BulletSim: add parameter for terrain collision margin.

Add locking around unlikely but possible race conditions on terrain list.

OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs

@@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     {
         m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
                                 m_mapInfo.minCoords, m_mapInfo.maxCoords, 
-                                m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
+                                m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin);
 
         // Create the terrain shape from the mapInfo
         m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),

OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs

@@ -80,8 +80,6 @@ public sealed class BSTerrainManager
     //    amount to make sure that a bounding box is built for the terrain.
     public const float HEIGHT_EQUAL_FUDGE = 0.2f;
 
-    public const float TERRAIN_COLLISION_MARGIN = 0.0f;
-
     // Until the whole simulator is changed to pass us the region size, we rely on constants.
     public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
 
@@ -129,7 +127,8 @@ public sealed class BSTerrainManager
     {
         // The ground plane is here to catch things that are trying to drop to negative infinity
         BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
+                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
+                                    PhysicsScene.Params.terrainCollisionMargin),
                     BSPhysicsShapeType.SHAPE_GROUNDPLANE);
         m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
                         BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
@@ -164,6 +163,8 @@ public sealed class BSTerrainManager
 
     // Release all the terrain we have allocated
     public void ReleaseTerrain()
+    {
+        lock (m_terrains)
         {
             foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
             {
@@ -171,11 +172,14 @@ public sealed class BSTerrainManager
             }
             m_terrains.Clear();
         }
+    }
 
     // The simulator wants to set a new heightmap for the terrain.
     public void SetTerrain(float[] heightMap) {
         float[] localHeightMap = heightMap;
-        PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
+        // If there are multiple requests for changes to the same terrain between ticks,
+        //      only do that last one.
+        PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
         {
             if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
             {
@@ -211,6 +215,7 @@ public sealed class BSTerrainManager
     //     terrain shape is created and added to the body.
     //     This call is most often used to update the heightMap and parameters of the terrain.
     // (The above does suggest that some simplification/refactoring is in order.)
+    // Called during taint-time.
     private void UpdateTerrain(uint id, float[] heightMap, 
                             Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
     {
@@ -220,7 +225,7 @@ public sealed class BSTerrainManager
         // Find high and low points of passed heightmap.
         // The min and max passed in is usually the area objects can be in (maximum
         //     object height, for instance). The terrain wants the bounding box for the
-        //     terrain so we replace passed min and max Z with the actual terrain min/max Z.
+        //     terrain so replace passed min and max Z with the actual terrain min/max Z.
         float minZ = float.MaxValue;
         float maxZ = float.MinValue;
         foreach (float height in heightMap)
@@ -238,6 +243,8 @@ public sealed class BSTerrainManager
 
         Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
 
+        lock (m_terrains)
+        {
             BSTerrainPhys terrainPhys;
             if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
             {
@@ -245,8 +252,6 @@ public sealed class BSTerrainManager
                 DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
                                 BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
 
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate()
-            {
                 // Remove old terrain from the collection
                 m_terrains.Remove(terrainRegionBase);
                 // Release any physical memory it may be using.
@@ -271,7 +276,6 @@ public sealed class BSTerrainManager
                     // I hate doing this, but just bail
                     return;
                 }
-            });
             }
             else
             {
@@ -283,23 +287,13 @@ public sealed class BSTerrainManager
                 if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
                     newTerrainID = ++m_terrainCount;
 
-            float[] heightMapX = heightMap;
+                DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
-            Vector3 minCoordsX = minCoords;
-            Vector3 maxCoordsX = maxCoords;
-
-            DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
                                             BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
-
-            // Code that must happen at taint-time
-            PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate()
-            {
-                DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", 
-                                            BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y);
                 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                 m_terrains.Add(terrainRegionBase, newTerrainPhys);
 
                 m_terrainModified = true;
-            });
+            }
         }
     }
 
@@ -349,6 +343,7 @@ public sealed class BSTerrainManager
         //    with the same parameters as last time.
         if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
             return lastHeight;
+        m_terrainModified = false;
 
         lastHeightTX = tX;
         lastHeightTY = tY;
@@ -358,19 +353,19 @@ public sealed class BSTerrainManager
         int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
         Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
 
+        lock (m_terrains)
+        {
             BSTerrainPhys physTerrain;
             if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
             {
                 ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
-            DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}",
-                                             BSScene.DetailLogZero, loc, terrainBaseXYZ, ret);
             }
             else
             {
                 PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
                         LogHeader, PhysicsScene.RegionName, tX, tY);
             }
-        m_terrainModified = false;
+        }
         lastHeight = ret;
         return ret;
     }

OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs

@@ -217,8 +217,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                 }
             }
             verticesCount = verticesCount / 3;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", 
-                                            BSScene.DetailLogZero, verticesCount);
 
             for (int yy = 0; yy < sizeY; yy++)
             {
@@ -235,8 +233,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                     indicesCount += 6;
                 }
             }
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}",   // DEEBUG DEBUG DEBUG
-                                                        LogHeader, indicesCount);                        // DEBUG
             ret = true;
         }
         catch (Exception e)