Reduce complexity of OdeScene.Simulate() by fully removing bad characters at point of detection rather than later on.
Justin Clark-Casey (justincc)
parent
5bd27b7b22
commit
4a99619bc0
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@ -172,7 +172,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
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m_taintPosition = _position;
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m_log.Warn("[PHYSICS]: Got NaN Position on Character Create");
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m_log.WarnFormat("[ODE CHARACTER]: Got NaN Position on Character Create for {0}", avName);
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}
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_parent_scene = parent_scene;
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@ -195,7 +195,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_colliderarr[i] = false;
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}
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CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
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//m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString());
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//m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH.ToString());
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m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
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m_isPhysical = false; // current status: no ODE information exists
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@ -265,7 +265,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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set
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{
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flying = value;
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// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
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// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
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}
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}
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@ -436,7 +436,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Position from Scene on a Character");
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Position from Scene on character {0}", Name);
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}
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}
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}
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@ -463,7 +463,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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Vector3 SetSize = value;
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m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
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// m_log.Info("[SIZE]: " + CAPSULE_LENGTH);
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// m_log.Info("[ODE CHARACTER]: " + CAPSULE_LENGTH);
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// If we reset velocity here, then an avatar stalls when it crosses a border for the first time
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// (as the height of the new root agent is set).
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@ -473,7 +473,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN Size from Scene on a Character");
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN Size from Scene on {0}", Name);
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}
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}
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}
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@ -532,7 +532,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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float xTiltComponent = -movementVector.X * m_tiltMagnitudeWhenProjectedOnXYPlane;
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float yTiltComponent = -movementVector.Y * m_tiltMagnitudeWhenProjectedOnXYPlane;
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//m_log.Debug("[PHYSICS] changing avatar tilt");
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//m_log.Debug("[ODE CHARACTER]: changing avatar tilt");
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, xTiltComponent);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
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@ -559,17 +559,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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if (CAPSULE_LENGTH <= 0)
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{
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m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_LENGTH = 0.01f;
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}
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if (CAPSULE_RADIUS <= 0)
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{
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m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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m_log.Warn("[ODE CHARACTER]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!");
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CAPSULE_RADIUS = 0.01f;
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}
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Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
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@ -769,7 +768,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN velocity from Scene in a Character");
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN velocity from Scene for {0}", Name);
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}
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// m_log.DebugFormat("[PHYSICS]: Set target velocity of {0}", m_taintTargetVelocity);
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@ -844,7 +843,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN force applied to a Character");
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m_log.WarnFormat("[ODE CHARACTER]: Got a NaN force applied to {0}", Name);
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}
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//m_lastUpdateSent = false;
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}
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@ -870,11 +869,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// Called from Simulate
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/// This is the avatar's movement control + PID Controller
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/// </summary>
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/// <param name="defects">
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/// If there is something wrong with the character (e.g. its position is non-finite)
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/// then it is added to this list. The ODE structures associated with it are also destroyed.
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/// </param>
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internal void Move(List<OdeCharacter> defects)
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/// <remarks>
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/// This routine will remove the character from the physics scene if it detects something wrong (non-finite
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/// position or velocity).
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/// </remarks>
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internal void Move()
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{
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// no lock; for now it's only called from within Simulate()
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@ -895,11 +894,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (!localPos.IsFinite())
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{
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m_log.WarnFormat("[PHYSICS]: Avatar Position of {0} is non-finite!", Name);
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defects.Add(this);
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// _parent_scene.RemoveCharacter(this);
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m_log.WarnFormat(
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"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
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localPos, Name);
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_parent_scene.RemoveCharacter(this);
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DestroyOdeStructures();
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return;
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@ -1034,11 +1033,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
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m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
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defects.Add(this);
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// _parent_scene.RemoveCharacter(this);
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m_log.WarnFormat(
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"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
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vec, Name);
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_parent_scene.RemoveCharacter(this);
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DestroyOdeStructures();
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}
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}
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@ -1057,7 +1056,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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catch (NullReferenceException)
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{
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bad = true;
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_parent_scene.BadCharacter(this);
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_parent_scene.RemoveCharacter(this);
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DestroyOdeStructures();
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newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
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base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
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@ -1258,7 +1257,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Create avatar capsule and related ODE data
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if (!(Shell == IntPtr.Zero && Body == IntPtr.Zero && Amotor == IntPtr.Zero))
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{
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m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - "
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m_log.Warn("[ODE CHARACTER]: re-creating the following avatar ODE data for " + Name + ", even though it already exists - "
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+ (Shell!=IntPtr.Zero ? "Shell ":"")
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+ (Body!=IntPtr.Zero ? "Body ":"")
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+ (Amotor!=IntPtr.Zero ? "Amotor ":""));
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@ -1303,7 +1302,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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else
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{
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m_log.Warn("[ODE CHARACTER]: trying to change capsule size, but the following ODE data is missing - "
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m_log.Warn("[ODE CHARACTER]: trying to change capsule size for " + Name + ", but the following ODE data is missing - "
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+ (Shell==IntPtr.Zero ? "Shell ":"")
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+ (Body==IntPtr.Zero ? "Body ":"")
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+ (Amotor==IntPtr.Zero ? "Amotor ":""));
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@ -193,14 +193,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
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private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
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/// <summary>
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/// Defects list to remove characters that no longer have finite positions due to some other bug.
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/// </summary>
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/// <remarks>
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/// Used repeatedly in Simulate() but initialized once here.
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/// </remarks>
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private readonly List<OdeCharacter> defects = new List<OdeCharacter>();
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/// <summary>
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/// Used to lock on manipulation of _taintedPrimL and _taintedPrimH
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/// </summary>
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@ -1734,15 +1726,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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internal void BadCharacter(OdeCharacter chr)
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{
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lock (_badCharacter)
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{
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if (!_badCharacter.Contains(chr))
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_badCharacter.Add(chr);
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}
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}
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private PhysicsActor AddPrim(String name, Vector3 position, Vector3 size, Quaternion rotation,
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PrimitiveBaseShape pbs, bool isphysical, uint localID)
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{
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@ -2789,15 +2772,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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foreach (OdeCharacter actor in _characters)
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{
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if (actor != null)
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actor.Move(defects);
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}
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if (0 != defects.Count)
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{
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foreach (OdeCharacter defect in defects)
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RemoveCharacter(defect);
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defects.Clear();
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actor.Move();
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}
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}
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@ -2872,19 +2847,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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}
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}
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lock (_badCharacter)
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{
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if (_badCharacter.Count > 0)
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{
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foreach (OdeCharacter chr in _badCharacter)
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{
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RemoveCharacter(chr);
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}
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_badCharacter.Clear();
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}
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}
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lock (_activeprims)
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{
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//if (timeStep < 0.2f)
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