make basic ode work with var regions for contribution back to CORE. ( avn
partial compatibility code needs to be reverted). Cant fully test.avinationmerge
UbitUmarov
parent
e312a0bc90
commit
379362facf
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@ -172,8 +172,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <param name="req"></param>
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private void RayCast(ODERayCastRequest req)
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{
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// limit ray lenght or collisions will take all avaiable stack space
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float len = req.length;
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if (len > 250f)
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len = 250f;
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// Create the ray
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IntPtr ray = d.CreateRay(m_scene.space, req.length);
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IntPtr ray = d.CreateRay(m_scene.space, len);
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d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
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// Collide test
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@ -218,8 +223,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// <param name="req"></param>
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private void RayCast(ODERayRequest req)
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{
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// limit ray lenght or collisions will take all avaiable stack space
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float len = req.length;
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if (len > 250f)
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len = 250f;
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// Create the ray
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IntPtr ray = d.CreateRay(m_scene.space, req.length);
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IntPtr ray = d.CreateRay(m_scene.space, len);
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d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
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// Collide test
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@ -25,6 +25,14 @@
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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// Ubit changes for varsize regions
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// using a large Heightfield geometry for terrain
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// ODE ode should handle it fine
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// EXCEPT raycasts, those need to have limited range
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// (even in normal regions)
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// or aplication stack will just blowup
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//#define USE_DRAWSTUFF
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//#define SPAM
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@ -263,8 +271,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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private Random fluidRandomizer = new Random(Environment.TickCount);
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private const uint m_regionWidth = Constants.RegionSize;
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private const uint m_regionHeight = Constants.RegionSize;
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public bool m_suportCombine = true;
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private uint m_regionWidth = Constants.RegionSize;
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private uint m_regionHeight = Constants.RegionSize;
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private float ODE_STEPSIZE = 0.0178f;
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private float metersInSpace = 29.9f;
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@ -290,7 +300,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private readonly IntPtr contactgroup;
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internal IntPtr WaterGeom;
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// internal IntPtr WaterGeom;
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private float nmTerrainContactFriction = 255.0f;
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private float nmTerrainContactBounce = 0.1f;
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@ -507,17 +517,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
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public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
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// TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
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// TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
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// TODO: unused: private uint heightmapWidthSamples;
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// TODO: unused: private uint heightmapHeightSamples;
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private volatile int m_global_contactcount = 0;
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private Vector3 m_worldOffset = Vector3.Zero;
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public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
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private PhysicsScene m_parentScene = null;
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float spacesPerMeterX;
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float spacesPerMeterY;
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int spaceGridMaxX;
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int spaceGridMaxY;
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private ODERayCastRequestManager m_rayCastManager;
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/// <summary>
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@ -551,7 +561,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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viewthread.Start();
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#endif
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_watermap = new float[258 * 258];
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// _watermap = new float[258 * 258];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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@ -572,6 +582,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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#endif
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public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
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{
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WorldExtents.X = regionExtent.X;
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m_regionWidth = (uint)regionExtent.X;
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WorldExtents.Y = regionExtent.Y;
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m_regionHeight = (uint)regionExtent.Y;
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m_suportCombine = false;
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Initialise(meshmerizer, config);
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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{
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@ -699,7 +719,31 @@ namespace OpenSim.Region.Physics.OdePlugin
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contacts = new d.ContactGeom[contactsPerCollision];
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staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)];
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spacesPerMeterX = 1.0f / metersInSpace;
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spacesPerMeterY = 1.0f / metersInSpace;
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spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
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spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
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// ubit: limit number of spaces
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if (spaceGridMaxX > 40)
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{
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spaceGridMaxX = 40;
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spacesPerMeterX = WorldExtents.X / spaceGridMaxX;
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}
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if (spaceGridMaxY > 40)
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{
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spaceGridMaxY = 40;
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spacesPerMeterY = WorldExtents.X / spaceGridMaxY;
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}
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staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
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// make this index limits
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spaceGridMaxX--;
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spaceGridMaxY--;
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// Centeral contact friction and bounce
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// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
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@ -1883,6 +1927,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
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{
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if (!m_suportCombine)
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return;
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m_worldOffset = offset;
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WorldExtents = new Vector2(extents.X, extents.Y);
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m_parentScene = pScene;
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@ -1891,12 +1937,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Recovered for use by fly height. Kitto Flora
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internal float GetTerrainHeightAtXY(float x, float y)
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{
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int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
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int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
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IntPtr heightFieldGeom = IntPtr.Zero;
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int offsetX = 0;
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int offsetY = 0;
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if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
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if (m_suportCombine)
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{
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offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
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offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
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}
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if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
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{
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if (heightFieldGeom != IntPtr.Zero)
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{
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@ -1910,8 +1961,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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(int)x < 0.001f || (int)y < 0.001f)
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return 0;
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x = x - offsetX;
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y = y - offsetY;
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x = x - offsetX + 1f;
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y = y - offsetY + 1f;
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index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
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@ -2763,16 +2814,16 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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int[] returnint = new int[2];
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returnint[0] = (int) (pos.X/metersInSpace);
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returnint[0] = (int) (pos.X * spacesPerMeterX);
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if (returnint[0] > ((int) (259f/metersInSpace)))
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returnint[0] = ((int) (259f/metersInSpace));
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if (returnint[0] > spaceGridMaxX)
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returnint[0] = spaceGridMaxX;
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if (returnint[0] < 0)
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returnint[0] = 0;
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returnint[1] = (int) (pos.Y/metersInSpace);
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if (returnint[1] > ((int) (259f/metersInSpace)))
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returnint[1] = ((int) (259f/metersInSpace));
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returnint[1] = (int)(pos.Y * spacesPerMeterY);
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if (returnint[1] > spaceGridMaxY)
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returnint[1] = spaceGridMaxY;
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if (returnint[1] < 0)
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returnint[1] = 0;
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@ -3526,6 +3577,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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get { return false; }
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}
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/* godd try.. but not a fix
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#region ODE Specific Terrain Fixes
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private float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
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{
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@ -3792,7 +3844,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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#endregion
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*/
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public override void SetTerrain(float[] heightMap)
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{
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if (m_worldOffset != Vector3.Zero && m_parentScene != null)
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@ -3813,71 +3865,63 @@ namespace OpenSim.Region.Physics.OdePlugin
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int startTime = Util.EnvironmentTickCount();
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m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset);
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// this._heightmap[i] = (double)heightMap[i];
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// dbm (danx0r) -- creating a buffer zone of one extra sample all around
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//_origheightmap = heightMap;
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float[] _heightmap;
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// zero out a heightmap array float array (single dimension [flattened]))
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//if ((int)Constants.RegionSize == 256)
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// _heightmap = new float[514 * 514];
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//else
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// ok im lasy this are just a aliases
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uint regionsizeX = m_regionWidth;
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uint regionsizeY = m_regionHeight;
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_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
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// map is rotated
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uint heightmapWidth = regionsizeY + 2;
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uint heightmapHeight = regionsizeX + 2;
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uint heightmapWidth = Constants.RegionSize + 1;
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uint heightmapHeight = Constants.RegionSize + 1;
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uint heightmapWidthSamples = heightmapWidth + 1;
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uint heightmapHeightSamples = heightmapHeight + 1;
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uint heightmapWidthSamples;
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uint heightmapHeightSamples;
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//if (((int)Constants.RegionSize) == 256)
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//{
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// heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
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// heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
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// heightmapWidth++;
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// heightmapHeight++;
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//}
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//else
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//{
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heightmapWidthSamples = (uint)Constants.RegionSize + 1;
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heightmapHeightSamples = (uint)Constants.RegionSize + 1;
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//}
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_heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
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const float scale = 1.0f;
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const float offset = 0.0f;
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const float thickness = 0.2f;
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const float thickness = 10f;
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const int wrap = 0;
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int regionsize = (int) Constants.RegionSize + 2;
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//Double resolution
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//if (((int)Constants.RegionSize) == 256)
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// heightMap = ResizeTerrain512Interpolation(heightMap);
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float hfmin = float.MaxValue;
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float hfmax = float.MinValue;
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float val;
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uint xx;
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uint yy;
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// if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
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// regionsize = 512;
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uint maxXX = regionsizeX - 1;
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uint maxYY = regionsizeY - 1;
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float hfmin = 2000;
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float hfmax = -2000;
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for (int x = 0; x < heightmapWidthSamples; x++)
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// flipping map adding one margin all around so things don't fall in edges
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uint xt = 0;
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xx = 0;
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for (uint x = 0; x < heightmapWidthSamples; x++)
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{
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for (int y = 0; y < heightmapHeightSamples; y++)
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if (x > 1 && xx < maxXX)
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xx++;
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yy = 0;
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for (uint y = 0; y < heightmapHeightSamples; y++)
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{
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int xx = Util.Clip(x - 1, 0, regionsize - 1);
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int yy = Util.Clip(y - 1, 0, regionsize - 1);
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float val= heightMap[yy * (int)Constants.RegionSize + xx];
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_heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
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hfmin = (val < hfmin) ? val : hfmin;
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hfmax = (val > hfmax) ? val : hfmax;
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if (y > 1 && y < maxYY)
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yy += regionsizeX;
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val = heightMap[yy + xx];
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if (val < 0.0f)
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val = 0.0f;
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_heightmap[xt + y] = val;
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if (hfmin > val)
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hfmin = val;
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if (hfmax < val)
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hfmax = val;
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}
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xt += heightmapHeightSamples;
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}
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lock (OdeLock)
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@ -3898,9 +3942,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
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d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
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(int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
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d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
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(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
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offset, thickness, wrap);
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d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
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GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
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if (GroundGeom != IntPtr.Zero)
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@ -3915,17 +3960,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
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Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
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//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
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q1 = q1 * q2;
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//q1 = q1 * q3;
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Vector3 v3;
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float angle;
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q1.GetAxisAngle(out v3, out angle);
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d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
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d.GeomSetRotation(GroundGeom, ref R);
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d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)), (pOffset.Y + ((int)Constants.RegionSize * 0.5f)), 0);
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d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0);
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IntPtr testGround = IntPtr.Zero;
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if (RegionTerrain.TryGetValue(pOffset, out testGround))
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{
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@ -3950,89 +3993,31 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override bool SupportsCombining()
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{
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return true;
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return m_suportCombine;
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}
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// public override void UnCombine(PhysicsScene pScene)
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// {
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// IntPtr localGround = IntPtr.Zero;
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//// float[] localHeightfield;
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// bool proceed = false;
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// List<IntPtr> geomDestroyList = new List<IntPtr>();
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//
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// lock (OdeLock)
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// {
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// if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
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// {
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// foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
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// {
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// if (geom == localGround)
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// {
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//// localHeightfield = TerrainHeightFieldHeights[geom];
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// proceed = true;
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// }
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// else
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// {
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// geomDestroyList.Add(geom);
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// }
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// }
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//
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// if (proceed)
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// {
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// m_worldOffset = Vector3.Zero;
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// WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
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// m_parentScene = null;
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//
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// foreach (IntPtr g in geomDestroyList)
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// {
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// // removingHeightField needs to be done or the garbage collector will
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// // collect the terrain data before we tell ODE to destroy it causing
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// // memory corruption
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// if (TerrainHeightFieldHeights.ContainsKey(g))
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// {
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//// float[] removingHeightField = TerrainHeightFieldHeights[g];
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// TerrainHeightFieldHeights.Remove(g);
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//
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// if (RegionTerrain.ContainsKey(g))
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// {
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// RegionTerrain.Remove(g);
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// }
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//
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// d.GeomDestroy(g);
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// //removingHeightField = new float[0];
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// }
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// }
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//
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// }
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// else
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// {
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// m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
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// }
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// }
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// }
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// }
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public override void SetWaterLevel(float baseheight)
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{
|
||||
waterlevel = baseheight;
|
||||
randomizeWater(waterlevel);
|
||||
// randomizeWater(waterlevel);
|
||||
}
|
||||
|
||||
/*
|
||||
private void randomizeWater(float baseheight)
|
||||
{
|
||||
const uint heightmapWidth = m_regionWidth + 2;
|
||||
const uint heightmapHeight = m_regionHeight + 2;
|
||||
const uint heightmapWidthSamples = m_regionWidth + 2;
|
||||
const uint heightmapHeightSamples = m_regionHeight + 2;
|
||||
const float scale = 1.0f;
|
||||
const float offset = 0.0f;
|
||||
const float thickness = 2.9f;
|
||||
const int wrap = 0;
|
||||
uint heightmapWidth = m_regionWidth + 2;
|
||||
uint heightmapHeight = m_regionHeight + 2;
|
||||
uint heightmapWidthSamples = m_regionWidth + 2;
|
||||
uint heightmapHeightSamples = m_regionHeight + 2;
|
||||
float scale = 1.0f;
|
||||
float offset = 0.0f;
|
||||
float thickness = 2.9f;
|
||||
int wrap = 0;
|
||||
|
||||
for (int i = 0; i < (258 * 258); i++)
|
||||
{
|
||||
_watermap[i] = (baseheight-0.1f) + ((float)fluidRandomizer.Next(1,9) / 10f);
|
||||
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
|
||||
// m_log.Info((baseheight - 0.1f) + ((float)fluidRandomizer.Next(1, 9) / 10f));
|
||||
}
|
||||
|
||||
lock (OdeLock)
|
||||
|
|
@ -4043,8 +4028,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
||||
d.GeomHeightfieldDataBuildSingle(HeightmapData, _watermap, 0, heightmapWidth, heightmapHeight,
|
||||
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
|
||||
offset, thickness, wrap);
|
||||
(int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
|
||||
offset, thickness, wrap);
|
||||
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
|
||||
WaterGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
||||
if (WaterGeom != IntPtr.Zero)
|
||||
|
|
@ -4072,7 +4057,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.GeomSetPosition(WaterGeom, 128, 128, 0);
|
||||
}
|
||||
}
|
||||
|
||||
*/
|
||||
public override void Dispose()
|
||||
{
|
||||
_worldInitialized = false;
|
||||
|
|
|
|||
Loading…
Reference in New Issue