From 29b3b44fab46a44f911e582ab284025086cf3692 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 23 May 2013 14:40:16 -0700 Subject: [PATCH] BulletSim: add locking around Meshmerizer use to eliminate possible race condition when extracting the convex hulls. --- .../Region/Physics/BulletSPlugin/BSShapes.cs | 328 +++++++++--------- 1 file changed, 170 insertions(+), 158 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 6729d6bf71..48f1394c5d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -441,10 +441,14 @@ public class BSShapeMesh : BSShape { BulletShape newShape = new BulletShape(); - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, - false, // say it is not physical so a bounding box is not built - false // do not cache the mesh and do not use previously built versions - ); + IMesh meshData = null; + lock (physicsScene.mesher) + { + meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, + false, // say it is not physical so a bounding box is not built + false // do not cache the mesh and do not use previously built versions + ); + } if (meshData != null) { @@ -576,55 +580,67 @@ public class BSShapeHull : BSShape BulletShape newShape = new BulletShape(); newShape.shapeKey = newHullKey; - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); - - // If there is hull data in the mesh asset, build the hull from that - if (meshData != null && BSParam.ShouldUseAssetHulls) + IMesh meshData = null; + List> allHulls = null; + lock (physicsScene.mesher) { - Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; - if (realMesher != null) + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + + // If we should use the asset's hull info, fetch it out of the locked mesher + if (meshData != null && BSParam.ShouldUseAssetHulls) { - List> allHulls = realMesher.GetConvexHulls(size); - if (allHulls != null) + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) { - int hullCount = allHulls.Count; - int totalVertices = 1; // include one for the count of the hulls - // Using the structure described for HACD hulls, create the memory sturcture - // to pass the hull data to the creater. - foreach (List hullVerts in allHulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += hullVerts.Count * 3; // one vertex is three dimensions - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (List hullVerts in allHulls) - { - convHulls[jj + 0] = hullVerts.Count; - convHulls[jj + 1] = 0f; // centroid x,y,z - convHulls[jj + 2] = 0f; - convHulls[jj + 3] = 0f; - jj += 4; - foreach (OMV.Vector3 oneVert in hullVerts) - { - convHulls[jj + 0] = oneVert.X; - convHulls[jj + 1] = oneVert.Y; - convHulls[jj + 2] = oneVert.Z; - jj += 3; - } - } - - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); - - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", - prim.LocalID, hullCount, totalVertices, newShape); + allHulls = realMesher.GetConvexHulls(size); + } + if (allHulls == null) + { + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID); } } } + + // If there is hull data in the mesh asset, build the hull from that + if (allHulls != null && BSParam.ShouldUseAssetHulls) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; + } + } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", + prim.LocalID, hullCount, totalVertices, newShape); + } + // If no hull specified in the asset and we should use Bullet's HACD approximation... if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { @@ -655,120 +671,116 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } - // If no hull specified, use our HACD hull approximation. - if (!newShape.HasPhysicalShape) + + // If no other hull specifications, use our HACD hull approximation. + if (!newShape.HasPhysicalShape && meshData != null) { - // Build a new hull in the physical world using the C# HACD algorigthm. - if (meshData != null) + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) - { - // Release the fetched asset data once it has been used. - pbs.SculptData = new byte[0]; - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; - } - - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - - uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; - if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) - { - // Simple primitive shapes we know are convex so they are better implemented with - // fewer hulls. - // Check for simple shape (prim without cuts) and reduce split parameter if so. - if (BSShapeCollection.PrimHasNoCuts(pbs)) - { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; - } - } - - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - dcomp.mDepth = maxDepthSplit; - dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; - dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; - dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; - dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", - BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_hulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) - { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } - } - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; } - newShape.shapeKey = newHullKey; + + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); + + //format conversion from IMesh format to DecompDesc format + List convIndices = new List(); + List convVertices = new List(); + for (int ii = 0; ii < indices.GetLength(0); ii++) + { + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + } + + uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; + if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + { + // Simple primitive shapes we know are convex so they are better implemented with + // fewer hulls. + // Check for simple shape (prim without cuts) and reduce split parameter if so. + if (BSShapeCollection.PrimHasNoCuts(pbs)) + { + maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; + } + } + + // setup and do convex hull conversion + m_hulls = new List(); + DecompDesc dcomp = new DecompDesc(); + dcomp.mIndices = convIndices; + dcomp.mVertices = convVertices; + dcomp.mDepth = maxDepthSplit; + dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; + dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; + dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; + dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; + ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); + // create the hull into the _hulls variable + convexBuilder.process(dcomp); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", + BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); + + // Convert the vertices and indices for passing to unmanaged. + // The hull information is passed as a large floating point array. + // The format is: + // convHulls[0] = number of hulls + // convHulls[1] = number of vertices in first hull + // convHulls[2] = hull centroid X coordinate + // convHulls[3] = hull centroid Y coordinate + // convHulls[4] = hull centroid Z coordinate + // convHulls[5] = first hull vertex X + // convHulls[6] = first hull vertex Y + // convHulls[7] = first hull vertex Z + // convHulls[8] = second hull vertex X + // ... + // convHulls[n] = number of vertices in second hull + // convHulls[n+1] = second hull centroid X coordinate + // ... + // + // TODO: is is very inefficient. Someday change the convex hull generator to return + // data structures that do not need to be converted in order to pass to Bullet. + // And maybe put the values directly into pinned memory rather than marshaling. + int hullCount = m_hulls.Count; + int totalVertices = 1; // include one for the count of the hulls + foreach (ConvexResult cr in m_hulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (ConvexResult cr in m_hulls) + { + // copy vertices for index access + float3[] verts = new float3[cr.HullVertices.Count]; + int kk = 0; + foreach (float3 ff in cr.HullVertices) + { + verts[kk++] = ff; + } + + // add to the array one hull's worth of data + convHulls[jj++] = cr.HullIndices.Count; + convHulls[jj++] = 0f; // centroid x,y,z + convHulls[jj++] = 0f; + convHulls[jj++] = 0f; + foreach (int ind in cr.HullIndices) + { + convHulls[jj++] = verts[ind].x; + convHulls[jj++] = verts[ind].y; + convHulls[jj++] = verts[ind].z; + } + } + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); } return newShape; }