BulletSim: fix line endings to be all Linux style (windows style keeps creeping in)
Robert Adams
parent
34cbc738a8
commit
2dc7e9d3fa
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@ -1,170 +1,170 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions are met:
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||||
* * Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
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||||
* documentation and/or other materials provided with the distribution.
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||||
* * Neither the name of the OpenSimulator Project nor the
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||||
* names of its contributors may be used to endorse or promote products
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||||
* derived from this software without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Physics.Manager;
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using Nini.Config;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSTerrainHeightmap : BSTerrainPhys
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{
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static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
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BulletHeightMapInfo m_mapInfo = null;
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// Constructor to build a default, flat heightmap terrain.
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public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
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: base(physicsScene, regionBase, id)
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{
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Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
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Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
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int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
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float[] initialMap = new float[totalHeights];
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for (int ii = 0; ii < totalHeights; ii++)
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{
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initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
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}
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minTerrainCoords;
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m_mapInfo.maxCoords = maxTerrainCoords;
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m_mapInfo.terrainRegionBase = TerrainBase;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
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// are the high and low points of the heightmap).
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public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
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Vector3 minCoords, Vector3 maxCoords)
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: base(physicsScene, regionBase, id)
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{
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minCoords;
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m_mapInfo.maxCoords = maxCoords;
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m_mapInfo.minZ = minCoords.Z;
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m_mapInfo.maxZ = maxCoords.Z;
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m_mapInfo.terrainRegionBase = TerrainBase;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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public override void Dispose()
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{
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ReleaseHeightMapTerrain();
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}
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// Using the information in m_mapInfo, create the physical representation of the heightmap.
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private void BuildHeightmapTerrain()
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{
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m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
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m_mapInfo.minCoords, m_mapInfo.maxCoords,
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m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
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// Create the terrain shape from the mapInfo
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m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
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PhysicsShapeType.SHAPE_TERRAIN);
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// The terrain object initial position is at the center of the object
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Vector3 centerPos;
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centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
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centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
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centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
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m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
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m_mapInfo.ID, centerPos, Quaternion.Identity));
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// Set current terrain attributes
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BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
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BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
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BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
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BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
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// Return the new terrain to the world of physical objects
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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// redo its bounding box now that it is in the world
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
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(uint)CollisionFilterGroups.TerrainFilter,
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(uint)CollisionFilterGroups.TerrainMask);
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// Make it so the terrain will not move or be considered for movement.
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BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
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return;
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}
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// If there is information in m_mapInfo pointing to physical structures, release same.
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private void ReleaseHeightMapTerrain()
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{
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if (m_mapInfo != null)
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{
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if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
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{
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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// Frees both the body and the shape.
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
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}
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}
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m_mapInfo = null;
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}
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// The passed position is relative to the base of the region.
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public override float GetHeightAtXYZ(Vector3 pos)
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{
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float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
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try
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{
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ret = m_mapInfo.heightMap[mapIndex];
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}
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catch
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{
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// Sometimes they give us wonky values of X and Y. Give a warning and return something.
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PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
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LogHeader, m_mapInfo.terrainRegionBase, pos);
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ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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}
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return ret;
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}
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}
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}
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the OpenSimulator Project nor the
|
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* names of its contributors may be used to endorse or promote products
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||||
* derived from this software without specific prior written permission.
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||||
*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Physics.Manager;
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using Nini.Config;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSTerrainHeightmap : BSTerrainPhys
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{
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static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
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BulletHeightMapInfo m_mapInfo = null;
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// Constructor to build a default, flat heightmap terrain.
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public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
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: base(physicsScene, regionBase, id)
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{
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Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
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Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
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int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
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float[] initialMap = new float[totalHeights];
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for (int ii = 0; ii < totalHeights; ii++)
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{
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initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
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}
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minTerrainCoords;
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m_mapInfo.maxCoords = maxTerrainCoords;
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m_mapInfo.terrainRegionBase = TerrainBase;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
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// are the high and low points of the heightmap).
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public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
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Vector3 minCoords, Vector3 maxCoords)
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: base(physicsScene, regionBase, id)
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{
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minCoords;
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m_mapInfo.maxCoords = maxCoords;
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m_mapInfo.minZ = minCoords.Z;
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m_mapInfo.maxZ = maxCoords.Z;
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m_mapInfo.terrainRegionBase = TerrainBase;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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public override void Dispose()
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{
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ReleaseHeightMapTerrain();
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}
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// Using the information in m_mapInfo, create the physical representation of the heightmap.
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private void BuildHeightmapTerrain()
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{
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m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
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m_mapInfo.minCoords, m_mapInfo.maxCoords,
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m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
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// Create the terrain shape from the mapInfo
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m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
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PhysicsShapeType.SHAPE_TERRAIN);
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// The terrain object initial position is at the center of the object
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Vector3 centerPos;
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centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
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centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
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centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
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m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
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m_mapInfo.ID, centerPos, Quaternion.Identity));
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// Set current terrain attributes
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BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
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BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
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BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
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BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
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// Return the new terrain to the world of physical objects
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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// redo its bounding box now that it is in the world
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
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(uint)CollisionFilterGroups.TerrainFilter,
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(uint)CollisionFilterGroups.TerrainMask);
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// Make it so the terrain will not move or be considered for movement.
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BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
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return;
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}
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// If there is information in m_mapInfo pointing to physical structures, release same.
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private void ReleaseHeightMapTerrain()
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{
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if (m_mapInfo != null)
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{
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if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
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{
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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// Frees both the body and the shape.
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
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}
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}
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m_mapInfo = null;
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}
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// The passed position is relative to the base of the region.
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public override float GetHeightAtXYZ(Vector3 pos)
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{
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float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
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try
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{
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ret = m_mapInfo.heightMap[mapIndex];
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}
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catch
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{
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// Sometimes they give us wonky values of X and Y. Give a warning and return something.
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PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
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LogHeader, m_mapInfo.terrainRegionBase, pos);
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ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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}
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return ret;
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}
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}
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}
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@ -1,284 +1,284 @@
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/*
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||||
* Copyright (c) Contributors, http://opensimulator.org/
|
||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the OpenSimulator Project nor the
|
||||
* names of its contributors may be used to endorse or promote products
|
||||
* derived from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
using System;
|
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using System.Collections.Generic;
|
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using System.Text;
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|
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using OpenSim.Framework;
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using OpenSim.Region.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Physics.Manager;
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using Nini.Config;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSTerrainMesh : BSTerrainPhys
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{
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static string LogHeader = "[BULLETSIM TERRAIN MESH]";
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private float[] m_savedHeightMap;
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int m_sizeX;
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int m_sizeY;
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BulletShape m_terrainShape;
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BulletBody m_terrainBody;
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public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
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: base(physicsScene, regionBase, id)
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{
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}
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public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
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: base(physicsScene, regionBase, id)
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{
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}
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// Create terrain mesh from a heightmap.
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public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
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Vector3 minCoords, Vector3 maxCoords)
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: base(physicsScene, regionBase, id)
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{
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int indicesCount;
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int[] indices;
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int verticesCount;
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float[] vertices;
|
||||
|
||||
m_savedHeightMap = initialMap;
|
||||
|
||||
m_sizeX = (int)(maxCoords.X - minCoords.X);
|
||||
m_sizeY = (int)(maxCoords.Y - minCoords.Y);
|
||||
|
||||
if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY,
|
||||
(float)m_sizeX, (float)m_sizeY,
|
||||
Vector3.Zero, 1.0f,
|
||||
out indicesCount, out indices, out verticesCount, out vertices))
|
||||
{
|
||||
// DISASTER!!
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
|
||||
PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}",
|
||||
ID, verticesCount, indicesCount);
|
||||
|
||||
m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
|
||||
indicesCount, indices, verticesCount, vertices),
|
||||
PhysicsShapeType.SHAPE_MESH);
|
||||
if (m_terrainShape.ptr == IntPtr.Zero)
|
||||
{
|
||||
// DISASTER!!
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape);
|
||||
|
||||
// The terrain object initial position is at the center of the object
|
||||
Vector3 centerPos;
|
||||
centerPos.X = minCoords.X + (m_sizeX / 2f);
|
||||
centerPos.Y = minCoords.Y + (m_sizeY / 2f);
|
||||
centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f);
|
||||
Quaternion rot = Quaternion.Identity;
|
||||
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot);
|
||||
m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2(
|
||||
m_terrainShape.ptr, ID, centerPos, rot));
|
||||
if (m_terrainBody.ptr == IntPtr.Zero)
|
||||
{
|
||||
// DISASTER!!
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody);
|
||||
|
||||
// Set current terrain attributes
|
||||
BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction);
|
||||
BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
|
||||
BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
|
||||
BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
|
||||
// Static objects are not very massive.
|
||||
BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
|
||||
|
||||
// Return the new terrain to the world of physical objects
|
||||
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
|
||||
// redo its bounding box now that it is in the world
|
||||
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
|
||||
BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
|
||||
(uint)CollisionFilterGroups.TerrainFilter,
|
||||
(uint)CollisionFilterGroups.TerrainMask);
|
||||
|
||||
// Make it so the terrain will not move or be considered for movement.
|
||||
BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
}
|
||||
|
||||
public override void Dispose()
|
||||
{
|
||||
if (m_terrainBody.ptr != IntPtr.Zero)
|
||||
{
|
||||
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
// Frees both the body and the shape.
|
||||
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
}
|
||||
}
|
||||
|
||||
public override float GetHeightAtXYZ(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.
|
||||
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
|
||||
|
||||
int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
|
||||
try
|
||||
{
|
||||
ret = m_savedHeightMap[mapIndex];
|
||||
}
|
||||
catch
|
||||
{
|
||||
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
|
||||
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
|
||||
LogHeader, TerrainBase, pos);
|
||||
ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
|
||||
// Return 'true' if successfully created.
|
||||
public static bool ConvertHeightmapToMesh(
|
||||
BSScene physicsScene,
|
||||
float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
|
||||
float extentX, float extentY, // zero based range for output vertices
|
||||
Vector3 extentBase, // base to be added to all vertices
|
||||
float magnification, // number of vertices to create between heightMap coords
|
||||
out int indicesCountO, out int[] indicesO,
|
||||
out int verticesCountO, out float[] verticesO)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
int indicesCount = 0;
|
||||
int verticesCount = 0;
|
||||
int[] indices = new int[0];
|
||||
float[] vertices = new float[0];
|
||||
|
||||
// Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY.
|
||||
// TODO: do a more general solution that scales, adds new vertices and smoothes the result.
|
||||
|
||||
try
|
||||
{
|
||||
// One vertice per heightmap value plus the vertices off the top and bottom edge.
|
||||
int totalVertices = (sizeX + 1) * (sizeY + 1);
|
||||
vertices = new float[totalVertices * 3];
|
||||
int totalIndices = sizeX * sizeY * 6;
|
||||
indices = new int[totalIndices];
|
||||
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}",
|
||||
BSScene.DetailLogZero, totalVertices, totalIndices);
|
||||
float magX = (float)sizeX / extentX;
|
||||
float magY = (float)sizeY / extentY;
|
||||
// Note that sizeX+1 vertices are created since there is land between this and the next region.
|
||||
for (int yy = 0; yy <= sizeY; yy++)
|
||||
{
|
||||
for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times
|
||||
{
|
||||
int offset = yy * sizeX + xx;
|
||||
// Extend the height from the height from the last row or column
|
||||
if (yy == sizeY) offset -= sizeX;
|
||||
if (xx == sizeX) offset -= 1;
|
||||
float height = heightMap[offset];
|
||||
vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
|
||||
vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
|
||||
vertices[verticesCount + 2] = height + extentBase.Z;
|
||||
if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG
|
||||
{
|
||||
Vector3 genVertex = new Vector3(
|
||||
vertices[verticesCount + 0],
|
||||
vertices[verticesCount + 1],
|
||||
vertices[verticesCount + 2]);
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}",
|
||||
BSScene.DetailLogZero, verticesCount/3, genVertex);
|
||||
}
|
||||
verticesCount += 3;
|
||||
}
|
||||
}
|
||||
verticesCount = verticesCount / 3;
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}",
|
||||
BSScene.DetailLogZero, verticesCount);
|
||||
|
||||
for (int yy = 0; yy < sizeY; yy++)
|
||||
{
|
||||
for (int xx = 0; xx < sizeX; xx++)
|
||||
{
|
||||
int offset = yy * sizeX + xx;
|
||||
// Each vertices is presumed to be the upper left corner of a box of two triangles
|
||||
indices[indicesCount + 0] = offset;
|
||||
indices[indicesCount + 1] = offset + 1;
|
||||
indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
|
||||
indices[indicesCount + 3] = offset + 1;
|
||||
indices[indicesCount + 4] = offset + sizeX + 2;
|
||||
indices[indicesCount + 5] = offset + sizeX + 1;
|
||||
if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG
|
||||
BSScene.DetailLogZero,
|
||||
indices[indicesCount + 0],
|
||||
indices[indicesCount + 1],
|
||||
indices[indicesCount + 2],
|
||||
indices[indicesCount + 3],
|
||||
indices[indicesCount + 4],
|
||||
indices[indicesCount + 5]
|
||||
);
|
||||
indicesCount += 6;
|
||||
}
|
||||
}
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG
|
||||
LogHeader, indicesCount); // DEBUG
|
||||
ret = true;
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}",
|
||||
LogHeader, extentBase, e);
|
||||
}
|
||||
|
||||
indicesCountO = indicesCount;
|
||||
indicesO = indices;
|
||||
verticesCountO = verticesCount;
|
||||
verticesO = vertices;
|
||||
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*
|
||||
* Copyright (c) Contributors, http://opensimulator.org/
|
||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the OpenSimulator Project nor the
|
||||
* names of its contributors may be used to endorse or promote products
|
||||
* derived from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Text;
|
||||
|
||||
using OpenSim.Framework;
|
||||
using OpenSim.Region.Framework;
|
||||
using OpenSim.Region.CoreModules;
|
||||
using OpenSim.Region.Physics.Manager;
|
||||
|
||||
using Nini.Config;
|
||||
using log4net;
|
||||
|
||||
using OpenMetaverse;
|
||||
|
||||
namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
{
|
||||
public sealed class BSTerrainMesh : BSTerrainPhys
|
||||
{
|
||||
static string LogHeader = "[BULLETSIM TERRAIN MESH]";
|
||||
|
||||
private float[] m_savedHeightMap;
|
||||
int m_sizeX;
|
||||
int m_sizeY;
|
||||
|
||||
BulletShape m_terrainShape;
|
||||
BulletBody m_terrainBody;
|
||||
|
||||
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
|
||||
: base(physicsScene, regionBase, id)
|
||||
{
|
||||
}
|
||||
|
||||
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
|
||||
: base(physicsScene, regionBase, id)
|
||||
{
|
||||
}
|
||||
|
||||
// Create terrain mesh from a heightmap.
|
||||
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
|
||||
Vector3 minCoords, Vector3 maxCoords)
|
||||
: base(physicsScene, regionBase, id)
|
||||
{
|
||||
int indicesCount;
|
||||
int[] indices;
|
||||
int verticesCount;
|
||||
float[] vertices;
|
||||
|
||||
m_savedHeightMap = initialMap;
|
||||
|
||||
m_sizeX = (int)(maxCoords.X - minCoords.X);
|
||||
m_sizeY = (int)(maxCoords.Y - minCoords.Y);
|
||||
|
||||
if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY,
|
||||
(float)m_sizeX, (float)m_sizeY,
|
||||
Vector3.Zero, 1.0f,
|
||||
out indicesCount, out indices, out verticesCount, out vertices))
|
||||
{
|
||||
// DISASTER!!
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
|
||||
PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}",
|
||||
ID, verticesCount, indicesCount);
|
||||
|
||||
m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
|
||||
indicesCount, indices, verticesCount, vertices),
|
||||
PhysicsShapeType.SHAPE_MESH);
|
||||
if (m_terrainShape.ptr == IntPtr.Zero)
|
||||
{
|
||||
// DISASTER!!
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape);
|
||||
|
||||
// The terrain object initial position is at the center of the object
|
||||
Vector3 centerPos;
|
||||
centerPos.X = minCoords.X + (m_sizeX / 2f);
|
||||
centerPos.Y = minCoords.Y + (m_sizeY / 2f);
|
||||
centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f);
|
||||
Quaternion rot = Quaternion.Identity;
|
||||
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot);
|
||||
m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2(
|
||||
m_terrainShape.ptr, ID, centerPos, rot));
|
||||
if (m_terrainBody.ptr == IntPtr.Zero)
|
||||
{
|
||||
// DISASTER!!
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
|
||||
// Something is very messed up and a crash is in our future.
|
||||
return;
|
||||
}
|
||||
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody);
|
||||
|
||||
// Set current terrain attributes
|
||||
BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction);
|
||||
BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
|
||||
BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
|
||||
BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
|
||||
// Static objects are not very massive.
|
||||
BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
|
||||
|
||||
// Return the new terrain to the world of physical objects
|
||||
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
|
||||
// redo its bounding box now that it is in the world
|
||||
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
|
||||
BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
|
||||
(uint)CollisionFilterGroups.TerrainFilter,
|
||||
(uint)CollisionFilterGroups.TerrainMask);
|
||||
|
||||
// Make it so the terrain will not move or be considered for movement.
|
||||
BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
}
|
||||
|
||||
public override void Dispose()
|
||||
{
|
||||
if (m_terrainBody.ptr != IntPtr.Zero)
|
||||
{
|
||||
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
// Frees both the body and the shape.
|
||||
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
|
||||
}
|
||||
}
|
||||
|
||||
public override float GetHeightAtXYZ(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.
|
||||
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
|
||||
|
||||
int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
|
||||
try
|
||||
{
|
||||
ret = m_savedHeightMap[mapIndex];
|
||||
}
|
||||
catch
|
||||
{
|
||||
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
|
||||
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
|
||||
LogHeader, TerrainBase, pos);
|
||||
ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
|
||||
// Return 'true' if successfully created.
|
||||
public static bool ConvertHeightmapToMesh(
|
||||
BSScene physicsScene,
|
||||
float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
|
||||
float extentX, float extentY, // zero based range for output vertices
|
||||
Vector3 extentBase, // base to be added to all vertices
|
||||
float magnification, // number of vertices to create between heightMap coords
|
||||
out int indicesCountO, out int[] indicesO,
|
||||
out int verticesCountO, out float[] verticesO)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
int indicesCount = 0;
|
||||
int verticesCount = 0;
|
||||
int[] indices = new int[0];
|
||||
float[] vertices = new float[0];
|
||||
|
||||
// Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY.
|
||||
// TODO: do a more general solution that scales, adds new vertices and smoothes the result.
|
||||
|
||||
try
|
||||
{
|
||||
// One vertice per heightmap value plus the vertices off the top and bottom edge.
|
||||
int totalVertices = (sizeX + 1) * (sizeY + 1);
|
||||
vertices = new float[totalVertices * 3];
|
||||
int totalIndices = sizeX * sizeY * 6;
|
||||
indices = new int[totalIndices];
|
||||
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}",
|
||||
BSScene.DetailLogZero, totalVertices, totalIndices);
|
||||
float magX = (float)sizeX / extentX;
|
||||
float magY = (float)sizeY / extentY;
|
||||
// Note that sizeX+1 vertices are created since there is land between this and the next region.
|
||||
for (int yy = 0; yy <= sizeY; yy++)
|
||||
{
|
||||
for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times
|
||||
{
|
||||
int offset = yy * sizeX + xx;
|
||||
// Extend the height from the height from the last row or column
|
||||
if (yy == sizeY) offset -= sizeX;
|
||||
if (xx == sizeX) offset -= 1;
|
||||
float height = heightMap[offset];
|
||||
vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
|
||||
vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
|
||||
vertices[verticesCount + 2] = height + extentBase.Z;
|
||||
if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG
|
||||
{
|
||||
Vector3 genVertex = new Vector3(
|
||||
vertices[verticesCount + 0],
|
||||
vertices[verticesCount + 1],
|
||||
vertices[verticesCount + 2]);
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}",
|
||||
BSScene.DetailLogZero, verticesCount/3, genVertex);
|
||||
}
|
||||
verticesCount += 3;
|
||||
}
|
||||
}
|
||||
verticesCount = verticesCount / 3;
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}",
|
||||
BSScene.DetailLogZero, verticesCount);
|
||||
|
||||
for (int yy = 0; yy < sizeY; yy++)
|
||||
{
|
||||
for (int xx = 0; xx < sizeX; xx++)
|
||||
{
|
||||
int offset = yy * sizeX + xx;
|
||||
// Each vertices is presumed to be the upper left corner of a box of two triangles
|
||||
indices[indicesCount + 0] = offset;
|
||||
indices[indicesCount + 1] = offset + 1;
|
||||
indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
|
||||
indices[indicesCount + 3] = offset + 1;
|
||||
indices[indicesCount + 4] = offset + sizeX + 2;
|
||||
indices[indicesCount + 5] = offset + sizeX + 1;
|
||||
if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG
|
||||
BSScene.DetailLogZero,
|
||||
indices[indicesCount + 0],
|
||||
indices[indicesCount + 1],
|
||||
indices[indicesCount + 2],
|
||||
indices[indicesCount + 3],
|
||||
indices[indicesCount + 4],
|
||||
indices[indicesCount + 5]
|
||||
);
|
||||
indicesCount += 6;
|
||||
}
|
||||
}
|
||||
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG
|
||||
LogHeader, indicesCount); // DEBUG
|
||||
ret = true;
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}",
|
||||
LogHeader, extentBase, e);
|
||||
}
|
||||
|
||||
indicesCountO = indicesCount;
|
||||
indicesO = indices;
|
||||
verticesCountO = verticesCount;
|
||||
verticesO = vertices;
|
||||
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue