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BUlletSim: return better terrain height in 

BSTerrainHeightMap.GetTerrainHeightAtXYZ().
Partial fix for Mantis 8011. Problem is that computed terrain height
is different than mesh height in the physics engine. For small shapes,
they would have their position corrected to above terrain so they would
never collide.
0.9.0-post-fixes
Robert Adams 2017-08-14 21:20:59 -07:00
parent 8f3c17189c
commit 36ee8e3941
1 changed files with 20 additions and 4 deletions
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24
OpenSim/Region/PhysicsModules/BulletS/BSTerrainHeightmap.cs
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@ -141,14 +141,30 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
} }
// The passed position is relative to the base of the region. // The passed position is relative to the base of the region.
// There are many assumptions herein that the heightmap increment is 1.
public override float GetTerrainHeightAtXYZ(Vector3 pos) public override float GetTerrainHeightAtXYZ(Vector3 pos)
{ {
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; try {
try int baseX = (int)pos.X;
{ int baseY = (int)pos.Y;
ret = m_mapInfo.heightMap[mapIndex]; int maxX = (int)m_mapInfo.sizeX;
int maxY = (int)m_mapInfo.sizeY;
float diffX = pos.X - (float)baseX;
float diffY = pos.Y - (float)baseY;
float mapHeight1 = m_mapInfo.heightMap[baseY * maxY + baseX];
float mapHeight2 = m_mapInfo.heightMap[Math.Min(baseY + 1, maxY - 1) * maxY + baseX];
float mapHeight3 = m_mapInfo.heightMap[baseY * maxY + Math.Min(baseX + 1, maxX - 1)];
float mapHeight4 = m_mapInfo.heightMap[Math.Min(baseY + 1, maxY - 1) * maxY + Math.Min(baseX + 1, maxX - 1)];
float Xrise = (mapHeight4 - mapHeight3) * diffX;
float Yrise = (mapHeight2 - mapHeight1) * diffY;
ret = mapHeight1 + ((Xrise + Yrise) / 2f);
m_physicsScene.DetailLog("{0},BSTerrainHeightMap,GetTerrainHeightAtXYZ,pos={1},{2}/{3}/{4}/{5},ret={6}",
BSScene.DetailLogZero, pos, mapHeight1, mapHeight2, mapHeight3, mapHeight4, ret);
} }
catch catch
{ {