From a0d77c061cdb4875f604c314c3b3d9a01db7255f Mon Sep 17 00:00:00 2001 From: Seth Alves Date: Fri, 26 Jun 2015 07:00:28 -0700 Subject: [PATCH 1/3] lock the entity tree during physics operations that access then entity tree. if the simulation and entity-tree are both going to be locked, be sure to lock the entity tree first (and unlock it last), because this is what the network-reading thread does --- interface/src/Application.cpp | 21 +++++ libraries/physics/src/EntityMotionState.cpp | 92 ++++++++++++++++----- libraries/physics/src/EntityMotionState.h | 4 + 3 files changed, 95 insertions(+), 22 deletions(-) diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index 8a572d2d41..d9c5589631 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -2496,24 +2496,45 @@ void Application::update(float deltaTime) { _entitySimulation.lock(); _physicsEngine.deleteObjects(_entitySimulation.getObjectsToDelete()); + _entitySimulation.unlock(); + + _entities.getTree()->lockForWrite(); + _entitySimulation.lock(); _physicsEngine.addObjects(_entitySimulation.getObjectsToAdd()); + _entitySimulation.unlock(); + _entities.getTree()->unlock(); + + _entities.getTree()->lockForWrite(); + _entitySimulation.lock(); _physicsEngine.changeObjects(_entitySimulation.getObjectsToChange()); + _entitySimulation.unlock(); + _entities.getTree()->unlock(); + + _entitySimulation.lock(); _entitySimulation.applyActionChanges(); _entitySimulation.unlock(); + AvatarManager* avatarManager = DependencyManager::get().data(); _physicsEngine.deleteObjects(avatarManager->getObjectsToDelete()); _physicsEngine.addObjects(avatarManager->getObjectsToAdd()); _physicsEngine.changeObjects(avatarManager->getObjectsToChange()); + _entities.getTree()->lockForWrite(); _physicsEngine.stepSimulation(); + _entities.getTree()->unlock(); if (_physicsEngine.hasOutgoingChanges()) { + _entities.getTree()->lockForWrite(); _entitySimulation.lock(); _entitySimulation.handleOutgoingChanges(_physicsEngine.getOutgoingChanges(), _physicsEngine.getSessionID()); _entitySimulation.unlock(); + _entities.getTree()->unlock(); + _entities.getTree()->lockForWrite(); avatarManager->handleOutgoingChanges(_physicsEngine.getOutgoingChanges()); + _entities.getTree()->unlock(); + auto collisionEvents = _physicsEngine.getCollisionEvents(); avatarManager->handleCollisionEvents(collisionEvents); diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp index eeb9d5ca10..2ca996e2a5 100644 --- a/libraries/physics/src/EntityMotionState.cpp +++ b/libraries/physics/src/EntityMotionState.cpp @@ -19,6 +19,10 @@ #include "PhysicsHelpers.h" #include "PhysicsLogging.h" +#ifdef WANT_DEBUG_ENTITY_TREE_LOCKS +#include "EntityTree.h" +#endif + static const float ACCELERATION_EQUIVALENT_EPSILON_RATIO = 0.1f; static const quint8 STEPS_TO_DECIDE_BALLISTIC = 4; @@ -42,6 +46,7 @@ EntityMotionState::EntityMotionState(btCollisionShape* shape, EntityItemPointer { _type = MOTIONSTATE_TYPE_ENTITY; assert(_entity != nullptr); + assert(entityTreeIsLocked()); setMass(_entity->computeMass()); } @@ -50,7 +55,35 @@ EntityMotionState::~EntityMotionState() { assert(!_entity); } +#ifdef WANT_DEBUG_ENTITY_TREE_LOCKS +bool EntityMotionState::entityTreeIsLocked() const { + EntityTreeElement* element = _entity ? _entity->getElement() : nullptr; + EntityTree* tree = element ? element->getTree() : nullptr; + if (tree) { + bool readSuccess = tree->tryLockForRead(); + if (readSuccess) { + tree->unlock(); + } + bool writeSuccess = tree->tryLockForWrite(); + if (writeSuccess) { + tree->unlock(); + } + if (readSuccess && writeSuccess) { + return false; // if we can take either kind of lock, there was no tree lock. + } + return true; // either read or write failed, so there is some lock in place. + } else { + return true; + } +} +#else +bool EntityMotionState::entityTreeIsLocked() const { + return true; +} +#endif + void EntityMotionState::updateServerPhysicsVariables() { + assert(entityTreeIsLocked()); _serverPosition = _entity->getPosition(); _serverRotation = _entity->getRotation(); _serverVelocity = _entity->getVelocity(); @@ -60,6 +93,7 @@ void EntityMotionState::updateServerPhysicsVariables() { // virtual void EntityMotionState::handleEasyChanges(uint32_t flags) { + assert(entityTreeIsLocked()); updateServerPhysicsVariables(); ObjectMotionState::handleEasyChanges(flags); if (flags & EntityItem::DIRTY_SIMULATOR_ID) { @@ -101,6 +135,7 @@ MotionType EntityMotionState::computeObjectMotionType() const { if (!_entity) { return MOTION_TYPE_STATIC; } + assert(entityTreeIsLocked()); if (_entity->getCollisionsWillMove()) { return MOTION_TYPE_DYNAMIC; } @@ -108,6 +143,7 @@ MotionType EntityMotionState::computeObjectMotionType() const { } bool EntityMotionState::isMoving() const { + assert(entityTreeIsLocked()); return _entity && _entity->isMoving(); } @@ -120,6 +156,7 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const { if (!_entity) { return; } + assert(entityTreeIsLocked()); if (_motionType == MOTION_TYPE_KINEMATIC) { // This is physical kinematic motion which steps strictly by the subframe count // of the physics simulation. @@ -140,6 +177,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) { if (!_entity) { return; } + assert(entityTreeIsLocked()); measureBodyAcceleration(); _entity->setPosition(bulletToGLM(worldTrans.getOrigin()) + ObjectMotionState::getWorldOffset()); _entity->setRotation(bulletToGLM(worldTrans.getRotation())); @@ -164,9 +202,12 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) { #ifdef WANT_DEBUG quint64 now = usecTimestampNow(); qCDebug(physics) << "EntityMotionState::setWorldTransform()... changed entity:" << _entity->getEntityItemID(); - qCDebug(physics) << " last edited:" << _entity->getLastEdited() << formatUsecTime(now - _entity->getLastEdited()) << "ago"; - qCDebug(physics) << " last simulated:" << _entity->getLastSimulated() << formatUsecTime(now - _entity->getLastSimulated()) << "ago"; - qCDebug(physics) << " last updated:" << _entity->getLastUpdated() << formatUsecTime(now - _entity->getLastUpdated()) << "ago"; + qCDebug(physics) << " last edited:" << _entity->getLastEdited() + << formatUsecTime(now - _entity->getLastEdited()) << "ago"; + qCDebug(physics) << " last simulated:" << _entity->getLastSimulated() + << formatUsecTime(now - _entity->getLastSimulated()) << "ago"; + qCDebug(physics) << " last updated:" << _entity->getLastUpdated() + << formatUsecTime(now - _entity->getLastUpdated()) << "ago"; #endif } @@ -174,16 +215,18 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) { btCollisionShape* EntityMotionState::computeNewShape() { if (_entity) { ShapeInfo shapeInfo; + assert(entityTreeIsLocked()); _entity->computeShapeInfo(shapeInfo); return getShapeManager()->getShape(shapeInfo); } return nullptr; } -bool EntityMotionState::isCandidateForOwnership(const QUuid& sessionID) const { +bool EntityMotionState::isCandidateForOwnership(const QUuid& sessionID) const { if (!_body || !_entity) { return false; } + assert(entityTreeIsLocked()); return _candidateForOwnership || sessionID == _entity->getSimulatorID(); } @@ -200,7 +243,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { _sentActive = false; return false; } - + #ifdef WANT_DEBUG glm::vec3 wasPosition = _serverPosition; glm::quat wasRotation = _serverRotation; @@ -213,7 +256,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { const float INACTIVE_UPDATE_PERIOD = 0.5f; if (!_sentActive) { // we resend the inactive update every INACTIVE_UPDATE_PERIOD - // until it is removed from the outgoing updates + // until it is removed from the outgoing updates // (which happens when we don't own the simulation and it isn't touching our simulation) return (dt > INACTIVE_UPDATE_PERIOD); } @@ -231,10 +274,10 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { _serverPosition += dt * _serverVelocity; } - // Else we measure the error between current and extrapolated transform (according to expected behavior + // Else we measure the error between current and extrapolated transform (according to expected behavior // of remote EntitySimulation) and return true if the error is significant. - // NOTE: math is done in the simulation-frame, which is NOT necessarily the same as the world-frame + // NOTE: math is done in the simulation-frame, which is NOT necessarily the same as the world-frame // due to _worldOffset. // TODO: compensate for _worldOffset offset here @@ -242,7 +285,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { btTransform worldTrans = _body->getWorldTransform(); glm::vec3 position = bulletToGLM(worldTrans.getOrigin()); - + float dx2 = glm::distance2(position, _serverPosition); const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // Sqrt() - corresponds to 2 millimeters @@ -258,13 +301,13 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { return true; } - + if (glm::length2(_serverAngularVelocity) > 0.0f) { // compute rotation error float attenuation = powf(1.0f - _body->getAngularDamping(), dt); _serverAngularVelocity *= attenuation; - - // Bullet caps the effective rotation velocity inside its rotation integration step, therefore + + // Bullet caps the effective rotation velocity inside its rotation integration step, therefore // we must integrate with the same algorithm and timestep in order achieve similar results. for (int i = 0; i < numSteps; ++i) { _serverRotation = glm::normalize(computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * _serverRotation); @@ -276,7 +319,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { #ifdef WANT_DEBUG if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) { qCDebug(physics) << ".... ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) ...."; - + qCDebug(physics) << "wasAngularVelocity:" << wasAngularVelocity; qCDebug(physics) << "_serverAngularVelocity:" << _serverAngularVelocity; @@ -293,10 +336,11 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { } bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep, const QUuid& sessionID) { - // NOTE: we expect _entity and _body to be valid in this context, since shouldSendUpdate() is only called - // after doesNotNeedToSendUpdate() returns false and that call should return 'true' if _entity or _body are NULL. + // NOTE: we expect _entity and _body to be valid in this context, since shouldSendUpdate() is only called + // after doesNotNeedToSendUpdate() returns false and that call should return 'true' if _entity or _body are NULL. assert(_entity); assert(_body); + assert(entityTreeIsLocked()); if (!remoteSimulationOutOfSync(simulationStep)) { _candidateForOwnership = false; @@ -326,6 +370,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep, const QUuid& s void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, const QUuid& sessionID, uint32_t step) { assert(_entity); + assert(entityTreeIsLocked()); bool active = _body->isActive(); if (!active) { @@ -435,17 +480,18 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, const Q _lastStep = step; } -uint32_t EntityMotionState::getAndClearIncomingDirtyFlags() { +uint32_t EntityMotionState::getAndClearIncomingDirtyFlags() { + assert(entityTreeIsLocked()); uint32_t dirtyFlags = 0; if (_body && _entity) { - dirtyFlags = _entity->getDirtyFlags(); + dirtyFlags = _entity->getDirtyFlags(); _entity->clearDirtyFlags(); // we add DIRTY_MOTION_TYPE if the body's motion type disagrees with entity velocity settings int bodyFlags = _body->getCollisionFlags(); bool isMoving = _entity->isMoving(); if (((bodyFlags & btCollisionObject::CF_STATIC_OBJECT) && isMoving) || (bodyFlags & btCollisionObject::CF_KINEMATIC_OBJECT && !isMoving)) { - dirtyFlags |= EntityItem::DIRTY_MOTION_TYPE; + dirtyFlags |= EntityItem::DIRTY_MOTION_TYPE; } } return dirtyFlags; @@ -455,6 +501,7 @@ uint32_t EntityMotionState::getAndClearIncomingDirtyFlags() { // virtual QUuid EntityMotionState::getSimulatorID() const { if (_entity) { + assert(entityTreeIsLocked()); return _entity->getSimulatorID(); } return QUuid(); @@ -469,12 +516,12 @@ void EntityMotionState::bump() { void EntityMotionState::resetMeasuredBodyAcceleration() { _lastMeasureStep = ObjectMotionState::getWorldSimulationStep(); if (_body) { - _lastVelocity = bulletToGLM(_body->getLinearVelocity()); + _lastVelocity = bulletToGLM(_body->getLinearVelocity()); } else { _lastVelocity = glm::vec3(0.0f); } _measuredAcceleration = glm::vec3(0.0f); -} +} void EntityMotionState::measureBodyAcceleration() { // try to manually measure the true acceleration of the object @@ -504,7 +551,7 @@ glm::vec3 EntityMotionState::getObjectLinearVelocityChange() const { return _measuredAcceleration * _measuredDeltaTime; } -// virtual +// virtual void EntityMotionState::setMotionType(MotionType motionType) { ObjectMotionState::setMotionType(motionType); resetMeasuredBodyAcceleration(); @@ -514,12 +561,13 @@ void EntityMotionState::setMotionType(MotionType motionType) { // virtual QString EntityMotionState::getName() { if (_entity) { + assert(entityTreeIsLocked()); return _entity->getName(); } return ""; } -// virtual +// virtual int16_t EntityMotionState::computeCollisionGroup() { switch (computeObjectMotionType()){ case MOTION_TYPE_STATIC: diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h index 2d732f8ee0..4f777a4575 100644 --- a/libraries/physics/src/EntityMotionState.h +++ b/libraries/physics/src/EntityMotionState.h @@ -83,6 +83,10 @@ public: friend class PhysicalEntitySimulation; protected: + #ifdef WANT_DEBUG_ENTITY_TREE_LOCKS + bool entityTreeIsLocked() const; + #endif + virtual btCollisionShape* computeNewShape(); virtual void clearObjectBackPointer(); virtual void setMotionType(MotionType motionType); From 2682c4720d4bf048a09c4bf9340281fcf432d4a2 Mon Sep 17 00:00:00 2001 From: Seth Alves Date: Fri, 26 Jun 2015 07:04:10 -0700 Subject: [PATCH 2/3] fix alt-branch of ifdef --- libraries/physics/src/EntityMotionState.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp index 2ca996e2a5..0dad876349 100644 --- a/libraries/physics/src/EntityMotionState.cpp +++ b/libraries/physics/src/EntityMotionState.cpp @@ -77,7 +77,7 @@ bool EntityMotionState::entityTreeIsLocked() const { } } #else -bool EntityMotionState::entityTreeIsLocked() const { +bool entityTreeIsLocked() { return true; } #endif From 015498a6e0281bd2ef9d43161745feb19b6aea46 Mon Sep 17 00:00:00 2001 From: Seth Alves Date: Fri, 26 Jun 2015 07:20:22 -0700 Subject: [PATCH 3/3] move function up so this builds in non-debug mode --- libraries/physics/src/EntityMotionState.cpp | 55 +++++++++++---------- 1 file changed, 28 insertions(+), 27 deletions(-) diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp index 0dad876349..5e9591a031 100644 --- a/libraries/physics/src/EntityMotionState.cpp +++ b/libraries/physics/src/EntityMotionState.cpp @@ -27,6 +27,34 @@ static const float ACCELERATION_EQUIVALENT_EPSILON_RATIO = 0.1f; static const quint8 STEPS_TO_DECIDE_BALLISTIC = 4; +#ifdef WANT_DEBUG_ENTITY_TREE_LOCKS +bool EntityMotionState::entityTreeIsLocked() const { + EntityTreeElement* element = _entity ? _entity->getElement() : nullptr; + EntityTree* tree = element ? element->getTree() : nullptr; + if (tree) { + bool readSuccess = tree->tryLockForRead(); + if (readSuccess) { + tree->unlock(); + } + bool writeSuccess = tree->tryLockForWrite(); + if (writeSuccess) { + tree->unlock(); + } + if (readSuccess && writeSuccess) { + return false; // if we can take either kind of lock, there was no tree lock. + } + return true; // either read or write failed, so there is some lock in place. + } else { + return true; + } +} +#else +bool entityTreeIsLocked() { + return true; +} +#endif + + EntityMotionState::EntityMotionState(btCollisionShape* shape, EntityItemPointer entity) : ObjectMotionState(shape), _entity(entity), @@ -55,33 +83,6 @@ EntityMotionState::~EntityMotionState() { assert(!_entity); } -#ifdef WANT_DEBUG_ENTITY_TREE_LOCKS -bool EntityMotionState::entityTreeIsLocked() const { - EntityTreeElement* element = _entity ? _entity->getElement() : nullptr; - EntityTree* tree = element ? element->getTree() : nullptr; - if (tree) { - bool readSuccess = tree->tryLockForRead(); - if (readSuccess) { - tree->unlock(); - } - bool writeSuccess = tree->tryLockForWrite(); - if (writeSuccess) { - tree->unlock(); - } - if (readSuccess && writeSuccess) { - return false; // if we can take either kind of lock, there was no tree lock. - } - return true; // either read or write failed, so there is some lock in place. - } else { - return true; - } -} -#else -bool entityTreeIsLocked() { - return true; -} -#endif - void EntityMotionState::updateServerPhysicsVariables() { assert(entityTreeIsLocked()); _serverPosition = _entity->getPosition();