMS;
if (looptimeMS > maxLoopTime)
break;
}
@ -1855,9 +1767,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_badCharacter.Clear();
}
}
// information block for in debug breakpoint only
/*
// information block for in debug breakpoint only
int ntopactivegeoms = d.SpaceGetNumGeoms(ActiveSpace);
int ntopstaticgeoms = d.SpaceGetNumGeoms(StaticSpace);
int ngroundgeoms = d.SpaceGetNumGeoms(GroundSpace);
@ -1899,14 +1811,23 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int nbodies = d.NTotalBodies;
int ngeoms = d.NTotalGeoms;
*/
/*
looptimeMS /= nodeframes;
if(looptimeMS > 0.080)
collisionTime /= nodeframes;
qstepTIme /= nodeframes;
changestot /= nodeframes;
collisonRepo /= nodeframes;
updatesTime /= nodeframes;
moveTime /= nodeframes;
rayTime /= nodeframes;
if(looptimeMS > .05)
{
collisionTime /= nodeframes;
qstepTIme /= nodeframes;
}
*/
/*
// Finished with all sim stepping. If requested, dump world state to file for debugging.
// TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?
// TODO: This overwrites all dump files in-place. Should this be a growing logfile, or separate snapshots?
@ -1925,7 +1846,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
}
*/
fps = (float)nodeframes * ODE_STEPSIZE / reqTimeStep;
if(step_time < HalfOdeStep)