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Restore defects list. In hindsight, the reason for this is becuase we can't remove the character whilst iterating over the list. 

This commit also removes locking on OdeScene._characters since code is single threaded
0.7.2-post-fixes
Justin Clark-Casey (justincc) 2011-11-21 21:04:24 +00:00
parent 5c305494ae
commit bba4577d88
2 changed files with 112 additions and 92 deletions
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27
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -868,11 +868,10 @@ namespace OpenSim.Region.Physics.OdePlugin
/// Called from Simulate
/// This is the avatar's movement control + PID Controller
/// </summary>
/// <remarks>
/// This routine will remove the character from the physics scene if it detects something wrong (non-finite
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </remarks>
internal void Move()
/// </param>
internal void Move(List<OdeCharacter> defects)
{
// no lock; for now it's only called from within Simulate()
@ -897,8 +896,7 @@ namespace OpenSim.Region.Physics.OdePlugin
"[ODE CHARACTER]: Avatar position of {0} for {1} is non-finite! Removing from physics scene.",
localPos, Name);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
defects.Add(this);
return;
}
@ -1037,15 +1035,19 @@ namespace OpenSim.Region.Physics.OdePlugin
"[ODE CHARACTER]: Got a NaN force vector {0} in Move() for {1}. Removing character from physics scene.",
vec, Name);
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
defects.Add(this);
return;
}
}
/// <summary>
/// Updates the reported position and velocity. This essentially sends the data up to ScenePresence.
/// </summary>
internal void UpdatePositionAndVelocity()
/// <param name="defects">The character will be added to this list if there is something wrong (non-finite
/// position or velocity).
/// </param>
internal void UpdatePositionAndVelocity(List<OdeCharacter> defects)
{
// no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
d.Vector3 newPos;
@ -1056,11 +1058,12 @@ namespace OpenSim.Region.Physics.OdePlugin
catch (NullReferenceException)
{
bad = true;
_parent_scene.RemoveCharacter(this);
DestroyOdeStructures();
defects.Add(this);
newPos = new d.Vector3(_position.X, _position.Y, _position.Z);
base.RaiseOutOfBounds(_position); // Tells ScenePresence that there's a problem!
m_log.WarnFormat("[ODE CHARACTER]: Avatar Null reference for Avatar {0}, physical actor {1}", Name, m_uuid);
return;
}
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
@ -1140,7 +1143,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <summary>
/// Used internally to destroy the ODE structures associated with this character.
/// </summary>
private void DestroyOdeStructures()
internal void DestroyOdeStructures()
{
// destroy avatar capsule and related ODE data
if (Amotor != IntPtr.Zero)

177
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -189,7 +189,11 @@ namespace OpenSim.Region.Physics.OdePlugin
public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback;
/// <summary>
/// Avatars in the physics scene.
/// </summary>
private readonly HashSet<OdeCharacter> _characters = new HashSet<OdeCharacter>();
private readonly HashSet<OdePrim> _prims = new HashSet<OdePrim>();
private readonly HashSet<OdePrim> _activeprims = new HashSet<OdePrim>();
@ -251,6 +255,14 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </remarks>
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
/// <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>();
private bool m_NINJA_physics_joints_enabled = false;
//private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
private readonly Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
@ -1512,45 +1524,42 @@ namespace OpenSim.Region.Physics.OdePlugin
{
_perloopContact.Clear();
lock (_characters)
foreach (OdeCharacter chr in _characters)
{
foreach (OdeCharacter chr in _characters)
// Reset the collision values to false
// since we don't know if we're colliding yet
// For some reason this can happen. Don't ask...
//
if (chr == null)
continue;
if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
continue;
chr.IsColliding = false;
chr.CollidingGround = false;
chr.CollidingObj = false;
// test the avatar's geometry for collision with the space
// This will return near and the space that they are the closest to
// And we'll run this again against the avatar and the space segment
// This will return with a bunch of possible objects in the space segment
// and we'll run it again on all of them.
try
{
// Reset the collision values to false
// since we don't know if we're colliding yet
// For some reason this can happen. Don't ask...
//
if (chr == null)
continue;
if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
continue;
chr.IsColliding = false;
chr.CollidingGround = false;
chr.CollidingObj = false;
// test the avatar's geometry for collision with the space
// This will return near and the space that they are the closest to
// And we'll run this again against the avatar and the space segment
// This will return with a bunch of possible objects in the space segment
// and we'll run it again on all of them.
try
{
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to space collide");
}
//float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
//if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
//{
//chr.Position.Z = terrainheight + 10.0f;
//forcedZ = true;
//}
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
}
catch (AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to space collide");
}
//float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
//if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
//{
//chr.Position.Z = terrainheight + 10.0f;
//forcedZ = true;
//}
}
lock (_activeprims)
@ -1716,28 +1725,22 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void AddCharacter(OdeCharacter chr)
{
lock (_characters)
if (!_characters.Contains(chr))
{
if (!_characters.Contains(chr))
{
_characters.Add(chr);
_characters.Add(chr);
if (chr.bad)
m_log.ErrorFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
}
if (chr.bad)
m_log.ErrorFormat("[PHYSICS] Added BAD actor {0} to characters list", chr.m_uuid);
}
}
internal void RemoveCharacter(OdeCharacter chr)
{
lock (_characters)
if (_characters.Contains(chr))
{
if (_characters.Contains(chr))
{
_characters.Remove(chr);
geom_name_map.Remove(chr.Shell);
actor_name_map.Remove(chr.Shell);
}
_characters.Remove(chr);
geom_name_map.Remove(chr.Shell);
actor_name_map.Remove(chr.Shell);
}
}
@ -2783,13 +2786,21 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
}
// Move characters
lock (_characters)
foreach (OdeCharacter actor in _characters)
{
foreach (OdeCharacter actor in _characters)
if (actor != null)
actor.Move(defects);
}
if (defects.Count != 0)
{
foreach (OdeCharacter actor in defects)
{
if (actor != null)
actor.Move();
RemoveCharacter(actor);
actor.DestroyOdeStructures();
}
defects.Clear();
}
// Move other active objects
@ -2849,20 +2860,28 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
timeLeft -= ODE_STEPSIZE;
}
lock (_characters)
foreach (OdeCharacter actor in _characters)
{
foreach (OdeCharacter actor in _characters)
if (actor != null)
{
if (actor != null)
{
if (actor.bad)
m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
if (actor.bad)
m_log.WarnFormat("[PHYSICS]: BAD Actor {0} in _characters list was not removed?", actor.m_uuid);
actor.UpdatePositionAndVelocity();
}
actor.UpdatePositionAndVelocity(defects);
}
}
if (defects.Count != 0)
{
foreach (OdeCharacter actor in defects)
{
RemoveCharacter(actor);
actor.DestroyOdeStructures();
}
defects.Clear();
}
lock (_activeprims)
{
//if (timeStep < 0.2f)
@ -3882,30 +3901,28 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
}
}
ds.SetColor(1.0f, 0.0f, 0.0f);
lock (_characters)
foreach (OdeCharacter chr in _characters)
{
foreach (OdeCharacter chr in _characters)
if (chr.Shell != IntPtr.Zero)
{
if (chr.Shell != IntPtr.Zero)
{
IntPtr body = d.GeomGetBody(chr.Shell);
IntPtr body = d.GeomGetBody(chr.Shell);
d.Vector3 pos;
d.GeomCopyPosition(chr.Shell, out pos);
//d.BodyCopyPosition(body, out pos);
d.Vector3 pos;
d.GeomCopyPosition(chr.Shell, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(chr.Shell, out R);
//d.BodyCopyRotation(body, out R);
d.Matrix3 R;
d.GeomCopyRotation(chr.Shell, out R);
//d.BodyCopyRotation(body, out R);
ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
d.Vector3 sides = new d.Vector3();
sides.X = 0.5f;
sides.Y = 0.5f;
sides.Z = 0.5f;
ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
d.Vector3 sides = new d.Vector3();
sides.X = 0.5f;
sides.Y = 0.5f;
sides.Z = 0.5f;
ds.DrawBox(ref pos, ref R, ref sides);
}
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}