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

@@ -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<AvatarManager>().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);
 

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 edited:" << _entity->getLastEdited()
-        qCDebug(physics) << "    last simulated:" << _entity->getLastSimulated() << formatUsecTime(now - _entity->getLastSimulated()) << "ago";
+                         << formatUsecTime(now - _entity->getLastEdited()) << "ago";
-        qCDebug(physics) << "      last updated:" << _entity->getLastUpdated() << formatUsecTime(now - _entity->getLastUpdated()) << "ago";
+        qCDebug(physics) << "    last simulated:" << _entity->getLastSimulated()
+                         << formatUsecTime(now - _entity->getLastSimulated()) << "ago";
+        qCDebug(physics) << "      last updated:" << _entity->getLastUpdated()
+                         << formatUsecTime(now - _entity->getLastUpdated()) << "ago";
     #endif
 }
 
@@ -174,6 +215,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
 btCollisionShape* EntityMotionState::computeNewShape() {
     if (_entity) {
         ShapeInfo shapeInfo;
+        assert(entityTreeIsLocked());
         _entity->computeShapeInfo(shapeInfo);
         return getShapeManager()->getShape(shapeInfo);
     }
@@ -184,6 +226,7 @@ bool EntityMotionState::isCandidateForOwnership(const QUuid& sessionID) const {
     if (!_body || !_entity) {
         return false;
     }
+    assert(entityTreeIsLocked());
     return _candidateForOwnership || sessionID == _entity->getSimulatorID();
 }
 
@@ -297,6 +340,7 @@ bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep, const QUuid& s
     // 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) {
@@ -436,6 +481,7 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, const Q
 }
 
 uint32_t EntityMotionState::getAndClearIncomingDirtyFlags() {
+    assert(entityTreeIsLocked());
     uint32_t dirtyFlags = 0;
     if (_body && _entity) {
         dirtyFlags = _entity->getDirtyFlags();
@@ -455,6 +501,7 @@ uint32_t EntityMotionState::getAndClearIncomingDirtyFlags() {
 // virtual
 QUuid EntityMotionState::getSimulatorID() const {
     if (_entity) {
+        assert(entityTreeIsLocked());
         return _entity->getSimulatorID();
     }
     return QUuid();
@@ -514,6 +561,7 @@ void EntityMotionState::setMotionType(MotionType motionType) {
 // virtual
 QString EntityMotionState::getName() {
     if (_entity) {
+        assert(entityTreeIsLocked());
         return _entity->getName();
     }
     return "";

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);