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BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.

integration
Robert Adams 2012-11-28 08:05:01 -08:00
parent d656ec8f33
commit 0a66317fa6
7 changed files with 63 additions and 22 deletions
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2
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -307,7 +307,7 @@ public sealed class BSCharacter : BSPhysObject
}
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
if (Position.Z < waterHeight)
{
_position.Z = waterHeight;

10
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -713,7 +713,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
m_VhoverTargetHeight = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
@ -730,6 +730,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (pos.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = pos.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
@ -883,8 +884,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Sum velocities
m_lastAngularVelocity = angularMotorContribution
+ verticalAttractionContribution
+ bankingContribution
+ deflectionContribution;
+ deflectionContribution
+ bankingContribution;
// ==================================================================
//Offset section
@ -921,8 +922,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
Prim.ZeroAngularMotion(true);
// TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle.
VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
Prim.ZeroAngularMotion(true);
}
else
{

7
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject
// Zero some other properties in the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
// DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
});
}
@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
// TODO: a floating motor so object will bob in the water
if (Math.Abs(Position.Z - waterHeight) > 0.1f)
{

17
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -127,7 +127,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public const uint GROUNDPLANE_ID = 1;
public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
private float m_waterLevel;
public float SimpleWaterLevel { get; set; }
public BSTerrainManager TerrainManager { get; private set; }
public ConfigurationParameters Params
@ -182,6 +182,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
private string m_physicsLoggingDir;
private string m_physicsLoggingPrefix;
private int m_physicsLoggingFileMinutes;
private bool m_physicsLoggingDoFlush;
// 'true' of the vehicle code is to log lots of details
public bool VehicleLoggingEnabled { get; private set; }
@ -290,6 +291,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
@ -494,7 +496,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
try
{
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -503,7 +505,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
}
catch (Exception e)
{
@ -634,12 +636,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public override void SetWaterLevel(float baseheight)
{
m_waterLevel = baseheight;
}
// Someday....
public float GetWaterLevelAtXYZ(Vector3 loc)
{
return m_waterLevel;
SimpleWaterLevel = baseheight;
}
public override void DeleteTerrain()
@ -1493,7 +1490,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
PhysicsLogging.Write(msg, args);
// Add the Flush() if debugging crashes. Gets all the messages written out.
// PhysicsLogging.Flush();
if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
}
// Used to fill in the LocalID when there isn't one. It's the correct number of characters.
public const string DetailLogZero = "0000000000";

8
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
View File

@ -148,7 +148,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
}
// The passed position is relative to the base of the region.
public override float GetHeightAtXYZ(Vector3 pos)
public override float GetTerrainHeightAtXYZ(Vector3 pos)
{
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
@ -166,5 +166,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
}
return ret;
}
// The passed position is relative to the base of the region.
public override float GetWaterLevelAtXYZ(Vector3 pos)
{
return PhysicsScene.SimpleWaterLevel;
}
}
}

33
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@ -62,7 +62,8 @@ public abstract class BSTerrainPhys : IDisposable
ID = id;
}
public abstract void Dispose();
public abstract float GetHeightAtXYZ(Vector3 pos);
public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
public abstract float GetWaterLevelAtXYZ(Vector3 pos);
}
// ==========================================================================================
@ -75,6 +76,7 @@ public sealed class BSTerrainManager
public const float HEIGHT_INITIALIZATION = 24.987f;
public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
public const float HEIGHT_GETHEIGHT_RET = 24.765f;
public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
// If the min and max height are equal, we reduce the min by this
// amount to make sure that a bounding box is built for the terrain.
@ -358,7 +360,7 @@ public sealed class BSTerrainManager
BSTerrainPhys physTerrain;
if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
{
ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ);
}
else
{
@ -370,6 +372,33 @@ public sealed class BSTerrainManager
return ret;
}
public float GetWaterLevelAtXYZ(Vector3 pos)
{
float ret = WATER_HEIGHT_GETHEIGHT_RET;
float tX = pos.X;
float tY = pos.Y;
Vector3 terrainBaseXYZ = Vector3.Zero;
terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
lock (m_terrains)
{
BSTerrainPhys physTerrain;
if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
{
ret = physTerrain.GetWaterLevelAtXYZ(pos);
}
else
{
PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, PhysicsScene.RegionName, tX, tY);
}
}
return ret;
}
// Although no one seems to check this, I do support combining.
public bool SupportsCombining()
{

8
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
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@ -148,7 +148,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
}
}
public override float GetHeightAtXYZ(Vector3 pos)
public override float GetTerrainHeightAtXYZ(Vector3 pos)
{
// For the moment use the saved heightmap to get the terrain height.
// TODO: raycast downward to find the true terrain below the position.
@ -169,6 +169,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
return ret;
}
// The passed position is relative to the base of the region.
public override float GetWaterLevelAtXYZ(Vector3 pos)
{
return PhysicsScene.SimpleWaterLevel;
}
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
// Return 'true' if successfully created.
public static bool ConvertHeightmapToMesh(