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* Another ODE Stability update. This might fix the recent Linux issues with the ODEPlugin.

ThreadPoolClientBranch
Teravus Ovares 2008-02-14 09:31:22 +00:00
parent 0bb085261b
commit bd880f9178
2 changed files with 210 additions and 90 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

145
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -28,6 +28,7 @@
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using Axiom.Math;
using Ode.NET;
using OpenSim.Framework;
@ -57,6 +58,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public bool m_taintdisable = false;
public bool m_disabled = false;
public bool m_taintadd = false;
public GCHandle gc;
private CollisionLocker ode;
private bool m_taintforce = false;
@ -67,6 +69,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private OdeScene _parent_scene;
public IntPtr m_targetSpace = (IntPtr) 0;
public IntPtr prim_geom;
public IntPtr prev_geom;
public IntPtr _triMeshData;
private bool iscolliding = false;
@ -95,6 +98,9 @@ namespace OpenSim.Region.Physics.OdePlugin
public OdePrim(String primName, OdeScene parent_scene, PhysicsVector pos, PhysicsVector size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical, CollisionLocker dode)
{
gc = GCHandle.Alloc(prim_geom, GCHandleType.Pinned);
ode = dode;
_velocity = new PhysicsVector();
_position = pos;
@ -116,6 +122,9 @@ namespace OpenSim.Region.Physics.OdePlugin
_position.Y = 0;
}
prim_geom = (IntPtr)0;
prev_geom = (IntPtr)0;
_size = size;
m_taintsize = _size;
_acceleration = new PhysicsVector();
@ -173,6 +182,13 @@ namespace OpenSim.Region.Physics.OdePlugin
set { return; }
}
public void SetGeom(IntPtr geom)
{
prev_geom = prim_geom;
prim_geom = geom;
m_log.Warn("Setting Geom to: " + prim_geom);
}
public void enableBody()
{
@ -337,9 +353,6 @@ namespace OpenSim.Region.Physics.OdePlugin
disableBody();
}
float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
int VertexCount = vertexList.GetLength(0)/3;
@ -356,7 +369,10 @@ namespace OpenSim.Region.Physics.OdePlugin
try
{
prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
if (prim_geom == (IntPtr)0)
{
SetGeom(d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null));
}
}
catch (System.AccessViolationException)
{
@ -380,7 +396,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_taintadd)
{
changeadd(timestep);
}
if (m_taintposition != _position)
Move(timestep);
@ -433,6 +451,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void changeadd(float timestep)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
int[] iprimspaceArrItem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
IntPtr targetspace = _parent_scene.calculateSpaceForGeom(_position);
@ -441,6 +464,11 @@ namespace OpenSim.Region.Physics.OdePlugin
m_targetSpace = targetspace;
if (m_targetSpace != (IntPtr)0)
{
m_log.Warn("[PHYSICS]: target: " + m_targetSpace.ToString());
}
if (_mesh != null)
{
}
@ -473,11 +501,12 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2);
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
ode.dunlock(_parent_scene.world);
return;
}
}
@ -486,11 +515,12 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
ode.dunlock(_parent_scene.world);
return;
}
}
@ -500,12 +530,13 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (System.AccessViolationException)
{
return;
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
ode.dunlock(_parent_scene.world);
return;
}
}
}
@ -526,16 +557,18 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.waitForSpaceUnlock(m_targetSpace);
try
{
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
catch (System.AccessViolationException)
{
m_log.Warn("[PHYSICS]: Unable to create physics proxy for object");
ode.dunlock(_parent_scene.world);
return;
}
}
}
if (prim_geom != (IntPtr) 0)
{
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
myrot.W = _orientation.w;
@ -543,6 +576,7 @@ namespace OpenSim.Region.Physics.OdePlugin
myrot.Y = _orientation.y;
myrot.Z = _orientation.z;
d.GeomSetQuaternion(prim_geom, ref myrot);
}
if (m_isphysical && Body == (IntPtr)0)
@ -552,6 +586,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
ode.dunlock(_parent_scene.world);
_parent_scene.geom_name_map[prim_geom] = this.m_primName;
_parent_scene.actor_name_map[prim_geom] = (PhysicsActor)this;
m_taintadd = false;
@ -560,32 +595,55 @@ namespace OpenSim.Region.Physics.OdePlugin
}
public void Move(float timestep)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
if (m_isphysical)
{
// This is a fallback.. May no longer be necessary.
if (Body == (IntPtr) 0)
enableBody();
//Prim auto disable after 20 frames,
///if you move it, re-enable the prim manually.
d.BodyEnable(Body);
//if you move it, re-enable the prim manually.
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
d.BodyEnable(Body);
}
else
{
string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
m_targetSpace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
_parent_scene.waitForSpaceUnlock(m_targetSpace);
IntPtr tempspace = _parent_scene.recalculateSpaceForGeom(prim_geom, _position, m_targetSpace);
m_targetSpace = tempspace;
_parent_scene.waitForSpaceUnlock(m_targetSpace);
if (prim_geom != (IntPtr) 0)
{
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
_parent_scene.waitForSpaceUnlock(m_targetSpace);
d.SpaceAdd(m_targetSpace, prim_geom);
}
}
ode.dunlock(_parent_scene.world);
resetCollisionAccounting();
m_taintposition = _position;
}
public void rotate(float timestep)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
d.Quaternion myrot = new d.Quaternion();
myrot.W = _orientation.w;
myrot.X = _orientation.x;
@ -596,6 +654,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.BodySetQuaternion(Body, ref myrot);
}
ode.dunlock(_parent_scene.world);
resetCollisionAccounting();
m_taintrot = _orientation;
}
@ -609,10 +670,16 @@ namespace OpenSim.Region.Physics.OdePlugin
public void changedisable(float timestep)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
m_disabled = true;
if (Body != (IntPtr) 0)
d.BodyDisable(Body);
ode.dunlock(_parent_scene.world);
m_taintdisable = false;
}
@ -638,6 +705,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public void changesize(float timestamp)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
//if (!_parent_scene.geom_name_map.ContainsKey(prim_geom))
//{
// m_taintsize = _size;
@ -684,20 +755,20 @@ namespace OpenSim.Region.Physics.OdePlugin
if (((_size.X / 2f) > 0f) && ((_size.X / 2f) < 1000))
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2);
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
}
else
{
m_log.Info("[PHYSICS]: Failed to load a sphere bad size");
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
}
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
@ -715,7 +786,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
//prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
@ -734,12 +805,12 @@ namespace OpenSim.Region.Physics.OdePlugin
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateSphere(m_targetSpace, _size.X / 2);
SetGeom(d.CreateSphere(m_targetSpace, _size.X / 2));
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
}
//else if (_pbs.ProfileShape == ProfileShape.Circle && _pbs.PathCurve == (byte)Extrusion.Straight)
@ -757,7 +828,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.Quaternion myrot = new d.Quaternion();
@ -779,12 +850,21 @@ namespace OpenSim.Region.Physics.OdePlugin
}
_parent_scene.geom_name_map[prim_geom] = oldname;
ode.dunlock(_parent_scene.world);
resetCollisionAccounting();
m_taintsize = _size;
}
public void changeshape(float timestamp)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
string oldname = _parent_scene.geom_name_map[prim_geom];
// Cleanup of old prim geometry and Bodies
@ -809,13 +889,13 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
prim_geom = d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z);
SetGeom(d.CreateBox(m_targetSpace, _size.X, _size.Y, _size.Z));
}
if (IsPhysical && Body == (IntPtr) 0)
{
@ -833,12 +913,20 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetQuaternion(prim_geom, ref myrot);
}
_parent_scene.geom_name_map[prim_geom] = oldname;
ode.dunlock(_parent_scene.world);
resetCollisionAccounting();
m_taintshape = false;
}
public void changeAddForce(float timestamp)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
System.Threading.Thread.Sleep(2);
lock (m_forcelist)
{
@ -855,6 +943,9 @@ namespace OpenSim.Region.Physics.OdePlugin
}
m_forcelist.Clear();
}
ode.dunlock(_parent_scene.world);
m_collisionscore = 0;
m_interpenetrationcount = 0;
m_taintforce = false;
@ -862,6 +953,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
private void changevelocity(float timestep)
{
while (ode.lockquery())
{
}
ode.dlock(_parent_scene.world);
System.Threading.Thread.Sleep(20);
if (IsPhysical)
{
@ -870,7 +966,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
}
}
resetCollisionAccounting();
ode.dunlock(_parent_scene.world);
//resetCollisionAccounting();
m_taintVelocity = PhysicsVector.Zero;
}
public override bool IsPhysical

91
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -596,7 +596,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="timeStep"></param>
private void collision_optimized(float timeStep)
{
starttiming();
foreach (OdeCharacter chr in _characters)
{
// Reset the collision values to false
@ -626,7 +626,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//forcedZ = true;
//}
}
int avms = stoptiming();
// If the sim is running slow this frame,
// don't process collision for prim!
@ -719,8 +719,9 @@ namespace OpenSim.Region.Physics.OdePlugin
{
OdePrim p = (OdePrim) prim;
p.setPrimForRemoval();
AddPhysicsActorTaint(prim);
//p.setPrimForRemoval();
//AddPhysicsActorTaint(prim);
RemovePrimThreadLocked(p);
}
}
}
@ -736,10 +737,14 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="prim"></param>
public void RemovePrimThreadLocked(OdePrim prim)
{
prim.ResetTaints();
lock (OdeLock)
while (ode.lockquery())
{
System.Threading.Thread.Sleep(20);
}
ode.dlock(world);
//System.Threading.Thread.Sleep(20);
prim.ResetTaints();
if (prim.IsPhysical)
{
prim.disableBody();
@ -748,27 +753,38 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim.m_targetSpace != space && prim.IsPhysical == false)
{
// If the geometry is in the targetspace, remove it from the target space
if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
//m_log.Warn(prim.m_targetSpace);
if (prim.prim_geom == (IntPtr)0)
prim.prim_geom = prim.prev_geom;
if (prim.m_targetSpace != (IntPtr)0)
{
if (!(prim.m_targetSpace.Equals(null)))
if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
{
if (d.GeomIsSpace(prim.m_targetSpace))
{
waitForSpaceUnlock(prim.m_targetSpace);
d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
prim.m_targetSpace = space;
}
else
{
m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
((OdePrim)prim).m_targetSpace.ToString());
}
}
}
m_log.Warn(prim.prim_geom);
try
{
if (prim.prim_geom != (IntPtr)0)
{
d.GeomDestroy(prim.prim_geom);
prim.prim_geom = (IntPtr) 0;
}
}
catch (System.AccessViolationException)
{
@ -777,30 +793,31 @@ namespace OpenSim.Region.Physics.OdePlugin
_prims.Remove(prim);
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
{
if (!(prim.m_targetSpace.Equals(null)))
{
if (d.GeomIsSpace(prim.m_targetSpace))
{
waitForSpaceUnlock(prim.m_targetSpace);
d.SpaceRemove(space, prim.m_targetSpace);
//if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
//{
//if (!(prim.m_targetSpace.Equals(null)))
//{
//if (d.GeomIsSpace(prim.m_targetSpace))
//{
//waitForSpaceUnlock(prim.m_targetSpace);
//d.SpaceRemove(space, prim.m_targetSpace);
// free up memory used by the space.
d.SpaceDestroy(prim.m_targetSpace);
int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
}
else
{
m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
((OdePrim) prim).m_targetSpace.ToString());
}
}
}
//d.SpaceDestroy(prim.m_targetSpace);
//int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
//resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
//}
//else
//{
//m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
//((OdePrim) prim).m_targetSpace.ToString());
//}
//}
//}
}
}
ode.dunlock(world);
}
/// <summary>
/// Takes a space pointer and zeros out the array we're using to hold the spaces
@ -905,9 +922,11 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
// this is a physical object that got disabled. ;.;
if (currentspace != (IntPtr)0 && geom != (IntPtr)0)
{
if (d.SpaceQuery(currentspace, geom))
{
if (currentspace != (IntPtr) 0)
if (d.GeomIsSpace(currentspace))
{
waitForSpaceUnlock(currentspace);
@ -940,6 +959,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
}
// The routines in the Position and Size sections do the 'inserting' into the space,
@ -1042,6 +1062,7 @@ namespace OpenSim.Region.Physics.OdePlugin
_prims.Add(newPrim);
}
return newPrim;
}
@ -1268,10 +1289,10 @@ namespace OpenSim.Region.Physics.OdePlugin
bool processedtaints = false;
foreach (OdePrim prim in _taintedPrim)
{
if (prim.m_taintremove)
{
RemovePrimThreadLocked(prim);
}
//if (prim.m_taintremove)
//{
//RemovePrimThreadLocked(prim);
//}
prim.ProcessTaints(timeStep);