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

iar_mods
Justin Clark-Casey (justincc) 2011-11-21 19:45:22 +00:00
parent 3becda919e
commit 54789706f4
2 changed files with 29 additions and 70 deletions
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57
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -178,7 +178,7 @@ namespace OpenSim.Region.Physics.OdePlugin
parent_scene.GetTerrainHeightAtXY(128f, 128f) + 10f);
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;
@ -201,7 +201,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_colliderarr[i] = false;
}
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_isPhysical = false; // current status: no ODE information exists
@ -266,7 +266,7 @@ namespace OpenSim.Region.Physics.OdePlugin
set
{
flying = value;
// m_log.DebugFormat("[PHYSICS]: Set OdeCharacter Flying to {0}", flying);
// m_log.DebugFormat("[ODE CHARACTER]: Set OdeCharacter Flying to {0}", flying);
}
}
@ -437,7 +437,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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);
}
}
}
@ -464,7 +464,7 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 SetSize = value;
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
// (as the height of the new root agent is set).
@ -474,7 +474,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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);
}
}
}
@ -533,7 +533,7 @@ namespace OpenSim.Region.Physics.OdePlugin
float xTiltComponent = -movementVector.X * 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.HiStop, xTiltComponent); // must be same as lowstop, else a different, spurious tilt is introduced
d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, yTiltComponent);
@ -560,17 +560,16 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(_parent_scene.space);
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;
}
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;
}
Shell = d.CreateCapsule(_parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.GeomSetCategoryBits(Shell, (int)m_collisionCategories);
@ -770,7 +769,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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);
@ -848,7 +847,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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;
}
@ -874,11 +873,11 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <param name="defects">
/// If there is something wrong with the character (e.g. its position is non-finite)
/// then it is added to this list. The ODE structures associated with it are also destroyed.
/// </param>
internal void Move(List<OdeCharacter> defects)
/// <remarks>
/// This routine will remove the character from the physics scene if it detects something wrong (non-finite
/// position or velocity).
/// </remarks>
internal void Move()
{
// no lock; for now it's only called from within Simulate()
@ -899,11 +898,11 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!localPos.IsFinite())
{
m_log.WarnFormat("[PHYSICS]: Avatar Position of {0} is non-finite!", Name);
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
m_log.WarnFormat(
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
localPos, Name);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
return;
@ -1038,11 +1037,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
else
{
m_log.Warn("[PHYSICS]: Got a NaN force vector in Move()");
m_log.Warn("[PHYSICS]: Avatar Position is non-finite!");
defects.Add(this);
// _parent_scene.RemoveCharacter(this);
m_log.WarnFormat(
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
vec, Name);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
}
}
@ -1061,7 +1060,7 @@ namespace OpenSim.Region.Physics.OdePlugin
catch (NullReferenceException)
{
bad = true;
_parent_scene.BadCharacter(this);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
@ -1275,7 +1274,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// Create avatar capsule and related ODE data
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 ":"")
+ (Body!=IntPtr.Zero ? "Body ":"")
+ (Amotor!=IntPtr.Zero ? "Amotor ":""));
@ -1320,7 +1319,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
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 ":"")
+ (Body==IntPtr.Zero ? "Body ":"")
+ (Amotor==IntPtr.Zero ? "Amotor ":""));

42
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> _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>
/// Used to lock on manipulation of _taintedPrimL and _taintedPrimH
/// </summary>
@ -236,8 +228,6 @@ namespace OpenSim.Region.Physics.OdePlugin
/// A dictionary of collision event changes that are waiting to be processed.
/// </summary>
private readonly Dictionary<uint, PhysicsActor> _collisionEventPrimChanges = new Dictionary<uint, PhysicsActor>();
private readonly HashSet<OdeCharacter> _badCharacter = new HashSet<OdeCharacter>();
/// <summary>
/// Maps a unique geometry id (a memory location) to a physics actor name.
@ -1736,15 +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,
PrimitiveBaseShape pbs, bool isphysical, uint localID)
{
@ -2805,15 +2786,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
foreach (OdeCharacter actor in _characters)
{
if (actor != null)
actor.Move(defects);
}
if (0 != defects.Count)
{
foreach (OdeCharacter defect in defects)
RemoveCharacter(defect);
defects.Clear();
actor.Move();
}
}
@ -2885,19 +2858,6 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
}
}
lock (_badCharacter)
{
if (_badCharacter.Count > 0)
{
foreach (OdeCharacter chr in _badCharacter)
{
RemoveCharacter(chr);
}
_badCharacter.Clear();
}
}
lock (_activeprims)
{
//if (timeStep < 0.2f)