30110399467

Committed 24 Jul 2026 04:46PM UTC coverage: 64.291% (-0.01%) from 64.302%

Build # 30110399467

Build Type

push

github

Committed by

tyevco

Commit Message

fix(physics): Correct sleep thresholds, gravity, interpolation, collision-end, shape/body counts (#1122-#1124,#1126-#1128,#1130)

Fixes a cluster of physics-correctness bugs in the BepuPhysics 2.4.0 backend:

- #1122: ActivityDescription.NeverSleep used float.MaxValue, which put the body
  permanently *under* threshold so it slept anyway. Bepu treats a negative sleep
  threshold as "never a sleep candidate", so NeverSleep now uses -1.
- #1123: PhysicsSyncSystem read the previously displayed (interpolated) transform
  as its interpolation input, corrupting the result on non-step frames. PhysicsWorld
  now records the last two raw simulation poses and the sync system interpolates
  between those instead of feeding its own output back in.
- #1124: CollisionEndedEvent fired spuriously when a resting body fell asleep and
  the narrow phase stopped reporting the pair. CollisionEventManager now consults a
  sleep predicate and persists resting contacts for sleeping bodies rather than
  emitting Ended.
- #1126: SetGravity only mutated the property (read once at init). It now also writes
  the new gravity into the live PoseIntegrator callbacks so it affects the running sim.
- #1127: RemoveBody removed the body/static and lookup but never the shape, leaking
  shape slots. It now removes the shape too (and clears interpolation state).
- #1128: InterpolationAlpha could exceed 1 when the loop hit MaxStepsPerFrame. The
  accumulator is now drained to at most one timestep at the cap and alpha is clamped
  to [0, 1].
- #1130: BodyCount returned only the active set, omitting sleeping bodies. It now
  sums all allocated body sets (active + sleeping islands).

Adds PhysicsCorrectnessTests with a fail-on-old/pass-on-new regression test per issue,
and updates ActivityDescription_NeverSleep_* to assert the corrected behavior.

Closes #1122
Closes #1123
Closes #1124
Closes #1126
Closes #1127
Closes #1128
Closes #1130

Coverage Stats

8489 of 12538 branches covered (67.71%)

Branch coverage included in aggregate %.

61 of 63 new or added lines in 4 files covered. (96.83%)

20 existing lines in 3 files now uncovered.

50807 of 79692 relevant lines covered (63.75%)

0.98 hits per line

Source File
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69.68

/src/KeenEyes.TestBridge/Process/ManagedProcess.cs

using System.Diagnostics;
using System.Text;
using KeenEyes.TestBridge.Process;

namespace KeenEyes.TestBridge.ProcessManagement;

/// <summary>
/// Internal wrapper for System.Diagnostics.Process that manages output buffering
/// and provides thread-safe access to process state.
/// </summary>
internal sealed class ManagedProcess : IDisposable
{
    private readonly System.Diagnostics.Process process;
    private readonly ProcessStartOptions options;
    private readonly StringBuilder stdoutBuffer = new();
    private readonly StringBuilder stderrBuffer = new();
    private readonly StringBuilder stdoutFullHistory = new();
    private readonly StringBuilder stderrFullHistory = new();
    private readonly Lock bufferLock = new();
    private readonly TaskCompletionSource<int> exitTcs = new();
    private readonly DateTime startTime;
    private readonly Task? stdoutReadTask;
    private readonly Task? stderrReadTask;

    private bool disposed;

    public ManagedProcess(System.Diagnostics.Process process, ProcessStartOptions options)
    {
        this.process = process;
        this.options = options;
        startTime = DateTime.UtcNow;

        if (options.RedirectStdout)
        {
            stdoutReadTask = ReadOutputAsync(process.StandardOutput, stdoutBuffer, stdoutFullHistory, options.MaxStdoutBuffer);
        }

        if (options.RedirectStderr)
        {
            stderrReadTask = ReadOutputAsync(process.StandardError, stderrBuffer, stderrFullHistory, options.MaxStderrBuffer);
        }

        // Monitor for exit
        _ = MonitorExitAsync();
    }

    public int ProcessId => process.Id;

    public string Executable => options.Executable;

    public string? Arguments => options.Arguments;

    public string? WorkingDirectory => options.WorkingDirectory;

    public bool HasExited
    {
        get
        {
            try
            {
                return process.HasExited;
            }
            catch (InvalidOperationException)
            {
                return true;
            }
        }
    }

    public int? ExitCode
    {
        get
        {
            try
            {
                return HasExited ? process.ExitCode : null;
            }
            catch (InvalidOperationException)
            {
                return null;
            }
        }
    }

    public DateTime StartTime => startTime;

    public DateTime? ExitTime => HasExited ? DateTime.UtcNow : null;

    public ProcessInfo GetInfo()
    {
        return new ProcessInfo
        {
            ProcessId = ProcessId,
            Executable = Executable,
            Arguments = Arguments,
            WorkingDirectory = WorkingDirectory,
            HasExited = HasExited,
            ExitCode = ExitCode,
            StartTime = StartTime,
            ExitTime = ExitTime
        };
    }

    public async Task WriteLineAsync(string line, CancellationToken cancellationToken)
    {
        if (!options.RedirectStdin)
        {
            throw new InvalidOperationException("Standard input is not redirected for this process.");
        }

        if (HasExited)
        {
            throw new InvalidOperationException("Cannot write to a process that has exited.");
        }

        await process.StandardInput.WriteLineAsync(line.AsMemory(), cancellationToken);
        await process.StandardInput.FlushAsync(cancellationToken);
    }

    public string ReadStdout()
    {
        lock (bufferLock)
        {
            var result = stdoutBuffer.ToString();
            stdoutBuffer.Clear();
            return result;
        }
    }

    public string ReadStderr()
    {
        lock (bufferLock)
        {
            var result = stderrBuffer.ToString();
            stderrBuffer.Clear();
            return result;
        }
    }

    public string PeekStdout()
    {
        lock (bufferLock)
        {
            return stdoutBuffer.ToString();
        }
    }

    public string PeekStderr()
    {
        lock (bufferLock)
        {
            return stderrBuffer.ToString();
        }
    }

    public string GetFullStdout()
    {
        lock (bufferLock)
        {
            return stdoutFullHistory.ToString();
        }
    }

    public string GetFullStderr()
    {
        lock (bufferLock)
        {
            return stderrFullHistory.ToString();
        }
    }

    public async Task<ProcessExitResult> WaitForExitAsync(TimeSpan? timeout, CancellationToken cancellationToken)
    {
        if (timeout.HasValue)
        {
            using var cts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
            cts.CancelAfter(timeout.Value);

            try
            {
                await exitTcs.Task.WaitAsync(cts.Token);
            }
            catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
            {
                // Timeout occurred
                return new ProcessExitResult
                {
                    Completed = false,
                    ExitCode = null,
                    Stdout = GetFullStdout(),
                    Stderr = GetFullStderr(),
                    Duration = DateTime.UtcNow - startTime
                };
            }
        }
        else
        {
            await exitTcs.Task.WaitAsync(cancellationToken);
        }

        // Wait for output reading to complete
        if (stdoutReadTask != null)
        {
            await stdoutReadTask;
        }

        if (stderrReadTask != null)
        {
            await stderrReadTask;
        }

        return new ProcessExitResult
        {
            Completed = true,
            ExitCode = ExitCode,
            Stdout = GetFullStdout(),
            Stderr = GetFullStderr(),
            Duration = DateTime.UtcNow - startTime
        };
    }

    public async Task<bool> WaitForOutputAsync(string text, TimeSpan timeout, CancellationToken cancellationToken)
    {
        using var cts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
        cts.CancelAfter(timeout);

        try
        {
            while (!cts.Token.IsCancellationRequested)
            {
                lock (bufferLock)
                {
                    if (stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal))
                    {
                        return true;
                    }
                }

                if (HasExited)
                {
                    // Check one more time after exit
                    lock (bufferLock)
                    {
                        return stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal);
                    }
                }

                await Task.Delay(50, cts.Token);
            }
        }
        catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
        {
            // Timeout - check one final time
            lock (bufferLock)
            {
                return stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal);
            }
        }

        return false;
    }

    public Task TerminateAsync()
    {
        if (HasExited)
        {
            return Task.CompletedTask;
        }

        // On Windows, we try to close the main window first for graceful shutdown
        // On Unix, Process.Kill() sends SIGTERM by default in .NET
        try
        {
            if (OperatingSystem.IsWindows())
            {
                // Try graceful shutdown first
                process.CloseMainWindow();
            }
            else
            {
                // On Unix, Kill() sends SIGTERM
                process.Kill();
            }
        }
        catch (InvalidOperationException)
        {
            // Process already exited
        }

        return Task.CompletedTask;
    }

    public Task KillAsync()
    {
        if (HasExited)
        {
            return Task.CompletedTask;
        }

        try
        {
            process.Kill(entireProcessTree: true);
        }
        catch (InvalidOperationException)
        {
            // Process already exited
        }

        return Task.CompletedTask;
    }

    public void Dispose()
    {
        if (disposed)
        {
            return;
        }

        disposed = true;

        try
        {
            if (!HasExited)
            {
                process.Kill(entireProcessTree: true);
            }
        }
        catch (InvalidOperationException)
        {
            // Process already exited, which is fine during cleanup
        }
        catch (SystemException)
        {
            // Other system errors during kill are acceptable during cleanup
        }

        process.Dispose();
    }

    private async Task MonitorExitAsync()
    {
        try
        {
            await process.WaitForExitAsync();
            exitTcs.TrySetResult(process.ExitCode);
        }
        catch (Exception ex)
        {
            exitTcs.TrySetException(ex);
        }
    }

    private async Task ReadOutputAsync(StreamReader reader, StringBuilder buffer, StringBuilder fullHistory, int maxBuffer)
    {
        var charBuffer = new char[4096];

        try
        {
            int charsRead;
            while ((charsRead = await reader.ReadAsync(charBuffer, CancellationToken.None)) > 0)
            {
                var text = new string(charBuffer, 0, charsRead);

                lock (bufferLock)
                {
                    buffer.Append(text);
                    fullHistory.Append(text);

                    // Trim buffer if exceeds max size (FIFO - remove oldest)
                    if (buffer.Length > maxBuffer)
                    {
                        var excess = buffer.Length - maxBuffer;
                        buffer.Remove(0, excess);
                    }

                    // Trim full history too to prevent unbounded memory growth
                    if (fullHistory.Length > maxBuffer * 2)
                    {
                        var excess = fullHistory.Length - maxBuffer;
                        fullHistory.Remove(0, excess);
                    }
                }
            }
        }
        catch (ObjectDisposedException)
        {
            // Stream was closed, normal during shutdown
        }
        catch (IOException)
        {
            // IO error, process likely terminated
        }
    }
}

1	using System.Diagnostics;
2	using System.Text;
3	using KeenEyes.TestBridge.Process;
4
5	namespace KeenEyes.TestBridge.ProcessManagement;
6
7	/// <summary>
8	/// Internal wrapper for System.Diagnostics.Process that manages output buffering
9	/// and provides thread-safe access to process state.
10	/// </summary>
11	internal sealed class ManagedProcess : IDisposable
12	{
13	private readonly System.Diagnostics.Process process;
14	private readonly ProcessStartOptions options;
15	private readonly StringBuilder stdoutBuffer = new();	1✔
16	private readonly StringBuilder stderrBuffer = new();	1✔
17	private readonly StringBuilder stdoutFullHistory = new();	1✔
18	private readonly StringBuilder stderrFullHistory = new();	1✔
19	private readonly Lock bufferLock = new();	1✔
20	private readonly TaskCompletionSource<int> exitTcs = new();	1✔
21	private readonly DateTime startTime;
22	private readonly Task? stdoutReadTask;
23	private readonly Task? stderrReadTask;
24
25	private bool disposed;
26
27	public ManagedProcess(System.Diagnostics.Process process, ProcessStartOptions options)	1✔
28	{
29	this.process = process;	1✔
30	this.options = options;	1✔
31	startTime = DateTime.UtcNow;	1✔
32
33	if (options.RedirectStdout)	1✔
34	{
35	stdoutReadTask = ReadOutputAsync(process.StandardOutput, stdoutBuffer, stdoutFullHistory, options.MaxStdoutBuffer);	1✔
36	}
37
38	if (options.RedirectStderr)	1✔
39	{
40	stderrReadTask = ReadOutputAsync(process.StandardError, stderrBuffer, stderrFullHistory, options.MaxStderrBuffer);	1✔
41	}
42
43	// Monitor for exit
44	_ = MonitorExitAsync();	1✔
45	}	1✔
46
47	public int ProcessId => process.Id;	1✔
48
49	public string Executable => options.Executable;	1✔
50
51	public string? Arguments => options.Arguments;	1✔
52
53	public string? WorkingDirectory => options.WorkingDirectory;	1✔
54
55	public bool HasExited
56	{
57	get
58	{
59	try
60	{
61	return process.HasExited;	1✔
62	}
63	catch (InvalidOperationException)	×
64	{
65	return true;	×
66	}
67	}	1✔
68	}
69
70	public int? ExitCode
71	{
72	get
73	{
74	try
75	{
76	return HasExited ? process.ExitCode : null;	1✔
77	}
78	catch (InvalidOperationException)	×
79	{
80	return null;	×
81	}
82	}	1✔
83	}
84
85	public DateTime StartTime => startTime;	1✔
86
87	public DateTime? ExitTime => HasExited ? DateTime.UtcNow : null;	1✔
88
89	public ProcessInfo GetInfo()
90	{
91	return new ProcessInfo	1✔
92	{	1✔
93	ProcessId = ProcessId,	1✔
94	Executable = Executable,	1✔
95	Arguments = Arguments,	1✔
96	WorkingDirectory = WorkingDirectory,	1✔
97	HasExited = HasExited,	1✔
98	ExitCode = ExitCode,	1✔
99	StartTime = StartTime,	1✔
100	ExitTime = ExitTime	1✔
101	};	1✔
102	}
103
104	public async Task WriteLineAsync(string line, CancellationToken cancellationToken)
105	{
106	if (!options.RedirectStdin)	×
107	{
108	throw new InvalidOperationException("Standard input is not redirected for this process.");	×
109	}
110
111	if (HasExited)	×
112	{
113	throw new InvalidOperationException("Cannot write to a process that has exited.");	×
114	}
115
116	await process.StandardInput.WriteLineAsync(line.AsMemory(), cancellationToken);	×
117	await process.StandardInput.FlushAsync(cancellationToken);	×
118	}	×
119
120	public string ReadStdout()
121	{	1✔
122	lock (bufferLock)
123	{
124	var result = stdoutBuffer.ToString();	1✔
125	stdoutBuffer.Clear();	1✔
126	return result;	1✔
127	}
128	}	1✔
129
130	public string ReadStderr()
131	{	×
132	lock (bufferLock)
133	{
134	var result = stderrBuffer.ToString();	×
135	stderrBuffer.Clear();	×
136	return result;	×
137	}
138	}	×
139
140	public string PeekStdout()
141	{	1✔
142	lock (bufferLock)
143	{
144	return stdoutBuffer.ToString();	1✔
145	}
146	}	1✔
147
148	public string PeekStderr()
149	{	×
150	lock (bufferLock)
151	{
152	return stderrBuffer.ToString();	×
153	}
154	}	×
155
156	public string GetFullStdout()
157	{	1✔
158	lock (bufferLock)
159	{
160	return stdoutFullHistory.ToString();	1✔
161	}
162	}	1✔
163
164	public string GetFullStderr()
165	{	1✔
166	lock (bufferLock)
167	{
168	return stderrFullHistory.ToString();	1✔
169	}
170	}	1✔
171
172	public async Task<ProcessExitResult> WaitForExitAsync(TimeSpan? timeout, CancellationToken cancellationToken)
173	{
174	if (timeout.HasValue)	1✔
175	{
176	using var cts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);	1✔
177	cts.CancelAfter(timeout.Value);	1✔
178
179	try
180	{
181	await exitTcs.Task.WaitAsync(cts.Token);	1✔
182	}	1✔
183	catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)	×
184	{
185	// Timeout occurred
186	return new ProcessExitResult	×
187	{	×
188	Completed = false,	×
189	ExitCode = null,	×
190	Stdout = GetFullStdout(),	×
191	Stderr = GetFullStderr(),	×
192	Duration = DateTime.UtcNow - startTime	×
193	};	×
194	}
195	}	1✔
196	else
197	{
198	await exitTcs.Task.WaitAsync(cancellationToken);	×
199	}
200
201	// Wait for output reading to complete
202	if (stdoutReadTask != null)	1✔
203	{
204	await stdoutReadTask;	1✔
205	}
206
207	if (stderrReadTask != null)	1✔
208	{
209	await stderrReadTask;	1✔
210	}
211
212	return new ProcessExitResult	1✔
213	{	1✔
214	Completed = true,	1✔
215	ExitCode = ExitCode,	1✔
216	Stdout = GetFullStdout(),	1✔
217	Stderr = GetFullStderr(),	1✔
218	Duration = DateTime.UtcNow - startTime	1✔
219	};	1✔
220	}	1✔
221
222	public async Task<bool> WaitForOutputAsync(string text, TimeSpan timeout, CancellationToken cancellationToken)
223	{
224	using var cts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);	1✔
225	cts.CancelAfter(timeout);	1✔
226
227	try
228	{
229	while (!cts.Token.IsCancellationRequested)	1✔
230	{	1✔
231	lock (bufferLock)
232	{
233	if (stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal))	1✔
234	{
235	return true;	1✔
236	}
237	}	1✔
238
239	if (HasExited)	1✔
UNCOV 240	{	×
241	// Check one more time after exit
242	lock (bufferLock)
243	{
UNCOV 244	return stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal);	×
245	}
246	}
247
248	await Task.Delay(50, cts.Token);	1✔
249	}
250	}	×
251	catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)	1✔
252	{	1✔
253	// Timeout - check one final time
254	lock (bufferLock)
255	{
256	return stdoutFullHistory.ToString().Contains(text, StringComparison.Ordinal);	1✔
257	}
258	}
259
260	return false;	×
261	}	1✔
262
263	public Task TerminateAsync()
264	{
265	if (HasExited)	1✔
266	{
267	return Task.CompletedTask;	×
268	}
269
270	// On Windows, we try to close the main window first for graceful shutdown
271	// On Unix, Process.Kill() sends SIGTERM by default in .NET
272	try
273	{
274	if (OperatingSystem.IsWindows())	1✔
275	{
276	// Try graceful shutdown first
277	process.CloseMainWindow();	×
278	}
279	else
280	{
281	// On Unix, Kill() sends SIGTERM
282	process.Kill();	1✔
283	}
284	}	1✔
285	catch (InvalidOperationException)	×
286	{
287	// Process already exited
288	}	×
289
290	return Task.CompletedTask;	1✔
291	}
292
293	public Task KillAsync()
294	{
295	if (HasExited)	1✔
296	{
297	return Task.CompletedTask;	1✔
298	}
299
300	try
301	{
302	process.Kill(entireProcessTree: true);	1✔
303	}	1✔
304	catch (InvalidOperationException)	×
305	{
306	// Process already exited
307	}	×
308
309	return Task.CompletedTask;	1✔
310	}
311
312	public void Dispose()
313	{
314	if (disposed)	1✔
315	{
316	return;	×
317	}
318
319	disposed = true;	1✔
320
321	try
322	{
323	if (!HasExited)	1✔
324	{
325	process.Kill(entireProcessTree: true);	1✔
326	}
327	}	1✔
328	catch (InvalidOperationException)	×
329	{
330	// Process already exited, which is fine during cleanup
331	}	×
332	catch (SystemException)	×
333	{
334	// Other system errors during kill are acceptable during cleanup
335	}	×
336
337	process.Dispose();	1✔
338	}	1✔
339
340	private async Task MonitorExitAsync()
341	{
342	try
343	{
344	await process.WaitForExitAsync();	1✔
345	exitTcs.TrySetResult(process.ExitCode);	1✔
346	}	1✔
347	catch (Exception ex)	×
348	{
349	exitTcs.TrySetException(ex);	×
350	}	×
351	}	1✔
352
353	private async Task ReadOutputAsync(StreamReader reader, StringBuilder buffer, StringBuilder fullHistory, int maxBuffer)
354	{
355	var charBuffer = new char[4096];	1✔
356
357	try
358	{
359	int charsRead;
360	while ((charsRead = await reader.ReadAsync(charBuffer, CancellationToken.None)) > 0)	1✔
361	{
362	var text = new string(charBuffer, 0, charsRead);	1✔
363
364	lock (bufferLock)
365	{
366	buffer.Append(text);	1✔
367	fullHistory.Append(text);	1✔
368
369	// Trim buffer if exceeds max size (FIFO - remove oldest)
370	if (buffer.Length > maxBuffer)	1✔
371	{
372	var excess = buffer.Length - maxBuffer;	×
373	buffer.Remove(0, excess);	×
374	}
375
376	// Trim full history too to prevent unbounded memory growth
377	if (fullHistory.Length > maxBuffer * 2)	1✔
378	{
379	var excess = fullHistory.Length - maxBuffer;	×
380	fullHistory.Remove(0, excess);	×
381	}
382	}	1✔
383	}
384	}	1✔
385	catch (ObjectDisposedException)	×
386	{
387	// Stream was closed, normal during shutdown
388	}	×
389	catch (IOException)	×
390	{
391	// IO error, process likely terminated
392	}	×
393	}	1✔
394	}

orion-ecs / keen-eye / 30110399467

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