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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

connector_plugin
Justin Clark-Casey (justincc) 2012-11-22 03:01:26 +00:00
parent bac8ac32da 56ef180c92
commit 33a4f07c4e
17 changed files with 714 additions and 321 deletions
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33
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject
{
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject
get
{
// Avatar capsule size is kept in the scale parameter.
// return _size;
return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
return _size;
}
set {
@ -184,8 +189,8 @@ public sealed class BSCharacter : BSPhysObject
_size = value;
ComputeAvatarScale(_size);
ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
LocalID, Scale, _avatarDensity, _avatarVolume, RawMass);
DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
{
@ -203,9 +208,9 @@ public sealed class BSCharacter : BSPhysObject
set { BaseShape = value; }
}
// I want the physics engine to make an avatar capsule
public override ShapeData.PhysicsShapeType PreferredPhysicalShape
public override PhysicsShapeType PreferredPhysicalShape
{
get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; }
get {return PhysicsShapeType.SHAPE_CAPSULE; }
}
public override bool Grabbed {
@ -614,13 +619,19 @@ public sealed class BSCharacter : BSPhysObject
// The 'size' given by the simulator is the mid-point of the avatar
// and X and Y are unspecified.
OMV.Vector3 newScale = OMV.Vector3.Zero;
newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
OMV.Vector3 newScale = size;
// newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
// newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
// From the total height, remove the capsule half spheres that are at each end
newScale.Z = size.Z - (newScale.X + newScale.Y);
Scale = newScale;
// The 1.15f came from ODE. Not sure what this factors in.
// newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
// The total scale height is the central cylindar plus the caps on the two ends.
newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
// Convert diameters to radii and height to half height -- the way Bullet expects it.
Scale = newScale / 2f;
}
// set _avatarVolume and _mass based on capsule size, _density and Scale

4
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -82,9 +82,9 @@ public abstract class BSLinkset
// Some linksets have a preferred physical shape.
// Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
public virtual PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
{
return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
return PhysicsShapeType.SHAPE_UNKNOWN;
}
// Linksets move around the children so the linkset might need to compute the child position

6
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -42,12 +42,12 @@ public sealed class BSLinksetCompound : BSLinkset
}
// For compound implimented linksets, if there are children, use compound shape for the root.
public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
public override PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
{
ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
PhysicsShapeType ret = PhysicsShapeType.SHAPE_UNKNOWN;
if (IsRoot(requestor) && HasAnyChildren)
{
ret = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
ret = PhysicsShapeType.SHAPE_COMPOUND;
}
// DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
return ret;

4
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor
public PrimitiveBaseShape BaseShape { get; protected set; }
// Some types of objects have preferred physical representations.
// Returns SHAPE_UNKNOWN if there is no preference.
public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
public virtual PhysicsShapeType PreferredPhysicalShape
{
get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; }
get { return PhysicsShapeType.SHAPE_UNKNOWN; }
}
// When the physical properties are updated, an EntityProperty holds the update values.

67
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -47,7 +47,6 @@ public sealed class BSPrim : BSPhysObject
// _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
// Often Scale is unity because the meshmerizer will apply _size when creating the mesh.
private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
// private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
private bool _grabbed;
private bool _isSelected;
@ -94,7 +93,7 @@ public sealed class BSPrim : BSPhysObject
_physicsActorType = (int)ActorTypes.Prim;
_position = pos;
_size = size;
Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
Scale = size; // the scale will be set by CreateGeom depending on object type
_orientation = rotation;
_buoyancy = 1f;
_velocity = OMV.Vector3.Zero;
@ -155,6 +154,8 @@ public sealed class BSPrim : BSPhysObject
public override OMV.Vector3 Size {
get { return _size; }
set {
// We presume the scale and size are the same. If scale must be changed for
// the physical shape, that is done when the geometry is built.
_size = value;
ForceBodyShapeRebuild(false);
}
@ -170,7 +171,7 @@ public sealed class BSPrim : BSPhysObject
}
}
// Whatever the linkset wants is what I want.
public override ShapeData.PhysicsShapeType PreferredPhysicalShape
public override PhysicsShapeType PreferredPhysicalShape
{ get { return Linkset.PreferredPhysicalShape(this); } }
public override bool ForceBodyShapeRebuild(bool inTaintTime)
@ -274,19 +275,19 @@ public sealed class BSPrim : BSPhysObject
if (!Linkset.IsRoot(this))
_position = Linkset.Position(this);
// don't do the GetObjectPosition for root elements because this function is called a zillion times
// don't do the GetObjectPosition for root elements because this function is called a zillion times.
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
return _position;
}
set {
// If you must push the position into the physics engine, use ForcePosition.
// If the position must be forced into the physics engine, use ForcePosition.
if (_position == value)
{
return;
}
_position = value;
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
PositionSanityCheck();
PositionSanityCheck(false);
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@ -302,7 +303,7 @@ public sealed class BSPrim : BSPhysObject
}
set {
_position = value;
PositionSanityCheck();
// PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better.
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
ActivateIfPhysical(false);
}
@ -311,52 +312,43 @@ public sealed class BSPrim : BSPhysObject
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck()
private bool PositionSanityCheck(bool inTaintTime)
{
bool ret = false;
// If totally below the ground, move the prim up
// TODO: figure out the right solution for this... only for dynamic objects?
/*
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
OMV.Vector3 upForce = OMV.Vector3.Zero;
if (Position.Z < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
_position.Z = terrainHeight + 2.0f;
float targetHeight = terrainHeight + (Size.Z / 2f);
// Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
upForce.Z = (terrainHeight - Position.Z) * 1f;
ret = true;
}
*/
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
// TODO: a floating motor so object will bob in the water
if (Position.Z < waterHeight)
if (Math.Abs(Position.Z - waterHeight) > 0.1f)
{
_position.Z = waterHeight;
// Upforce proportional to the distance away from the water. Correct the error in 1 sec.
upForce.Z = (waterHeight - Position.Z) * 1f;
ret = true;
}
}
// TODO: check for out of bounds
return ret;
}
// A version of the sanity check that also makes sure a new position value is
// pushed to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck(bool inTaintTime)
// The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
if (ret)
{
bool ret = false;
if (PositionSanityCheck())
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate()
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate()
{
DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
ForcePosition = _position;
// Apply upforce and overcome gravity.
ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity;
});
ret = true;
}
return ret;
}
@ -940,6 +932,7 @@ public sealed class BSPrim : BSPhysObject
public override void AddForce(OMV.Vector3 force, bool pushforce) {
AddForce(force, pushforce, false);
}
// Applying a force just adds this to the total force on the object.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite())
@ -971,6 +964,7 @@ public sealed class BSPrim : BSPhysObject
});
}
// An impulse force is scaled by the mass of the object.
public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
{
OMV.Vector3 applyImpulse = impulse;
@ -1423,7 +1417,7 @@ public sealed class BSPrim : BSPhysObject
if (changed != 0)
{
// Only update the position of single objects and linkset roots
if (this._parentPrim == null)
if (Linkset.IsRoot(this))
{
base.RequestPhysicsterseUpdate();
}
@ -1435,19 +1429,24 @@ public sealed class BSPrim : BSPhysObject
// Updates only for individual prims and for the root object of a linkset.
if (Linkset.IsRoot(this))
{
// Assign to the local variables so the normal set action does not happen
// Assign directly to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
PositionSanityCheck(true);
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);

28
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -712,7 +712,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// here just before the physics engine is called to step the simulation.
public void ProcessTaints()
{
InTaintTime = true;
InTaintTime = true; // Only used for debugging so locking is not necessary.
ProcessRegularTaints();
ProcessPostTaintTaints();
InTaintTime = false;
@ -758,6 +758,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
}
*/
// swizzle a new list into the list location so we can process what's there
List<TaintCallbackEntry> oldList;
lock (_taintLock)
@ -787,8 +788,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// will replace any previous operation by the same object.
public void PostTaintObject(String ident, uint ID, TaintCallback callback)
{
if (!m_initialized) return;
string uniqueIdent = ident + "-" + ID.ToString();
lock (_taintLock)
{
@ -864,13 +863,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
}
}
// Only used for debugging. Does not change state of anything so locking is not necessary.
public bool AssertInTaintTime(string whereFrom)
{
if (!InTaintTime)
{
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
Util.PrintCallStack();
Util.PrintCallStack(); // Prints the stack into the DEBUG log file.
}
return InTaintTime;
}
@ -1145,6 +1145,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
(float)BSTerrainPhys.TerrainImplementation.Mesh,
(s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
(s) => { return s.m_params[0].terrainImplementation; },
(s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
0.5f,
(s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
@ -1180,11 +1185,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarRestitution; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
0.37f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleRadius; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
0.6f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleWidth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
0.45f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleDepth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1.5f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },

75
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -178,7 +178,7 @@ public sealed class BSShapeCollection : IDisposable
bool ret = false;
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_MESH:
case PhysicsShapeType.SHAPE_MESH:
MeshDesc meshDesc;
if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
{
@ -201,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable
meshDesc.lastReferenced = System.DateTime.Now;
Meshes[shape.shapeKey] = meshDesc;
break;
case ShapeData.PhysicsShapeType.SHAPE_HULL:
case PhysicsShapeType.SHAPE_HULL:
HullDesc hullDesc;
if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
{
@ -224,7 +224,7 @@ public sealed class BSShapeCollection : IDisposable
hullDesc.lastReferenced = System.DateTime.Now;
Hulls[shape.shapeKey] = hullDesc;
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
case PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
// Native shapes are not tracked and they don't go into any list
@ -255,16 +255,16 @@ public sealed class BSShapeCollection : IDisposable
{
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_HULL:
case PhysicsShapeType.SHAPE_HULL:
DereferenceHull(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_MESH:
case PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_COMPOUND:
case PhysicsShapeType.SHAPE_COMPOUND:
DereferenceCompound(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
case PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
break;
@ -352,28 +352,28 @@ public sealed class BSShapeCollection : IDisposable
BulletShape shapeInfo = new BulletShape(cShape);
if (TryGetMeshByPtr(cShape, out meshDesc))
{
shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH;
shapeInfo.type = PhysicsShapeType.SHAPE_MESH;
shapeInfo.shapeKey = meshDesc.shapeKey;
}
else
{
if (TryGetHullByPtr(cShape, out hullDesc))
{
shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL;
shapeInfo.type = PhysicsShapeType.SHAPE_HULL;
shapeInfo.shapeKey = hullDesc.shapeKey;
}
else
{
if (BulletSimAPI.IsCompound2(cShape))
{
shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND;
shapeInfo.type = PhysicsShapeType.SHAPE_COMPOUND;
}
else
{
if (BulletSimAPI.IsNativeShape2(cShape))
{
shapeInfo.isNativeShape = true;
shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
shapeInfo.type = PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
}
}
}
@ -381,7 +381,7 @@ public sealed class BSShapeCollection : IDisposable
DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN)
if (shapeInfo.type != PhysicsShapeType.SHAPE_UNKNOWN)
{
DereferenceShape(shapeInfo, true, null);
}
@ -405,11 +405,11 @@ public sealed class BSShapeCollection : IDisposable
bool ret = false;
bool haveShape = false;
if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
ret = true;
haveShape = true;
@ -417,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable
// Compound shapes are handled special as they are rebuilt from scratch.
// This isn't too great a hardship since most of the child shapes will already been created.
if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND)
{
ret = GetReferenceToCompoundShape(prim, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
@ -460,11 +460,11 @@ public sealed class BSShapeCollection : IDisposable
haveShape = true;
if (forceRebuild
|| prim.Scale != prim.Size
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
|| prim.PhysShape.type != PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_SPHERE,
FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
}
@ -474,11 +474,11 @@ public sealed class BSShapeCollection : IDisposable
haveShape = true;
if (forceRebuild
|| prim.Scale != prim.Size
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
|| prim.PhysShape.type != PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
ret = GetReferenceToNativeShape( prim, PhysicsShapeType.SHAPE_BOX,
FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
}
@ -519,15 +519,12 @@ public sealed class BSShapeCollection : IDisposable
// Creates a native shape and assignes it to prim.BSShape.
// "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
private bool GetReferenceToNativeShape(BSPhysObject prim,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
PhysicsShapeType shapeType, FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
// release any previous shape
DereferenceShape(prim.PhysShape, true, shapeCallback);
// Bullet native objects are scaled by the Bullet engine so pass the size in
prim.Scale = prim.Size;
BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
@ -538,8 +535,8 @@ public sealed class BSShapeCollection : IDisposable
return true;
}
private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType,
ShapeData.FixedShapeKey shapeKey)
private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, PhysicsShapeType shapeType,
FixedShapeKey shapeKey)
{
BulletShape newShape;
// Need to make sure the passed shape information is for the native type.
@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.Size = prim.Scale; // unneeded, I think.
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
if (shapeType == PhysicsShapeType.SHAPE_CAPSULE)
{
// The proper scale has been calculated in the prim.
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
, shapeType);
@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable
}
else
{
// Native shapes are scaled in Bullet so set the scaling to the size
prim.Scale = prim.Size;
nativeShapeData.Scale = prim.Scale;
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
}
if (newShape.ptr == IntPtr.Zero)
@ -585,7 +586,7 @@ public sealed class BSShapeCollection : IDisposable
System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
// if this new shape is the same as last time, don't recreate the mesh
if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_MESH)
return false;
DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
@ -643,7 +644,7 @@ public sealed class BSShapeCollection : IDisposable
indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
}
}
BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
BulletShape newShape = new BulletShape(meshPtr, PhysicsShapeType.SHAPE_MESH);
newShape.shapeKey = newMeshKey;
return newShape;
@ -659,7 +660,7 @@ public sealed class BSShapeCollection : IDisposable
System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_HULL)
return false;
DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
@ -780,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable
}
}
BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
BulletShape newShape = new BulletShape(hullPtr, PhysicsShapeType.SHAPE_HULL);
newShape.shapeKey = newHullKey;
return newShape; // 'true' means a new shape has been added to this prim
@ -803,7 +804,7 @@ public sealed class BSShapeCollection : IDisposable
// DereferenceShape(prim.PhysShape, true, shapeCallback);
BulletShape cShape = new BulletShape(
BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND);
BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), PhysicsShapeType.SHAPE_COMPOUND);
// Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
CreateGeomMeshOrHull(prim, shapeCallback);
@ -894,7 +895,7 @@ public sealed class BSShapeCollection : IDisposable
// While we figure out the real problem, stick a simple native shape on the object.
BulletShape fillinShape =
BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
return fillinShape;
}
@ -940,7 +941,7 @@ public sealed class BSShapeCollection : IDisposable
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
prim.LocalID, prim.RawPosition, prim.RawOrientation);
DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(prim.LocalID, bodyPtr);

18
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
View File

@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public abstract class BSShape
{
public IntPtr ptr { get; set; }
public ShapeData.PhysicsShapeType type { get; set; }
public PhysicsShapeType type { get; set; }
public System.UInt64 key { get; set; }
public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; }
@ -43,7 +43,7 @@ public abstract class BSShape
public BSShape()
{
ptr = IntPtr.Zero;
type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
type = PhysicsShapeType.SHAPE_UNKNOWN;
key = 0;
referenceCount = 0;
lastReferenced = DateTime.Now;
@ -54,17 +54,17 @@ public abstract class BSShape
{
BSShape ret = null;
if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE);
ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE);
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
}
// Compound shapes are handled special as they are rebuilt from scratch.
// This isn't too great a hardship since most of the child shapes will already been created.
if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
if (ret == null && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeCompound.GetReference(prim);
@ -123,14 +123,14 @@ public class BSShapeNative : BSShape
{
}
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
PhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
}
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
PhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
@ -141,7 +141,7 @@ public class BSShapeNative : BSShape
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
if (shapeType == PhysicsShapeType.SHAPE_CAPSULE)
{
ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);

170
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs Executable file
View File

@ -0,0 +1,170 @@
/*
* 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 BSTerrainHeightmap : BSTerrainPhys
{
static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
BulletHeightMapInfo m_mapInfo = null;
// Constructor to build a default, flat heightmap terrain.
public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
: base(physicsScene, regionBase, id)
{
Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
}
m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
m_mapInfo.minCoords = minTerrainCoords;
m_mapInfo.maxCoords = maxTerrainCoords;
m_mapInfo.terrainRegionBase = TerrainBase;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
// are the high and low points of the heightmap).
public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene, regionBase, id)
{
m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
m_mapInfo.minCoords = minCoords;
m_mapInfo.maxCoords = maxCoords;
m_mapInfo.minZ = minCoords.Z;
m_mapInfo.maxZ = maxCoords.Z;
m_mapInfo.terrainRegionBase = TerrainBase;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
public override void Dispose()
{
ReleaseHeightMapTerrain();
}
// Using the information in m_mapInfo, create the physical representation of the heightmap.
private void BuildHeightmapTerrain()
{
m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
m_mapInfo.minCoords, m_mapInfo.maxCoords,
m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
// Create the terrain shape from the mapInfo
m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
PhysicsShapeType.SHAPE_TERRAIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
m_mapInfo.ID, centerPos, Quaternion.Identity));
// Set current terrain attributes
BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make it so the terrain will not move or be considered for movement.
BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
return;
}
// If there is information in m_mapInfo pointing to physical structures, release same.
private void ReleaseHeightMapTerrain()
{
if (m_mapInfo != null)
{
if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
{
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
// Frees both the body and the shape.
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
}
}
m_mapInfo = null;
}
// The passed position is relative to the base of the region.
public override float GetHeightAtXYZ(Vector3 pos)
{
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
try
{
ret = m_mapInfo.heightMap[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, m_mapInfo.terrainRegionBase, pos);
ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
}
return ret;
}
}
}

298
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -40,6 +40,32 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// The physical implementation of the terrain is wrapped in this class.
public abstract class BSTerrainPhys : IDisposable
{
public enum TerrainImplementation
{
Heightmap = 0,
Mesh = 1
}
public BSScene PhysicsScene { get; private set; }
// Base of the region in world coordinates. Coordinates inside the region are relative to this.
public Vector3 TerrainBase { get; private set; }
public uint ID { get; private set; }
public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
{
PhysicsScene = physicsScene;
TerrainBase = regionBase;
ID = id;
}
public abstract void Dispose();
public abstract float GetHeightAtXYZ(Vector3 pos);
}
// ==========================================================================================
public sealed class BSTerrainManager
{
static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
@ -67,11 +93,10 @@ public sealed class BSTerrainManager
// If doing mega-regions, if we're region zero we will be managing multiple
// region terrains since region zero does the physics for the whole mega-region.
private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
private Dictionary<Vector3, BSTerrainPhys> m_terrains;
// True of the terrain has been modified.
// Used to force recalculation of terrain height after terrain has been modified
private bool m_terrainModified;
// Flags used to know when to recalculate the height.
private bool m_terrainModified = false;
// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
// This is incremented before assigning to new region so it is the last ID allocated.
@ -89,8 +114,7 @@ public sealed class BSTerrainManager
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
m_terrainModified = false;
m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
// Assume one region of default size
m_worldOffset = Vector3.Zero;
@ -99,9 +123,6 @@ public sealed class BSTerrainManager
}
// Create the initial instance of terrain and the underlying ground plane.
// The objects are allocated in the unmanaged space and the pointers are tracked
// by the managed code.
// The terrains and the groundPlane are not added to the list of PhysObjects.
// This is called from the initialization routine so we presume it is
// safe to call Bullet in real time. We hope no one is moving prims around yet.
public void CreateInitialGroundPlaneAndTerrain()
@ -109,7 +130,7 @@ public sealed class BSTerrainManager
// The ground plane is here to catch things that are trying to drop to negative infinity
BulletShape groundPlaneShape = new BulletShape(
BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
PhysicsShapeType.SHAPE_GROUNDPLANE);
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity));
@ -121,15 +142,9 @@ public sealed class BSTerrainManager
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = HEIGHT_INITIALIZATION;
}
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
// Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
m_terrains.Add(Vector3.Zero, initialTerrain);
}
// Release all the terrain structures we might have allocated
@ -150,15 +165,11 @@ public sealed class BSTerrainManager
// Release all the terrain we have allocated
public void ReleaseTerrain()
{
foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
{
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
kvp.Value.Dispose();
}
}
m_heightMaps.Clear();
m_terrains.Clear();
}
// The simulator wants to set a new heightmap for the terrain.
@ -176,8 +187,9 @@ public sealed class BSTerrainManager
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
BSScene.CHILDTERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
}
else
@ -185,7 +197,7 @@ public sealed class BSTerrainManager
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
});
@ -195,56 +207,63 @@ public sealed class BSTerrainManager
// based on the passed information. The 'id' should be either the terrain id or
// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
// The latter feature is for creating child terrains for mega-regions.
// If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
// then a new body and shape is created and the mapInfo is filled.
// This call is used for doing the initial terrain creation.
// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
// terrain shape is created and added to the body.
// This call is most often used to update the heightMap and parameters of the terrain.
// (The above does suggest that some simplification/refactoring is in order.)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
private void UpdateTerrain(uint id, float[] heightMap,
Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
// Find high and low points of passed heightmap.
// The min and max passed in is usually the area objects can be in (maximum
// object height, for instance). The terrain wants the bounding box for the
// terrain so we replace passed min and max Z with the actual terrain min/max Z.
float minZ = float.MaxValue;
float maxZ = float.MinValue;
Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
int heightMapSize = heightMap.Length;
for (int ii = 0; ii < heightMapSize; ii++)
foreach (float height in heightMap)
{
float height = heightMap[ii];
if (height < minZ) minZ = height;
if (height > maxZ) maxZ = height;
}
// The shape of the terrain is from its base to its extents.
if (minZ == maxZ)
{
// If min and max are the same, reduce min a little bit so a good bounding box is created.
minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
}
minCoords.Z = minZ;
maxCoords.Z = maxZ;
BulletHeightMapInfo mapInfo;
if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
{
// If this is terrain we know about, it's easy to update
Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
mapInfo.heightMap = heightMap;
mapInfo.minCoords = minCoords;
mapInfo.maxCoords = maxCoords;
mapInfo.minZ = minZ;
mapInfo.maxZ = maxZ;
mapInfo.sizeX = maxCoords.X - minCoords.X;
mapInfo.sizeY = maxCoords.Y - minCoords.Y;
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate()
BSTerrainPhys terrainPhys;
if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
{
if (MegaRegionParentPhysicsScene != null)
// There is already a terrain in this spot. Free the old and build the new.
DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate()
{
// Remove old terrain from the collection
m_terrains.Remove(terrainRegionBase);
// Release any physical memory it may be using.
terrainPhys.Dispose();
if (MegaRegionParentPhysicsScene == null)
{
BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
}
else
{
// It's possible that Combine() was called after this code was queued.
// If we are a child of combined regions, we don't create any terrain for us.
DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
// Get rid of any terrain that may have been allocated for us.
ReleaseGroundPlaneAndTerrain();
@ -252,91 +271,6 @@ public sealed class BSTerrainManager
// I hate doing this, but just bail
return;
}
if (mapInfo.terrainBody.ptr != IntPtr.Zero)
{
// Updating an existing terrain.
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
// Remove from the dynamics world because we're going to mangle this object
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// Get rid of the old terrain
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
mapInfo.Ptr = IntPtr.Zero;
/*
// NOTE: This routine is half here because I can't get the terrain shape replacement
// to work. In the short term, the above three lines completely delete the old
// terrain and the code below recreates one from scratch.
// Hopefully the Bullet community will help me out on this one.
// First, release the old collision shape (there is only one terrain)
BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
// Fill the existing height map info with the new location and size information
BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// Create a terrain shape based on the new info
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
// Stuff the shape into the existing terrain body
BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
*/
}
// else
{
// Creating a new terrain.
DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
mapInfo.ID = id;
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
centerPos.Z = minZ + ((maxZ - minZ) / 2f);
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
}
// Make sure the entry is in the heightmap table
m_heightMaps[terrainRegionBase] = mapInfo;
// Set current terrain attributes
BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make sure the new shape is processed.
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
m_terrainModified = true;
});
}
else
@ -353,33 +287,50 @@ public sealed class BSTerrainManager
Vector3 minCoordsX = minCoords;
Vector3 maxCoordsX = maxCoords;
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
// Code that must happen at taint-time
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate()
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate()
{
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
// Create a new mapInfo that will be filled with the new info
mapInfo = new BulletHeightMapInfo(id, heightMapX,
BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
// Put the unfilled heightmap info into the collection of same
m_heightMaps.Add(terrainRegionBase, mapInfo);
// Build the terrain
UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}",
BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y);
BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
});
}
}
// Someday we will have complex terrain with caves and tunnels
public float GetTerrainHeightAtXYZ(Vector3 loc)
// TODO: redo terrain implementation selection to allow other base types than heightMap.
private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
{
// For the moment, it's flat and convex
return GetTerrainHeightAtXY(loc.X, loc.Y);
PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
LogHeader, PhysicsScene.RegionName, terrainRegionBase,
(BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation);
BSTerrainPhys newTerrainPhys = null;
switch ((int)PhysicsScene.Params.terrainImplementation)
{
case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
heightMap, minCoords, maxCoords);
break;
case (int)BSTerrainPhys.TerrainImplementation.Mesh:
newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
heightMap, minCoords, maxCoords);
break;
default:
PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
LogHeader,
(int)PhysicsScene.Params.terrainImplementation,
PhysicsScene.Params.terrainImplementation,
PhysicsScene.RegionName, terrainRegionBase);
break;
}
return newTerrainPhys;
}
// Given an X and Y, find the height of the terrain.
// Since we could be handling multiple terrains for a mega-region,
@ -390,8 +341,10 @@ public sealed class BSTerrainManager
private float lastHeightTX = 999999f;
private float lastHeightTY = 999999f;
private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
private float GetTerrainHeightAtXY(float tX, float tY)
public float GetTerrainHeightAtXYZ(Vector3 loc)
{
float tX = loc.X;
float tY = loc.Y;
// You'd be surprized at the number of times this routine is called
// with the same parameters as last time.
if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
@ -403,27 +356,14 @@ public sealed class BSTerrainManager
int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
BulletHeightMapInfo mapInfo;
if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
BSTerrainPhys physTerrain;
if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
{
float regionX = tX - offsetX;
float regionY = tY - offsetY;
int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
try
{
ret = mapInfo.heightMap[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}, x={2}, y={3}",
LogHeader, terrainBaseXY, regionX, regionY);
ret = HEIGHT_GETHEIGHT_RET;
}
// DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
// BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}",
BSScene.DetailLogZero, loc, terrainBaseXYZ, ret);
}
else
{
@ -466,7 +406,7 @@ public sealed class BSTerrainManager
// Unhook all the combining that I know about.
public void UnCombine(PhysicsScene pScene)
{
// Just like ODE, for the moment a NOP
// Just like ODE, we don't do anything yet.
DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
}

256
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs Executable file
View File

@ -0,0 +1,256 @@
/*
* 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;
}
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;
}
Vector3 pos = regionBase;
Quaternion rot = Quaternion.Identity;
m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, 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;
}
// 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.
// 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];
float magX = (float)sizeX / extentX;
float magY = (float)sizeY / extentY;
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
// 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;
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;
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. For={1}/{2}, e={3}",
LogHeader, physicsScene.RegionName, extentBase, e);
}
indicesCountO = indicesCount;
indicesO = indices;
verticesCountO = verticesCount;
verticesO = vertices;
return ret;
}
}
}

53
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -88,11 +88,11 @@ public struct BulletShape
public BulletShape(IntPtr xx)
{
ptr = xx;
type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
shapeKey = 0;
type=PhysicsShapeType.SHAPE_UNKNOWN;
shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
isNativeShape = false;
}
public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
public BulletShape(IntPtr xx, PhysicsShapeType typ)
{
ptr = xx;
type = typ;
@ -100,7 +100,7 @@ public struct BulletShape
isNativeShape = false;
}
public IntPtr ptr;
public ShapeData.PhysicsShapeType type;
public PhysicsShapeType type;
public System.UInt64 shapeKey;
public bool isNativeShape;
public override string ToString()
@ -152,7 +152,7 @@ public class BulletHeightMapInfo
ID = id;
Ptr = xx;
heightMap = hm;
terrainRegionBase = new Vector2(0f, 0f);
terrainRegionBase = Vector3.Zero;
minCoords = new Vector3(100f, 100f, 25f);
maxCoords = new Vector3(101f, 101f, 26f);
minZ = maxZ = 0f;
@ -161,7 +161,7 @@ public class BulletHeightMapInfo
public uint ID;
public IntPtr Ptr;
public float[] heightMap;
public Vector2 terrainRegionBase;
public Vector3 terrainRegionBase;
public Vector3 minCoords;
public Vector3 maxCoords;
public float sizeX, sizeY;
@ -178,13 +178,10 @@ public struct ConvexHull
int VertexCount;
Vector3[] Vertices;
}
[StructLayout(LayoutKind.Sequential)]
public struct ShapeData
{
public enum PhysicsShapeType
{
SHAPE_UNKNOWN = 0,
SHAPE_AVATAR = 1,
SHAPE_CAPSULE = 1,
SHAPE_BOX = 2,
SHAPE_CONE = 3,
SHAPE_CYLINDER = 4,
@ -195,7 +192,23 @@ public struct ShapeData
SHAPE_GROUNDPLANE = 20,
SHAPE_TERRAIN = 21,
SHAPE_COMPOUND = 22,
SHAPE_HEIGHTMAP = 23,
};
// The native shapes have predefined shape hash keys
public enum FixedShapeKey : ulong
{
KEY_NONE = 0,
KEY_BOX = 1,
KEY_SPHERE = 2,
KEY_CONE = 3,
KEY_CYLINDER = 4,
KEY_CAPSULE = 5,
}
[StructLayout(LayoutKind.Sequential)]
public struct ShapeData
{
public uint ID;
public PhysicsShapeType Type;
public Vector3 Position;
@ -216,16 +229,6 @@ public struct ShapeData
// note that bools are passed as floats since bool size changes by language and architecture
public const float numericTrue = 1f;
public const float numericFalse = 0f;
// The native shapes have predefined shape hash keys
public enum FixedShapeKey : ulong
{
KEY_BOX = 1,
KEY_SPHERE = 2,
KEY_CONE = 3,
KEY_CYLINDER = 4,
KEY_CAPSULE = 5,
}
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
@ -280,6 +283,7 @@ public struct ConfigurationParameters
public float ccdSweptSphereRadius;
public float contactProcessingThreshold;
public float terrainImplementation;
public float terrainFriction;
public float terrainHitFraction;
public float terrainRestitution;
@ -287,7 +291,8 @@ public struct ConfigurationParameters
public float avatarStandingFriction;
public float avatarDensity;
public float avatarRestitution;
public float avatarCapsuleRadius;
public float avatarCapsuleWidth;
public float avatarCapsuleDepth;
public float avatarCapsuleHeight;
public float avatarContactProcessingThreshold;
@ -388,13 +393,13 @@ public enum CollisionFilterGroups : uint
ObjectFilter = BSolidFilter,
ObjectMask = BAllFilter,
StaticObjectFilter = BStaticFilter,
StaticObjectMask = BAllFilter,
StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other
LinksetFilter = BLinksetFilter,
LinksetMask = BAllFilter & ~BLinksetFilter,
LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
VolumeDetectFilter = BSensorTrigger,
VolumeDetectMask = ~BSensorTrigger,
TerrainFilter = BTerrainFilter,
TerrainMask = BAllFilter & ~BStaticFilter,
TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide
GroundPlaneFilter = BGroundPlaneFilter,
GroundPlaneMask = BAllFilter

3
bin/OpenSimDefaults.ini
View File

@ -913,7 +913,8 @@
AvatarFriction = 0.2
AvatarRestitution = 0.0
AvatarDensity = 60.0
AvatarCapsuleRadius = 0.37
AvatarCapsuleWidth = 0.6
AvatarCapsuleDepth = 0.45
AvatarCapsuleHeight = 1.5
AvatarContactProcessingThreshold = 0.1

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bin/lib32/BulletSim.dll
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bin/lib32/libBulletSim.so
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bin/lib64/BulletSim.dll
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bin/lib64/libBulletSim.so
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