chODE and ubitODE always return prim mass (they where returning object mass on physical prims) so SOG can do the total add. (ubitODE as more code to use a simpler terrain geom on a modified ode lib but should do autodetect and work with normal lib).
UbitUmarov
parent
87fdb2ed7e
commit
39079a62c0
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@ -179,6 +179,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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public bool m_outofBounds;
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private float m_density = 10.000006836f; // Aluminum g/cm3;
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private float m_primMass = 10.000006836f; // Aluminum g/cm3;
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private byte m_shapetype;
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private byte m_taintshapetype;
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@ -538,7 +540,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override float Mass
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{
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get { return CalculateMass(); }
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get
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{
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CalculateMass();
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return m_primMass;
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}
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}
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public override Vector3 Force
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@ -1316,6 +1322,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_primMass = returnMass;
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if (m_primMass > _parent_scene.maximumMassObject)
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m_primMass = _parent_scene.maximumMassObject;
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// Recursively calculate mass
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bool HasChildPrim = false;
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@ -395,7 +395,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public override float Mass
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{
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get { return _mass; }
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get { return primMass; }
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}
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public override Vector3 Force
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@ -107,16 +107,17 @@ namespace OdeAPI
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ConvexClass,
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GeomTransformClass,
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TriMeshClass,
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HeightfieldClass,
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HeightfieldClass,
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FirstSpaceClass,
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SimpleSpaceClass = FirstSpaceClass,
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HashSpaceClass,
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QuadTreeSpaceClass,
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LastSpaceClass = QuadTreeSpaceClass,
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UbitTerrainClass,
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FirstUserClass,
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LastUserClass = FirstUserClass + MaxUserClasses - 1,
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NumClasses,
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MaxUserClasses = 4
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MaxUserClasses = 5
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}
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public enum JointType : int
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@ -201,8 +202,11 @@ namespace OdeAPI
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void GeomDtorFn(IntPtr o);
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate dReal UbitTerrainGetHeight(IntPtr p_user_data, int x, int z);
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);
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@ -729,6 +733,18 @@ namespace OdeAPI
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return CreateiHeightfield(space, data, bPlaceable);
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}
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateUbitTerrain"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateiUbitTerrain(IntPtr space, IntPtr data, int bPlaceable);
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public static IntPtr CreateUbitTerrain(IntPtr space, IntPtr data, int bPlaceable)
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{
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NTotalGeoms++;
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return CreateiUbitTerrain(space, data, bPlaceable);
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}
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateiGeom(int classnum);
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public static IntPtr CreateGeom(int classnum)
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@ -964,6 +980,8 @@ namespace OdeAPI
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dReal width, dReal depth, int widthSamples, int depthSamples,
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dReal scale, dReal offset, dReal thickness, int bWrap);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,
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dReal width, dReal depth, int widthSamples, int depthSamples,
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@ -989,6 +1007,33 @@ namespace OdeAPI
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomUbitTerrainDataBuild(IntPtr d, float[] pHeightData, int bCopyHeightData,
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dReal sampleSize, int widthSamples, int depthSamples,
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dReal offset, dReal thickness, int bWrap);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataBuild"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomUbitTerrainDataBuild(IntPtr d, IntPtr pHeightData, int bCopyHeightData,
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dReal sampleSize, int widthSamples, int depthSamples,
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dReal thickness, int bWrap);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataCreate"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GeomUbitTerrainDataCreate();
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataDestroy"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomUbitTerrainDataDestroy(IntPtr d);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainDataSetBounds"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomUbitTerrainDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainGetHeightfieldData"), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GeomUbitTerrainGetHeightfieldData(IntPtr g);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomUbitTerrainSetHeightfieldData"), SuppressUnmanagedCodeSecurity]
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public static extern void GeomUbitTerrainSetHeightfieldData(IntPtr g, IntPtr d);
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[DllImport("ode", CallingConvention = CallingConvention.Cdecl, EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]
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public static extern bool GeomIsEnabled(IntPtr geom);
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@ -156,6 +156,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private readonly ILog m_log;
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// private Dictionary<string, sCollisionData> m_storedCollisions = new Dictionary<string, sCollisionData>();
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public bool OdeUbitLib = false;
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// private int threadid = 0;
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private Random fluidRandomizer = new Random(Environment.TickCount);
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@ -374,7 +375,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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mesher = meshmerizer;
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m_config = config;
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// m_log.WarnFormat("ODE configuration: {0}", d.GetConfiguration("ODE"));
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string ode_config = d.GetConfiguration("ODE");
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m_log.WarnFormat("ODE configuration: {0}", ode_config);
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if (ode_config.Contains("ODE_Ubit"))
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{
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OdeUbitLib = true;
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}
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/*
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if (region != null)
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{
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@ -527,13 +535,24 @@ namespace OpenSim.Region.Physics.OdePlugin
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// sets a global contact for a joint for contactgeom , and base contact description)
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private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce,float cfm,float erp)
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private IntPtr CreateContacJoint(ref d.ContactGeom contactGeom, float mu, float bounce, float cfm, float erpscale, float dscale)
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{
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if (GlobalContactsArray == IntPtr.Zero || m_global_contactcount >= maxContactsbeforedeath)
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return IntPtr.Zero;
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float erp = contactGeom.depth;
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erp *= erpscale;
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if (erp < minERP)
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erp = minERP;
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else if (erp > MaxERP)
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erp = MaxERP;
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float depth = contactGeom.depth * dscale;
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if (depth > 0.5f)
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depth = 0.5f;
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d.Contact newcontact = new d.Contact();
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newcontact.geom.depth = contactGeom.depth;
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newcontact.geom.depth = depth;
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newcontact.geom.g1 = contactGeom.g1;
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newcontact.geom.g2 = contactGeom.g2;
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newcontact.geom.pos = contactGeom.pos;
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@ -692,6 +711,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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float bounce = 0;
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float cfm = 0.0001f;
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float erp = 0.1f;
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float erpscale = 1.0f;
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float dscale = 1.0f;
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bool IgnoreNegSides = false;
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ContactData contactdata1 = new ContactData(0, 0, false);
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ContactData contactdata2 = new ContactData(0, 0, false);
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@ -781,10 +804,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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cfm = p1.Mass;
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if (cfm > p2.Mass)
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cfm = p2.Mass;
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cfm = (float)Math.Sqrt(cfm);
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cfm *= 0.0001f;
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if (cfm > 0.8f)
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cfm = 0.8f;
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dscale = 10 / cfm;
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dscale = (float)Math.Sqrt(dscale);
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if (dscale > 1.0f)
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dscale = 1.0f;
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erpscale = cfm * 0.01f;
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cfm = 0.0001f / cfm;
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if (cfm > 0.01f)
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cfm = 0.01f;
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if ((Math.Abs(p2.Velocity.X - p1.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y - p1.Velocity.Y) > 0.1f))
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mu *= frictionMovementMult;
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@ -801,11 +828,22 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (Math.Abs(p1.Velocity.X) > 0.1f || Math.Abs(p1.Velocity.Y) > 0.1f)
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mu *= frictionMovementMult;
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p1.CollidingGround = true;
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cfm = p1.Mass;
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cfm = (float)Math.Sqrt(cfm);
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cfm *= 0.0001f;
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if (cfm > 0.8f)
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cfm = 0.8f;
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dscale = 10 / cfm;
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dscale = (float)Math.Sqrt(dscale);
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if (dscale > 1.0f)
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dscale = 1.0f;
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erpscale = cfm * 0.01f;
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cfm = 0.0001f / cfm;
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if (cfm > 0.01f)
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cfm = 0.01f;
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if (d.GeomGetClass(g1) == d.GeomClassID.TriMeshClass)
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{
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if (curContact.side1 > 0)
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IgnoreNegSides = true;
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}
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}
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else if (name == "Water")
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@ -830,11 +868,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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p2.getContactData(ref contactdata2);
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bounce = contactdata2.bounce * TerrainBounce;
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mu = (float)Math.Sqrt(contactdata2.mu * TerrainFriction);
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cfm = p2.Mass;
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cfm = (float)Math.Sqrt(cfm);
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cfm *= 0.0001f;
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if (cfm > 0.8f)
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cfm = 0.8f;
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dscale = 10 / cfm;
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dscale = (float)Math.Sqrt(dscale);
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if (dscale > 1.0f)
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dscale = 1.0f;
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erpscale = cfm * 0.01f;
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cfm = 0.0001f / cfm;
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if (cfm > 0.01f)
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cfm = 0.01f;
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if (curContact.side1 > 0) // should be 2 ?
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IgnoreNegSides = true;
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if (Math.Abs(p2.Velocity.X) > 0.1f || Math.Abs(p2.Velocity.Y) > 0.1f)
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mu *= frictionMovementMult;
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@ -862,39 +910,45 @@ namespace OpenSim.Region.Physics.OdePlugin
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int i = 0;
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while(true)
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{
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if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
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p1.IsColliding = true;
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if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
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p2.IsColliding = true;
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erp = curContact.depth;
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if (erp < minERP)
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erp = minERP;
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else if (erp > MaxERP)
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erp = MaxERP;
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Joint = CreateContacJoint(ref curContact, mu, bounce,cfm,erp);
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d.JointAttach(Joint, b1, b2);
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if (++m_global_contactcount >= maxContactsbeforedeath)
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break;
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if(++i >= count)
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break;
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if (!GetCurContactGeom(i, ref curContact))
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break;
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if (curContact.depth > maxDepthContact.PenetrationDepth)
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if (IgnoreNegSides && curContact.side1 < 0)
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{
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maxDepthContact.Position.X = curContact.pos.X;
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maxDepthContact.Position.Y = curContact.pos.Y;
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maxDepthContact.Position.Z = curContact.pos.Z;
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maxDepthContact.SurfaceNormal.X = curContact.normal.X;
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maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
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maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
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maxDepthContact.PenetrationDepth = curContact.depth;
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if (++i >= count)
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break;
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if (!GetCurContactGeom(i, ref curContact))
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break;
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}
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else
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{
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if (dop1foot && (p1.Position.Z - curContact.pos.Z) > (p1.Size.Z - avCapRadius) * 0.5f)
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p1.IsColliding = true;
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if (dop2foot && (p2.Position.Z - curContact.pos.Z) > (p2.Size.Z - avCapRadius) * 0.5f)
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p2.IsColliding = true;
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Joint = CreateContacJoint(ref curContact, mu, bounce, cfm, erpscale, dscale);
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d.JointAttach(Joint, b1, b2);
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if (++m_global_contactcount >= maxContactsbeforedeath)
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break;
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if (++i >= count)
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break;
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if (!GetCurContactGeom(i, ref curContact))
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break;
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if (curContact.depth > maxDepthContact.PenetrationDepth)
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{
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maxDepthContact.Position.X = curContact.pos.X;
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maxDepthContact.Position.Y = curContact.pos.Y;
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maxDepthContact.Position.Z = curContact.pos.Z;
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maxDepthContact.SurfaceNormal.X = curContact.normal.X;
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maxDepthContact.SurfaceNormal.Y = curContact.normal.Y;
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maxDepthContact.SurfaceNormal.Z = curContact.normal.Z;
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maxDepthContact.PenetrationDepth = curContact.depth;
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}
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}
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}
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@ -1865,13 +1919,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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public float GetTerrainHeightAtXY(float x, float y)
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{
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// assumes 1m size grid and constante size square regions
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// needs to know about sims around in future
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// region offset in mega position
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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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// get region map
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@ -1903,28 +1956,55 @@ namespace OpenSim.Region.Physics.OdePlugin
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int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
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// we still have square fixed size regions
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// also flip x and y because of how map is done for ODE fliped axis
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// so ix,iy,dx and dy are inter exchanged
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if (x < regsize - 1)
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if (OdeUbitLib)
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{
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iy = (int)x;
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dy = x - (float)iy;
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}
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else // out world use external height
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{
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iy = regsize - 1;
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dy = 0;
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}
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if (y < regsize - 1)
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{
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ix = (int)y;
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dx = y - (float)ix;
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if (x < regsize - 1)
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{
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ix = (int)x;
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dx = x - (float)ix;
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}
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else // out world use external height
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{
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ix = regsize - 1;
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dx = 0;
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}
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if (y < regsize - 1)
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{
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iy = (int)y;
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dy = y - (float)iy;
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}
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else
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{
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iy = regsize - 1;
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dy = 0;
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}
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}
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else
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{
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ix = regsize - 1;
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dx = 0;
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// we still have square fixed size regions
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// also flip x and y because of how map is done for ODE fliped axis
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// so ix,iy,dx and dy are inter exchanged
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if (x < regsize - 1)
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{
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iy = (int)x;
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dy = x - (float)iy;
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}
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else // out world use external height
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{
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iy = regsize - 1;
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dy = 0;
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}
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if (y < regsize - 1)
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{
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ix = (int)y;
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dx = y - (float)ix;
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}
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else
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{
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ix = regsize - 1;
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dx = 0;
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}
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}
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float h0;
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@ -1951,6 +2031,8 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
return h0 + h1 + h2;
|
||||
}
|
||||
|
||||
|
||||
public override void SetTerrain(float[] heightMap)
|
||||
{
|
||||
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
|
||||
|
|
@ -1972,7 +2054,15 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
|
||||
public void SetTerrain(float[] heightMap, Vector3 pOffset)
|
||||
{
|
||||
{
|
||||
if (OdeUbitLib)
|
||||
UbitSetTerrain(heightMap, pOffset);
|
||||
else
|
||||
OriSetTerrain(heightMap, pOffset);
|
||||
}
|
||||
|
||||
public void OriSetTerrain(float[] heightMap, Vector3 pOffset)
|
||||
{
|
||||
// assumes 1m size grid and constante size square regions
|
||||
// needs to know about sims around in future
|
||||
|
||||
|
|
@ -2086,6 +2176,108 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
}
|
||||
|
||||
public void UbitSetTerrain(float[] heightMap, Vector3 pOffset)
|
||||
{
|
||||
// assumes 1m size grid and constante size square regions
|
||||
// needs to know about sims around in future
|
||||
|
||||
float[] _heightmap;
|
||||
|
||||
uint heightmapWidth = Constants.RegionSize + 2;
|
||||
uint heightmapHeight = Constants.RegionSize + 2;
|
||||
|
||||
uint heightmapWidthSamples = heightmapWidth + 1;
|
||||
uint heightmapHeightSamples = heightmapHeight + 1;
|
||||
|
||||
_heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
|
||||
|
||||
|
||||
uint regionsize = Constants.RegionSize;
|
||||
|
||||
float hfmin = float.MaxValue;
|
||||
// float hfmax = float.MinValue;
|
||||
float val;
|
||||
|
||||
|
||||
uint maxXXYY = regionsize - 1;
|
||||
// adding one margin all around so things don't fall in edges
|
||||
|
||||
uint xx;
|
||||
uint yy = 0;
|
||||
uint yt = 0;
|
||||
|
||||
for (uint y = 0; y < heightmapHeightSamples; y++)
|
||||
{
|
||||
if (y > 1 && y < maxXXYY)
|
||||
yy += regionsize;
|
||||
xx = 0;
|
||||
for (uint x = 0; x < heightmapWidthSamples; x++)
|
||||
{
|
||||
if (x > 1 && x < maxXXYY)
|
||||
xx++;
|
||||
|
||||
val = heightMap[yy + xx];
|
||||
if (val < 0.0f)
|
||||
val = 0.0f; // no neg terrain as in chode
|
||||
_heightmap[yt + x] = val;
|
||||
|
||||
if (hfmin > val)
|
||||
hfmin = val;
|
||||
// if (hfmax < val)
|
||||
// hfmax = val;
|
||||
}
|
||||
yt += heightmapWidthSamples;
|
||||
}
|
||||
lock (OdeLock)
|
||||
{
|
||||
IntPtr GroundGeom = IntPtr.Zero;
|
||||
if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
|
||||
{
|
||||
RegionTerrain.Remove(pOffset);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
|
||||
{
|
||||
TerrainHeightFieldHeightsHandlers[GroundGeom].Free();
|
||||
TerrainHeightFieldHeightsHandlers.Remove(GroundGeom);
|
||||
TerrainHeightFieldHeights.Remove(GroundGeom);
|
||||
}
|
||||
d.SpaceRemove(StaticSpace, GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
}
|
||||
}
|
||||
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
||||
|
||||
const int wrap = 0;
|
||||
float thickness = hfmin;
|
||||
if (thickness < 0)
|
||||
thickness = 1;
|
||||
|
||||
GCHandle _heightmaphandler = GCHandle.Alloc(_heightmap, GCHandleType.Pinned);
|
||||
|
||||
d.GeomUbitTerrainDataBuild(HeightmapData, _heightmaphandler.AddrOfPinnedObject(), 0, 1.0f,
|
||||
(int)heightmapWidthSamples, (int)heightmapHeightSamples,
|
||||
thickness, wrap);
|
||||
|
||||
// d.GeomUbitTerrainDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
|
||||
GroundGeom = d.CreateUbitTerrain(StaticSpace, HeightmapData, 1);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
|
||||
d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
|
||||
|
||||
}
|
||||
geom_name_map[GroundGeom] = "Terrain";
|
||||
|
||||
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f, 0);
|
||||
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
|
||||
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
|
||||
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
|
||||
TerrainHeightFieldHeightsHandlers.Add(GroundGeom, _heightmaphandler);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public override void DeleteTerrain()
|
||||
{
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue