OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

BulletSim: add post taint taints and post step taints. The post taints operation is most useful and is used by linksets to build and rebuild only once before the simulation step.

integration
Robert Adams 2012-10-29 11:38:01 -07:00
parent 2f25f70316
commit 9568f24c26
1 changed files with 122 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

138
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -171,7 +171,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
}
}
private Object _taintLock = new Object(); // lock for using the next object
private List<TaintCallbackEntry> _taintedObjects;
private List<TaintCallbackEntry> _taintOperations;
private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
private List<TaintCallbackEntry> _postStepOperations;
// A pointer to an instance if this structure is passed to the C++ code
// Used to pass basic configuration values to the unmanaged code.
@ -203,7 +205,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
_taintedObjects = new List<TaintCallbackEntry>();
_taintOperations = new List<TaintCallbackEntry>();
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
_postStepOperations = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
@ -475,23 +479,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (!m_initialized) return 5.0f;
// update the prim states while we know the physics engine is not busy
int numTaints = _taintedObjects.Count;
int numTaints = _taintOperations.Count;
ProcessTaints();
// Some of the prims operate with special vehicle properties
ProcessVehicles(timeStep);
numTaints += _taintedObjects.Count;
numTaints += _taintOperations.Count;
ProcessTaints(); // the vehicles might have added taints
// step the physical world one interval
m_simulationStep++;
int numSubSteps = 0;
// DEBUG
// DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
try
{
// DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -500,6 +502,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
// DumpVehicles(); // DEBUG
}
catch (Exception e)
{
@ -579,6 +582,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// Only enable this in a limited test world with few objects.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
ProcessPostStepTaints();
// The physics engine returns the number of milliseconds it simulated this call.
// These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
// We multiply by 55 to give a recognizable running rate (55 or less).
@ -670,6 +675,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public override bool IsThreaded { get { return false; } }
#region Taints
// Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time.
// We rely on C#'s closure to save and restore the context for the delegate.
@ -679,7 +686,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
lock (_taintLock)
{
_taintedObjects.Add(new TaintCallbackEntry(ident, callback));
_taintOperations.Add(new TaintCallbackEntry(ident, callback));
}
return;
@ -690,19 +697,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// here just before the physics engine is called to step the simulation.
public void ProcessTaints()
{
if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
ProcessRegularTaints();
ProcessPostTaintTaints();
}
private void ProcessRegularTaints()
{
if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process
{
int taintCount = m_taintsToProcessPerStep;
TaintCallbackEntry oneCallback = new TaintCallbackEntry();
while (_taintedObjects.Count > 0 && taintCount-- > 0)
while (_taintOperations.Count > 0 && taintCount-- > 0)
{
bool gotOne = false;
lock (_taintLock)
{
if (_taintedObjects.Count > 0)
if (_taintOperations.Count > 0)
{
oneCallback = _taintedObjects[0];
_taintedObjects.RemoveAt(0);
oneCallback = _taintOperations[0];
_taintOperations.RemoveAt(0);
gotOne = true;
}
}
@ -746,6 +759,89 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
}
}
// Schedule an update to happen after all the regular taints are processed.
// Note that new requests for the same operation ("ident") for the same object ("ID")
// will replace any previous operation by the same object.
public void PostTaintObject(String ident, uint ID, TaintCallback callback)
{
if (!m_initialized) return;
lock (_taintLock)
{
_postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback);
}
return;
}
private void ProcessPostTaintTaints()
{
if (_postTaintOperations.Count > 0)
{
Dictionary<string, TaintCallbackEntry> oldList;
lock (_taintLock)
{
oldList = _postTaintOperations;
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
}
foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
{
try
{
DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
kvp.Value.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
}
}
oldList.Clear();
}
}
public void PostStepTaintObject(String ident, TaintCallback callback)
{
if (!m_initialized) return;
lock (_taintLock)
{
_postStepOperations.Add(new TaintCallbackEntry(ident, callback));
}
return;
}
private void ProcessPostStepTaints()
{
if (_postStepOperations.Count > 0)
{
List<TaintCallbackEntry> oldList;
lock (_taintLock)
{
oldList = _postStepOperations;
_postStepOperations = new List<TaintCallbackEntry>();
}
foreach (TaintCallbackEntry tcbe in oldList)
{
try
{
DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
}
}
oldList.Clear();
}
}
#endregion // Taints
#region Vehicles
public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
@ -1006,7 +1102,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].ccdSweptSphereRadius; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ),
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
0.1f,
(s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
@ -1128,12 +1224,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
0.001f,
0.1f,
(s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintCFM; },
(s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
0.8f,
0.1f,
(s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintERP; },
(s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
@ -1326,6 +1422,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
#endregion Runtime settable parameters
// Debugging routine for dumping detailed physical information for vehicle prims
private void DumpVehicles()
{
foreach (BSPrim prim in m_vehicles)
{
BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr);
BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr);
}
}
// Invoke the detailed logger and output something if it's enabled.
public void DetailLog(string msg, params Object[] args)
{