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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 2015-08-20 17:04:37 +01:00
parent e312a0bc90
commit 379362facf
2 changed files with 147 additions and 152 deletions
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14
OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
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@ -172,8 +172,13 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="req"></param> /// <param name="req"></param>
private void RayCast(ODERayCastRequest req) private void RayCast(ODERayCastRequest req)
{ {
// limit ray lenght or collisions will take all avaiable stack space
float len = req.length;
if (len > 250f)
len = 250f;
// Create the ray // Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length); IntPtr ray = d.CreateRay(m_scene.space, len);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test // Collide test
@ -218,8 +223,13 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="req"></param> /// <param name="req"></param>
private void RayCast(ODERayRequest req) private void RayCast(ODERayRequest req)
{ {
// limit ray lenght or collisions will take all avaiable stack space
float len = req.length;
if (len > 250f)
len = 250f;
// Create the ray // Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length); IntPtr ray = d.CreateRay(m_scene.space, len);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z); d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test // Collide test

269
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -25,6 +25,14 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
// Ubit changes for varsize regions
// using a large Heightfield geometry for terrain
// ODE ode should handle it fine
// EXCEPT raycasts, those need to have limited range
// (even in normal regions)
// or aplication stack will just blowup
//#define USE_DRAWSTUFF //#define USE_DRAWSTUFF
//#define SPAM //#define SPAM
@ -263,8 +271,10 @@ namespace OpenSim.Region.Physics.OdePlugin
private Random fluidRandomizer = new Random(Environment.TickCount); private Random fluidRandomizer = new Random(Environment.TickCount);
private const uint m_regionWidth = Constants.RegionSize; public bool m_suportCombine = true;
private const uint m_regionHeight = Constants.RegionSize;
private uint m_regionWidth = Constants.RegionSize;
private uint m_regionHeight = Constants.RegionSize;
private float ODE_STEPSIZE = 0.0178f; private float ODE_STEPSIZE = 0.0178f;
private float metersInSpace = 29.9f; private float metersInSpace = 29.9f;
@ -290,7 +300,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private readonly IntPtr contactgroup; private readonly IntPtr contactgroup;
internal IntPtr WaterGeom; // internal IntPtr WaterGeom;
private float nmTerrainContactFriction = 255.0f; private float nmTerrainContactFriction = 255.0f;
private float nmTerrainContactBounce = 0.1f; private float nmTerrainContactBounce = 0.1f;
@ -507,17 +517,17 @@ namespace OpenSim.Region.Physics.OdePlugin
public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f); public d.Vector3 xyz = new d.Vector3(128.1640f, 128.3079f, 25.7600f);
public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); public d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);
// TODO: unused: private uint heightmapWidth = m_regionWidth + 1;
// TODO: unused: private uint heightmapHeight = m_regionHeight + 1;
// TODO: unused: private uint heightmapWidthSamples;
// TODO: unused: private uint heightmapHeightSamples;
private volatile int m_global_contactcount = 0; private volatile int m_global_contactcount = 0;
private Vector3 m_worldOffset = Vector3.Zero; private Vector3 m_worldOffset = Vector3.Zero;
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
private PhysicsScene m_parentScene = null; private PhysicsScene m_parentScene = null;
float spacesPerMeterX;
float spacesPerMeterY;
int spaceGridMaxX;
int spaceGridMaxY;
private ODERayCastRequestManager m_rayCastManager; private ODERayCastRequestManager m_rayCastManager;
/// <summary> /// <summary>
@ -551,7 +561,7 @@ namespace OpenSim.Region.Physics.OdePlugin
viewthread.Start(); viewthread.Start();
#endif #endif
_watermap = new float[258 * 258]; // _watermap = new float[258 * 258];
// Zero out the prim spaces array (we split our space into smaller spaces so // Zero out the prim spaces array (we split our space into smaller spaces so
// we can hit test less. // we can hit test less.
@ -572,6 +582,16 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
#endif #endif
public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
{
WorldExtents.X = regionExtent.X;
m_regionWidth = (uint)regionExtent.X;
WorldExtents.Y = regionExtent.Y;
m_regionHeight = (uint)regionExtent.Y;
m_suportCombine = false;
Initialise(meshmerizer, config);
}
// Initialize the mesh plugin // Initialize the mesh plugin
public override void Initialise(IMesher meshmerizer, IConfigSource config) public override void Initialise(IMesher meshmerizer, IConfigSource config)
{ {
@ -699,7 +719,31 @@ namespace OpenSim.Region.Physics.OdePlugin
contacts = new d.ContactGeom[contactsPerCollision]; contacts = new d.ContactGeom[contactsPerCollision];
staticPrimspace = new IntPtr[(int)(300 / metersInSpace), (int)(300 / metersInSpace)]; spacesPerMeterX = 1.0f / metersInSpace;
spacesPerMeterY = 1.0f / metersInSpace;
spaceGridMaxX = (int)(WorldExtents.X * spacesPerMeterX);
spaceGridMaxY = (int)(WorldExtents.Y * spacesPerMeterY);
// ubit: limit number of spaces
if (spaceGridMaxX > 40)
{
spaceGridMaxX = 40;
spacesPerMeterX = WorldExtents.X / spaceGridMaxX;
}
if (spaceGridMaxY > 40)
{
spaceGridMaxY = 40;
spacesPerMeterY = WorldExtents.X / spaceGridMaxY;
}
staticPrimspace = new IntPtr[spaceGridMaxX, spaceGridMaxY];
// make this index limits
spaceGridMaxX--;
spaceGridMaxY--;
// Centeral contact friction and bounce // Centeral contact friction and bounce
// ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why // ckrinke 11/10/08 Enabling soft_erp but not soft_cfm until I figure out why
@ -1883,6 +1927,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
{ {
if (!m_suportCombine)
return;
m_worldOffset = offset; m_worldOffset = offset;
WorldExtents = new Vector2(extents.X, extents.Y); WorldExtents = new Vector2(extents.X, extents.Y);
m_parentScene = pScene; m_parentScene = pScene;
@ -1891,10 +1937,15 @@ namespace OpenSim.Region.Physics.OdePlugin
// Recovered for use by fly height. Kitto Flora // Recovered for use by fly height. Kitto Flora
internal float GetTerrainHeightAtXY(float x, float y) internal float GetTerrainHeightAtXY(float x, float y)
{ {
int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
IntPtr heightFieldGeom = IntPtr.Zero; IntPtr heightFieldGeom = IntPtr.Zero;
int offsetX = 0;
int offsetY = 0;
if (m_suportCombine)
{
offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
}
if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom)) if(RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
{ {
@ -1910,8 +1961,8 @@ namespace OpenSim.Region.Physics.OdePlugin
(int)x < 0.001f || (int)y < 0.001f) (int)x < 0.001f || (int)y < 0.001f)
return 0; return 0;
x = x - offsetX; x = x - offsetX + 1f;
y = y - offsetY; y = y - offsetY + 1f;
index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y); index = (int)((int)x * ((int)Constants.RegionSize + 2) + (int)y);
@ -2763,16 +2814,16 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
int[] returnint = new int[2]; int[] returnint = new int[2];
returnint[0] = (int) (pos.X/metersInSpace); returnint[0] = (int) (pos.X * spacesPerMeterX);
if (returnint[0] > ((int) (259f/metersInSpace))) if (returnint[0] > spaceGridMaxX)
returnint[0] = ((int) (259f/metersInSpace)); returnint[0] = spaceGridMaxX;
if (returnint[0] < 0) if (returnint[0] < 0)
returnint[0] = 0; returnint[0] = 0;
returnint[1] = (int) (pos.Y/metersInSpace); returnint[1] = (int)(pos.Y * spacesPerMeterY);
if (returnint[1] > ((int) (259f/metersInSpace))) if (returnint[1] > spaceGridMaxY)
returnint[1] = ((int) (259f/metersInSpace)); returnint[1] = spaceGridMaxY;
if (returnint[1] < 0) if (returnint[1] < 0)
returnint[1] = 0; returnint[1] = 0;
@ -3526,6 +3577,7 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return false; } get { return false; }
} }
/* godd try.. but not a fix
#region ODE Specific Terrain Fixes #region ODE Specific Terrain Fixes
private float[] ResizeTerrain512NearestNeighbour(float[] heightMap) private float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
{ {
@ -3792,7 +3844,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
#endregion #endregion
*/
public override void SetTerrain(float[] heightMap) public override void SetTerrain(float[] heightMap)
{ {
if (m_worldOffset != Vector3.Zero && m_parentScene != null) if (m_worldOffset != Vector3.Zero && m_parentScene != null)
@ -3813,71 +3865,63 @@ namespace OpenSim.Region.Physics.OdePlugin
int startTime = Util.EnvironmentTickCount(); int startTime = Util.EnvironmentTickCount();
m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset); m_log.DebugFormat("[ODE SCENE]: Setting terrain for {0} with offset {1}", Name, pOffset);
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- creating a buffer zone of one extra sample all around
//_origheightmap = heightMap;
float[] _heightmap; float[] _heightmap;
// zero out a heightmap array float array (single dimension [flattened])) // ok im lasy this are just a aliases
//if ((int)Constants.RegionSize == 256) uint regionsizeX = m_regionWidth;
// _heightmap = new float[514 * 514]; uint regionsizeY = m_regionHeight;
//else
_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))]; // map is rotated
uint heightmapWidth = regionsizeY + 2;
uint heightmapHeight = regionsizeX + 2;
uint heightmapWidth = Constants.RegionSize + 1; uint heightmapWidthSamples = heightmapWidth + 1;
uint heightmapHeight = Constants.RegionSize + 1; uint heightmapHeightSamples = heightmapHeight + 1;
uint heightmapWidthSamples; _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
uint heightmapHeightSamples;
//if (((int)Constants.RegionSize) == 256)
//{
// heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
// heightmapWidth++;
// heightmapHeight++;
//}
//else
//{
heightmapWidthSamples = (uint)Constants.RegionSize + 1;
heightmapHeightSamples = (uint)Constants.RegionSize + 1;
//}
const float scale = 1.0f; const float scale = 1.0f;
const float offset = 0.0f; const float offset = 0.0f;
const float thickness = 0.2f; const float thickness = 10f;
const int wrap = 0; const int wrap = 0;
int regionsize = (int) Constants.RegionSize + 2;
//Double resolution
//if (((int)Constants.RegionSize) == 256)
// heightMap = ResizeTerrain512Interpolation(heightMap);
float hfmin = float.MaxValue;
float hfmax = float.MinValue;
float val;
uint xx;
uint yy;
// if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256) uint maxXX = regionsizeX - 1;
// regionsize = 512; uint maxYY = regionsizeY - 1;
float hfmin = 2000; // flipping map adding one margin all around so things don't fall in edges
float hfmax = -2000;
for (int x = 0; x < heightmapWidthSamples; x++) uint xt = 0;
xx = 0;
for (uint x = 0; x < heightmapWidthSamples; x++)
{ {
for (int y = 0; y < heightmapHeightSamples; y++) if (x > 1 && xx < maxXX)
xx++;
yy = 0;
for (uint y = 0; y < heightmapHeightSamples; y++)
{ {
int xx = Util.Clip(x - 1, 0, regionsize - 1); if (y > 1 && y < maxYY)
int yy = Util.Clip(y - 1, 0, regionsize - 1); yy += regionsizeX;
val = heightMap[yy + xx];
if (val < 0.0f)
val = 0.0f;
_heightmap[xt + y] = val;
float val= heightMap[yy * (int)Constants.RegionSize + xx]; if (hfmin > val)
_heightmap[x * ((int)Constants.RegionSize + 2) + y] = val; hfmin = val;
if (hfmax < val)
hfmin = (val < hfmin) ? val : hfmin; hfmax = val;
hfmax = (val > hfmax) ? val : hfmax;
} }
xt += heightmapHeightSamples;
} }
lock (OdeLock) lock (OdeLock)
@ -3898,9 +3942,10 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1, d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
(int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale, (int)heightmapWidthSamples, (int)heightmapHeightSamples, scale,
offset, thickness, wrap); offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1); GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (GroundGeom != IntPtr.Zero) if (GroundGeom != IntPtr.Zero)
@ -3915,17 +3960,15 @@ namespace OpenSim.Region.Physics.OdePlugin
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f); Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f); Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1 * q2; q1 = q1 * q2;
//q1 = q1 * q3;
Vector3 v3; Vector3 v3;
float angle; float angle;
q1.GetAxisAngle(out v3, out angle); q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R); d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)), (pOffset.Y + ((int)Constants.RegionSize * 0.5f)), 0); d.GeomSetPosition(GroundGeom, pOffset.X + regionsizeX * 0.5f, pOffset.Y + regionsizeY * 0.5f, 0);
IntPtr testGround = IntPtr.Zero; IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround)) if (RegionTerrain.TryGetValue(pOffset, out testGround))
{ {
@ -3950,84 +3993,26 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool SupportsCombining() public override bool SupportsCombining()
{ {
return true; return m_suportCombine;
} }
// public override void UnCombine(PhysicsScene pScene)
// {
// IntPtr localGround = IntPtr.Zero;
//// float[] localHeightfield;
// bool proceed = false;
// List<IntPtr> geomDestroyList = new List<IntPtr>();
//
// lock (OdeLock)
// {
// if (RegionTerrain.TryGetValue(Vector3.Zero, out localGround))
// {
// foreach (IntPtr geom in TerrainHeightFieldHeights.Keys)
// {
// if (geom == localGround)
// {
//// localHeightfield = TerrainHeightFieldHeights[geom];
// proceed = true;
// }
// else
// {
// geomDestroyList.Add(geom);
// }
// }
//
// if (proceed)
// {
// m_worldOffset = Vector3.Zero;
// WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
// m_parentScene = null;
//
// foreach (IntPtr g in geomDestroyList)
// {
// // removingHeightField needs to be done or the garbage collector will
// // collect the terrain data before we tell ODE to destroy it causing
// // memory corruption
// if (TerrainHeightFieldHeights.ContainsKey(g))
// {
//// float[] removingHeightField = TerrainHeightFieldHeights[g];
// TerrainHeightFieldHeights.Remove(g);
//
// if (RegionTerrain.ContainsKey(g))
// {
// RegionTerrain.Remove(g);
// }
//
// d.GeomDestroy(g);
// //removingHeightField = new float[0];
// }
// }
//
// }
// else
// {
// m_log.Warn("[PHYSICS]: Couldn't proceed with UnCombine. Region has inconsistant data.");
// }
// }
// }
// }
public override void SetWaterLevel(float baseheight) public override void SetWaterLevel(float baseheight)
{ {
waterlevel = baseheight; waterlevel = baseheight;
randomizeWater(waterlevel); // randomizeWater(waterlevel);
} }
/*
private void randomizeWater(float baseheight) private void randomizeWater(float baseheight)
{ {
const uint heightmapWidth = m_regionWidth + 2; uint heightmapWidth = m_regionWidth + 2;
const uint heightmapHeight = m_regionHeight + 2; uint heightmapHeight = m_regionHeight + 2;
const uint heightmapWidthSamples = m_regionWidth + 2; uint heightmapWidthSamples = m_regionWidth + 2;
const uint heightmapHeightSamples = m_regionHeight + 2; uint heightmapHeightSamples = m_regionHeight + 2;
const float scale = 1.0f; float scale = 1.0f;
const float offset = 0.0f; float offset = 0.0f;
const float thickness = 2.9f; float thickness = 2.9f;
const int wrap = 0; int wrap = 0;
for (int i = 0; i < (258 * 258); i++) for (int i = 0; i < (258 * 258); i++)
{ {
@ -4072,7 +4057,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetPosition(WaterGeom, 128, 128, 0); d.GeomSetPosition(WaterGeom, 128, 128, 0);
} }
} }
*/
public override void Dispose() public override void Dispose()
{ {
_worldInitialized = false; _worldInitialized = false;