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let ode suport var size regions 

Signed-off-by: Diva Canto <diva@metaverseink.com>
0.8.2-post-fixes
UbitUmarov 2015-09-05 17:50:55 +01:00 committed by Diva Canto
parent 2210c5807f
commit 13b1c5dfce
2 changed files with 144 additions and 153 deletions
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7
OpenSim/Region/PhysicsModules/Ode/ODERayCastRequestManager.cs
View File

@ -172,6 +172,13 @@ namespace OpenSim.Region.PhysicsModule.ODE
/// <param name="req"></param>
private void RayCast(ODERayCastRequest req)
{
// UBIT: limit ray lenght or collisions will take all avaiable stack space
// this value may still be too large, depending on machine configuration
// of maximum stack
float len = req.length;
if (len > 250f)
len = 250f;
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);

290
OpenSim/Region/PhysicsModules/Ode/OdeScene.cs
View File

@ -25,6 +25,12 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
// Ubit changes for varsize regions
// note that raycasts need to have limited range
// (even in normal regions)
// or aplication thread stack may just blowup
// see RayCast(ODERayCastRequest req)
//#define USE_DRAWSTUFF
//#define SPAM
@ -270,8 +276,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
private Random fluidRandomizer = new Random(Environment.TickCount);
private const uint m_regionWidth = Constants.RegionSize;
private const uint m_regionHeight = Constants.RegionSize;
public bool m_suportCombine = true;
private uint m_regionWidth = Constants.RegionSize;
private uint m_regionHeight = Constants.RegionSize;
private float ODE_STEPSIZE = 0.0178f;
private float metersInSpace = 29.9f;
@ -297,7 +305,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
private IntPtr contactgroup;
internal IntPtr WaterGeom;
// internal IntPtr WaterGeom;
private float nmTerrainContactFriction = 255.0f;
private float nmTerrainContactBounce = 0.1f;
@ -514,17 +522,17 @@ namespace OpenSim.Region.PhysicsModule.ODE
public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
// TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
// TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
// TODO: unused: private uint heightmapWidthSamples;
// TODO: unused: private uint heightmapHeightSamples;
private volatile int m_global_contactcount = 0;
private Vector3 m_worldOffset = Vector3.Zero;
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
private PhysicsScene m_parentScene = null;
float spacesPerMeterX;
float spacesPerMeterY;
int spaceGridMaxX;
int spaceGridMaxY;
private ODERayCastRequestManager m_rayCastManager;
@ -583,10 +591,12 @@ namespace OpenSim.Region.PhysicsModule.ODE
scene.RegisterModuleInterface<PhysicsScene>(this);
Vector3 extent = new Vector3(scene.RegionInfo.RegionSizeX, scene.RegionInfo.RegionSizeY, scene.RegionInfo.RegionSizeZ);
Initialise();
Initialise(extent);
InitialiseFromConfig(m_config);
// This may not be that good since terrain may not be avaiable at this point
base.Initialise(scene.PhysicsRequestAsset,
(scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[Constants.RegionSize * Constants.RegionSize]),
(scene.Heightmap != null ? scene.Heightmap.GetFloatsSerialised() : new float[(int)(extent.X * extent.Y)]),
(float)scene.RegionInfo.RegionSettings.WaterHeight);
}
@ -613,8 +623,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
/// Sets many properties that ODE requires to be stable
/// These settings need to be tweaked 'exactly' right or weird stuff happens.
/// </summary>
private void Initialise()
private void Initialise(Vector3 regionExtent)
{
WorldExtents.X = regionExtent.X;
m_regionWidth = (uint)regionExtent.X;
WorldExtents.Y = regionExtent.Y;
m_regionHeight = (uint)regionExtent.Y;
m_suportCombine = false;
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
@ -633,7 +650,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
viewthread.Start();
#endif
_watermap = new float[258 * 258];
// _watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less.
@ -780,7 +797,31 @@ namespace OpenSim.Region.PhysicsModule.ODE
contacts = new d.ContactGeom[contactsPerCollision];
staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
spacesPerMeterX = 1.0f / metersInSpace;
spacesPerMeterY = 1.0f / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
// ubit: limit number of spaces
if (spaceGridMaxX > 24)
{
spaceGridMaxX = 24;
spacesPerMeterX = spaceGridMaxX / WorldExtents.X;
}
if (spaceGridMaxY > 24)
{
spaceGridMaxY = 24;
spacesPerMeterY = spaceGridMaxY / WorldExtents.Y ;
}
staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
// make this index limits
spaceGridMaxX--;
spaceGridMaxY--;
// Centeral contact friction and bounce
// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
@ -1964,6 +2005,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
{
if (!m_suportCombine)
return;
m_worldOffset = offset;
WorldExtents = new Vector2(extents.X, extents.Y);
m_parentScene = pScene;
@ -1972,12 +2015,17 @@ namespace OpenSim.Region.PhysicsModule.ODE
// Recovered for use by fly height. Kitto Flora
internal float GetTerrainHeightAtXY(float x, float y)
{
int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
IntPtr heightFieldGeom = IntPtr.Zero;
int offsetX = 0;
int offsetY = 0;
if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
if (m_suportCombine)
{
offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
}
if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
{
if (heightFieldGeom != IntPtr.Zero)
{
@ -1991,8 +2039,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
(int)x < 0.001f || (int)y < 0.001f)
return 0;
x = x - offsetX;
y = y - offsetY;
x = x - offsetX + 1f;
y = y - offsetY + 1f;
index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
@ -2828,16 +2876,16 @@ namespace OpenSim.Region.PhysicsModule.ODE
{
int[] returnint = new int[2];
returnint[0] = (int) (pos.X/metersInSpace);
returnint[0] = (int) (pos.X * spacesPerMeterX);
if (returnint[0] > ((int) (259f/metersInSpace)))
returnint[0] = ((int) (259f/metersInSpace));
if (returnint[0] > spaceGridMaxX)
returnint[0] = spaceGridMaxX;
if (returnint[0] < 0)
returnint[0] = 0;
returnint[1] = (int) (pos.Y/metersInSpace);
if (returnint[1] > ((int) (259f/metersInSpace)))
returnint[1] = ((int) (259f/metersInSpace));
returnint[1] = (int)(pos.Y * spacesPerMeterY);
if (returnint[1] > spaceGridMaxY)
returnint[1] = spaceGridMaxY;
if (returnint[1] < 0)
returnint[1] = 0;
@ -3591,6 +3639,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
get { return false; }
}
/* godd try.. but not a fix
#region ODE Specific Terrain Fixes
private float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
{
@ -3857,7 +3906,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
#endregion
*/
public override void SetTerrain(float[] heightMap)
{
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
@ -3878,71 +3927,65 @@ namespace OpenSim.Region.PhysicsModule.ODE
int startTime = Util.EnvironmentTickCount();
m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", PhysicsSceneName, pOffset);
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
//_origheightmap = heightMap;
float[] _heightmap;
// zero out a heightmap array float array (single dimension [flattened]))
//if ((int)Constants.RegionSize == 256)
// _heightmap = new float[514 * 514];
//else
// ok im lasy this are just a aliases
uint regionsizeX = m_regionWidth;
uint regionsizeY = m_regionHeight;
_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
// map is rotated
uint heightmapWidth = regionsizeY + 2;
uint heightmapHeight = regionsizeX + 2;
uint heightmapWidth = Constants.RegionSize + 1;
uint heightmapHeight = Constants.RegionSize + 1;
uint heightmapWidthSamples = heightmapWidth + 1;
uint heightmapHeightSamples = heightmapHeight + 1;
uint heightmapWidthSamples;
_heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
uint heightmapHeightSamples;
//if (((int)Constants.RegionSize) == 256)
//{
// heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapWidth++;
// heightmapHeight++;
//}
//else
//{
heightmapWidthSamples = (uint)Constants.RegionSize + 1;
heightmapHeightSamples = (uint)Constants.RegionSize + 1;
//}
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 0.2f;
const float thickness = 10f;
const int wrap = 0;
int regionsize = (int) Constants.RegionSize + 2;
//Double resolution
//if (((int)Constants.RegionSize) == 256)
// heightMap = ResizeTerrain512Interpolation(heightMap);
float hfmin = float.MaxValue;
float hfmax = float.MinValue;
float val;
uint xx;
uint yy;
uint maxXX = regionsizeX - 1;
uint maxYY = regionsizeY - 1;
// flipping map adding one margin all around so things don't fall in edges
uint xt = 0;
xx = 0;
// if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
// regionsize = 512;
float hfmin = 2000;
float hfmax = -2000;
for (int x = 0; x < heightmapWidthSamples; x++)
for (uint x = 0; x < heightmapWidthSamples; x++)
{
for (int y = 0; y < heightmapHeightSamples; y++)
if (x > 1 && xx < maxXX)
xx++;
yy = 0;
for (uint y = 0; y < heightmapHeightSamples; y++)
{
int xx = Util.Clip(x - 1, 0, regionsize - 1);
int yy = Util.Clip(y - 1, 0, regionsize - 1);
float val= heightMap[yy * (int)Constants.RegionSize + xx];
_heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
hfmin = (val < hfmin) ? val : hfmin;
hfmax = (val > hfmax) ? val : hfmax;
if (y > 1 && y < maxYY)
yy += regionsizeX;
val = heightMap[yy + xx];
if (val < 0.0f)
val = 0.0f;
_heightmap[xt + y] = val;
if (hfmin > val)
hfmin = val;
if (hfmax < val)
hfmax = val;
}
xt += heightmapHeightSamples;
}
lock (OdeLock)
@ -3963,9 +4006,10 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
(int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (GroundGeom != IntPtr.Zero)
@ -3980,17 +4024,15 @@ namespace OpenSim.Region.PhysicsModule.ODE
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1 * q2;
//q1 = q1 * q3;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)), (pOffset.Y + ((int)Constants.RegionSize * 0.5f)), 0);
d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0);
IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround))
{
@ -4015,89 +4057,31 @@ namespace OpenSim.Region.PhysicsModule.ODE
public override bool SupportsCombining()
{
return true;
return m_suportCombine;
}
// public override void UnCombine(PhysicsScene pScene)
// {
// IntPtr localGround = IntPtr.Zero;
//// float[] localHeightfield;
// bool proceed = false;
// List<IntPtr> geomDestroyList = new List<IntPtr>();
//
// lock (OdeLock)
// {
// if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
// {
// foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
// {
// if (geom == localGround)
// {
//// localHeightfield = TerrainHeightFieldHeights[geom];
// proceed = true;
// }
// else
// {
// geomDestroyList.Add(geom);
// }
// }
//
// if (proceed)
// {
// m_worldOffset = Vector3.Zero;
// WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
// m_parentScene = null;
//
// foreach (IntPtr g in geomDestroyList)
// {
// // removingHeightField needs to be done or the garbage collector will
// // collect the terrain data before we tell ODE to destroy it causing
// // memory corruption
// if (TerrainHeightFieldHeights.ContainsKey(g))
// {
//// float[] removingHeightField = TerrainHeightFieldHeights[g];
// TerrainHeightFieldHeights.Remove(g);
//
// if (RegionTerrain.ContainsKey(g))
// {
// RegionTerrain.Remove(g);
// }
//
// d.GeomDestroy(g);
// //removingHeightField = new float[0];
// }
// }
//
// }
// else
// {
// m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
// }
// }
// }
// }
public override void SetWaterLevel(float baseheight)
{
waterlevel = baseheight;
randomizeWater(waterlevel);
// randomizeWater(waterlevel);
}
/*
private void randomizeWater(float baseheight)
{
const uint heightmapWidth = m_regionWidth + 2;
const uint heightmapHeight = m_regionHeight + 2;
const uint heightmapWidthSamples = m_regionWidth + 2;
const uint heightmapHeightSamples = m_regionHeight + 2;
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 2.9f;
const int wrap = 0;
uint heightmapWidth = m_regionWidth + 2;
uint heightmapHeight = m_regionHeight + 2;
uint heightmapWidthSamples = m_regionWidth + 2;
uint heightmapHeightSamples = m_regionHeight + 2;
float scale = 1.0f;
float offset = 0.0f;
float thickness = 2.9f;
int wrap = 0;
for (int i = 0; i < (258 * 258); i++)
{
_watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
}
lock (OdeLock)
@ -4108,8 +4092,8 @@ namespace OpenSim.Region.PhysicsModule.ODE
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap);
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (WaterGeom != IntPtr.Zero)
@ -4137,7 +4121,7 @@ namespace OpenSim.Region.PhysicsModule.ODE
d.GeomSetPosition(WaterGeom, 128, 128, 0);
}
}
*/
public override void Dispose()
{
_worldInitialized = false;