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Reduce complexity of OdeScene.Simulate() by fully removing bad characters at point of detection rather than later on.

0.7.2-post-fixes
Justin Clark-Casey (justincc) 2011-11-21 19:45:22 +00:00
parent 5bd27b7b22
commit 4a99619bc0
2 changed files with 29 additions and 68 deletions
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57
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -172,7 +172,7 @@ namespace OpenSim.Region.Physics.OdePlugin
parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f); parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
m_taintPosition = _position; m_taintPosition = _position;
m_log.Warn("[PHYSICS]: Got NaN Position on Character Create"); m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
} }
_parent_scene = parent_scene; _parent_scene = parent_scene;
@ -195,7 +195,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_colliderarr[i] = false; m_colliderarr[i] = false;
} }
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); //m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH.ToString());
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists m_isPhysical = false; // current status: no ODE information exists
@ -265,7 +265,7 @@ namespace OpenSim.Region.Physics.OdePlugin
set set
{ {
flying = value; flying = value;
// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying); // m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
} }
} }
@ -436,7 +436,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character"); m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name);
} }
} }
} }
@ -463,7 +463,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 SetSize = value; Vector3 SetSize = value;
m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
// m_log.Info("[SIZE]: " + CAPSULE_LENGTH); // m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH);
// If we reset velocity here, then an avatar stalls when it crosses a border for the first time // If we reset velocity here, then an avatar stalls when it crosses a border for the first time
// (as the height of the new root agent is set). // (as the height of the new root agent is set).
@ -473,7 +473,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character"); m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size from Scene on {0}", Name);
} }
} }
} }
@ -532,7 +532,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane; float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane; float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
//m_log.Debug("[PHYSICS] changing avatar tilt"); //m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent); d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent); d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
@ -559,17 +559,16 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(_parent_scene.space); _parent_scene.waitForSpaceUnlock(_parent_scene.space);
if (CAPSULE_LENGTH <= 0) if (CAPSULE_LENGTH <= 0)
{ {
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f; CAPSULE_LENGTH = 0.01f;
} }
if (CAPSULE_RADIUS <= 0) if (CAPSULE_RADIUS <= 0)
{ {
m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f; CAPSULE_RADIUS = 0.01f;
} }
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH); Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories); d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
@ -769,7 +768,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character"); m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name);
} }
// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity); // m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
@ -844,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character"); m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
} }
//m_lastUpdateSent = false; //m_lastUpdateSent = false;
} }
@ -870,11 +869,11 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Called from Simulate /// Called from Simulate
/// This is the avatar's movement control + PID Controller /// This is the avatar's movement control + PID Controller
/// </summary> /// </summary>
/// <param name="defects"> /// <remarks>
/// If there is something wrong with the character (e.g. its position is non-finite) /// This routine will remove the character from the physics scene if it detects something wrong (non-finite
/// then it is added to this list. The ODE structures associated with it are also destroyed. /// position or velocity).
/// </param> /// </remarks>
internal void Move(List<OdeCharacter> defects) internal void Move()
{ {
// no lock; for now it's only called from within Simulate() // no lock; for now it's only called from within Simulate()
@ -895,11 +894,11 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!localPos.IsFinite()) if (!localPos.IsFinite())
{ {
m_log.WarnFormat("[PHYSICS]: Avatar Position of {0} is non-finite!", Name); m_log.WarnFormat(
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
defects.Add(this); localPos, Name);
// _parent_scene.RemoveCharacter(this);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures(); DestroyOdeStructures();
return; return;
@ -1034,11 +1033,11 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()"); m_log.WarnFormat(
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!"); "[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
defects.Add(this); vec, Name);
// _parent_scene.RemoveCharacter(this);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures(); DestroyOdeStructures();
} }
} }
@ -1057,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
catch (NullReferenceException) catch (NullReferenceException)
{ {
bad = true; bad = true;
_parent_scene.BadCharacter(this); _parent_scene.RemoveCharacter(this);
DestroyOdeStructures(); DestroyOdeStructures();
newPos = new d.Vector3(_position.X, _position.Y, _position.Z); newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem! base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
@ -1258,7 +1257,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Create avatar capsule and related ODE data // Create avatar capsule and related ODE data
if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero)) if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
{ {
m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - " m_log.Warn("[ODE CHARACTER]: re-creating the following avatar ODE data for " + Name + ", even though it already exists - "
+ (Shell!=IntPtr.Zero ? "Shell ":"") + (Shell!=IntPtr.Zero ? "Shell ":"")
+ (Body!=IntPtr.Zero ? "Body ":"") + (Body!=IntPtr.Zero ? "Body ":"")
+ (Amotor!=IntPtr.Zero ? "Amotor ":"")); + (Amotor!=IntPtr.Zero ? "Amotor ":""));
@ -1303,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
else else
{ {
m_log.Warn("[ODE CHARACTER]: trying to change capsule size, but the following ODE data is missing - " m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
+ (Shell==IntPtr.Zero ? "Shell ":"") + (Shell==IntPtr.Zero ? "Shell ":"")
+ (Body==IntPtr.Zero ? "Body ":"") + (Body==IntPtr.Zero ? "Body ":"")
+ (Amotor==IntPtr.Zero ? "Amotor ":"")); + (Amotor==IntPtr.Zero ? "Amotor ":""));

40
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -193,14 +193,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>(); private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>(); private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
/// <summary>
/// Defects list to remove characters that no longer have finite positions due to some other bug.
/// </summary>
/// <remarks>
/// Used repeatedly in Simulate() but initialized once here.
/// </remarks>
private readonly List<OdeCharacter> defects = new List<OdeCharacter>();
/// <summary> /// <summary>
/// Used to lock on manipulation of _taintedPrimL and _taintedPrimH /// Used to lock on manipulation of _taintedPrimL and _taintedPrimH
/// </summary> /// </summary>
@ -1734,15 +1726,6 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
} }
internal void BadCharacter(OdeCharacter chr)
{
lock (_badCharacter)
{
if (!_badCharacter.Contains(chr))
_badCharacter.Add(chr);
}
}
private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation, private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
PrimitiveBaseShape pbs, bool isphysical, uint localID) PrimitiveBaseShape pbs, bool isphysical, uint localID)
{ {
@ -2789,15 +2772,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
foreach (OdeCharacter actor in _characters) foreach (OdeCharacter actor in _characters)
{ {
if (actor != null) if (actor != null)
actor.Move(defects); actor.Move();
}
if (0 != defects.Count)
{
foreach (OdeCharacter defect in defects)
RemoveCharacter(defect);
defects.Clear();
} }
} }
@ -2872,19 +2847,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
} }
} }
lock (_badCharacter)
{
if (_badCharacter.Count > 0)
{
foreach (OdeCharacter chr in _badCharacter)
{
RemoveCharacter(chr);
}
_badCharacter.Clear();
}
}
lock (_activeprims) lock (_activeprims)
{ {
//if (timeStep < 0.2f) //if (timeStep < 0.2f)