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* Fixes Terrain issues with combined regions.

remotes/origin/0.6.7-post-fixes
Teravus Ovares (Dan Olivares) 2009-08-20 23:26:40 -04:00
parent c9b52cd0b6
commit 64dcb71c14
2 changed files with 137 additions and 74 deletions
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13
OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
View File

@ -232,16 +232,11 @@ namespace OpenSim.Region.Physics.OdePlugin
*/ */
// Exclude heightfield geom // Exclude heightfield geom
if (g1 == m_scene.LandGeom)
return;
if (g2 == m_scene.LandGeom)
return;
if (g1 == m_scene.WaterGeom)
return;
if (g2 == m_scene.WaterGeom)
return;
if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
return;
if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
return;
// Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms. // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2)) if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))

194
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -232,8 +232,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private float[] _watermap; private float[] _watermap;
private bool m_filterCollisions = true; private bool m_filterCollisions = true;
private float[] _origheightmap; // Used for Fly height. Kitto Flora
private d.NearCallback nearCallback; private d.NearCallback nearCallback;
public d.TriCallback triCallback; public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback; public d.TriArrayCallback triArrayCallback;
@ -257,6 +255,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private Object externalJointRequestsLock = new Object(); private Object externalJointRequestsLock = new Object();
private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>(); private readonly Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>(); private readonly Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
private readonly DoubleDictionary<Vector3, IntPtr, IntPtr> RegionTerrain = new DoubleDictionary<Vector3, IntPtr, IntPtr>();
private readonly Dictionary<IntPtr,float[]> TerrainHeightFieldHeights = new Dictionary<IntPtr, float[]>();
private d.Contact contact; private d.Contact contact;
private d.Contact TerrainContact; private d.Contact TerrainContact;
@ -313,6 +313,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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 ODERayCastRequestManager m_rayCastManager; private ODERayCastRequestManager m_rayCastManager;
@ -351,7 +352,7 @@ namespace OpenSim.Region.Physics.OdePlugin
} }
// zero out a heightmap array float array (single dimension [flattened])) // zero out a heightmap array float array (single dimension [flattened]))
if ((int)WorldExtents.X == 256 && (int)m_worldOffset.Y == 256) if ((int)Constants.RegionSize == 256)
_heightmap = new float[514*514]; _heightmap = new float[514*514];
else else
_heightmap = new float[(((int)WorldExtents.Y + 2) * ((int)WorldExtents.X + 2))]; _heightmap = new float[(((int)WorldExtents.Y + 2) * ((int)WorldExtents.X + 2))];
@ -1564,28 +1565,60 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
m_worldOffset = offset; m_worldOffset = offset;
WorldExtents = new Vector2(extents.X, extents.Y); WorldExtents = new Vector2(extents.X, extents.Y);
m_parentScene = pScene;
} }
// Recovered for use by fly height. Kitto Flora // Recovered for use by fly height. Kitto Flora
public float GetTerrainHeightAtXY(float x, float y) public float GetTerrainHeightAtXY(float x, float y)
{ {
int index; int offsetX = ((int) (x/256)) * 256;
int offsetY = ((int) (y/256)) * 256;
// Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless IntPtr heightFieldGeom = IntPtr.Zero;
// the values are checked, so checking below.
// Is there any reason that we don't do this in ScenePresence?
// The only physics engine that benefits from it in the physics plugin is this one
if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y || if (RegionTerrain.TryGetValue(new Vector3(offsetX,offsetY,0), out heightFieldGeom))
(int)x < 0.001f || (int)y < 0.001f) {
return 0; if (heightFieldGeom != IntPtr.Zero)
{
if (TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
{
index = (int)((int)y * WorldExtents.Y + (int)x); int index;
if (index < _origheightmap.Length)
return (float)_origheightmap[(int)y * (int)WorldExtents.Y + (int)x]; if ((int)x > WorldExtents.X || (int)y > WorldExtents.Y ||
(int)x < 0.001f || (int)y < 0.001f)
return 0;
x = x - offsetX;
y = y - offsetY;
index = (int)((int)y * (int)Constants.RegionSize + (int)x);
if (index < TerrainHeightFieldHeights[heightFieldGeom].Length)
return (float)TerrainHeightFieldHeights[heightFieldGeom][(int)y * (int)Constants.RegionSize + (int)x];
else
return 0f;
}
else
{
return 0f;
}
}
else
{
return 0f;
}
}
else else
return 0; {
return 0f;
}
} }
// End recovered. Kitto Flora // End recovered. Kitto Flora
@ -2557,8 +2590,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (framecount >= int.MaxValue) if (framecount >= int.MaxValue)
framecount = 0; framecount = 0;
if (m_worldOffset != Vector3.Zero) //if (m_worldOffset != Vector3.Zero)
return 0; // return 0;
framecount++; framecount++;
@ -3131,14 +3164,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public float[] ResizeTerrain512Interpolation(float[] heightMap) public float[] ResizeTerrain512Interpolation(float[] heightMap)
{ {
float[] returnarr = new float[262144]; float[] returnarr = new float[262144];
float[,] resultarr = new float[(int)WorldExtents.X,(int)WorldExtents.Y]; float[,] resultarr = new float[512,512];
// Filling out the array into its multi-dimensional components // Filling out the array into its multi-dimensional components
for (int y = 0; y < WorldExtents.Y; y++) for (int y = 0; y < 256; y++)
{ {
for (int x = 0; x < WorldExtents.X; x++) for (int x = 0; x < 256; x++)
{ {
resultarr[y, x] = heightMap[y*(int)WorldExtents.Y + x]; resultarr[y, x] = heightMap[y * 256 + x];
} }
} }
@ -3202,17 +3235,17 @@ namespace OpenSim.Region.Physics.OdePlugin
// on single loop. // on single loop.
float[,] resultarr2 = new float[512,512]; float[,] resultarr2 = new float[512,512];
for (int y = 0; y < WorldExtents.Y; y++) for (int y = 0; y < (int)Constants.RegionSize; y++)
{ {
for (int x = 0; x < WorldExtents.X; x++) for (int x = 0; x < (int)Constants.RegionSize; x++)
{ {
resultarr2[y*2, x*2] = resultarr[y, x]; resultarr2[y*2, x*2] = resultarr[y, x];
if (y < WorldExtents.Y) if (y < (int)Constants.RegionSize)
{ {
if (y + 1 < WorldExtents.Y) if (y + 1 < (int)Constants.RegionSize)
{ {
if (x + 1 < WorldExtents.X) if (x + 1 < (int)Constants.RegionSize)
{ {
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
@ -3227,11 +3260,11 @@ namespace OpenSim.Region.Physics.OdePlugin
resultarr2[(y*2) + 1, x*2] = resultarr[y, x]; resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
} }
} }
if (x < WorldExtents.X) if (x < (int)Constants.RegionSize)
{ {
if (x + 1 < WorldExtents.X) if (x + 1 < (int)Constants.RegionSize)
{ {
if (y + 1 < WorldExtents.Y) if (y + 1 < (int)Constants.RegionSize)
{ {
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
@ -3246,9 +3279,9 @@ namespace OpenSim.Region.Physics.OdePlugin
resultarr2[y*2, (x*2) + 1] = resultarr[y, x]; resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
} }
} }
if (x < WorldExtents.X && y < WorldExtents.Y) if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
{ {
if ((x + 1 < WorldExtents.X) && (y + 1 < WorldExtents.Y)) if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
{ {
resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] + resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4); resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
@ -3282,44 +3315,60 @@ 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_parentScene is OdeScene)
{
((OdeScene)m_parentScene).SetTerrain(heightMap, m_worldOffset);
}
}
else
{
SetTerrain(heightMap, m_worldOffset);
}
}
public void SetTerrain(float[] heightMap, Vector3 pOffset)
{ {
// this._heightmap[i] = (double)heightMap[i]; // this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- creating a buffer zone of one extra sample all around // dbm (danx0r) -- creating a buffer zone of one extra sample all around
_origheightmap = heightMap; // Used for Fly height. Kitto Flora //_origheightmap = heightMap;
uint heightmapWidth = (uint)WorldExtents.X + 1;
uint heightmapHeight = (uint)WorldExtents.Y + 1; uint heightmapWidth = Constants.RegionSize + 1;
uint heightmapHeight = Constants.RegionSize + 1;
uint heightmapWidthSamples; uint heightmapWidthSamples;
uint heightmapHeightSamples; uint heightmapHeightSamples;
/*
if (((int)m_worldExtents.X) == 256 && (int)m_worldExtents.Y == 256) if (((int)Constants.RegionSize) == 256)
{ {
heightmapWidthSamples = 2 * (uint)m_worldExtents.X + 2; heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
heightmapHeightSamples = 2*(uint)m_worldExtents.Y + 2; heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
heightmapWidth++; heightmapWidth++;
heightmapHeight++; heightmapHeight++;
} }
else else
{ {
*/
heightmapWidthSamples = (uint)WorldExtents.X + 1; heightmapWidthSamples = (uint)Constants.RegionSize + 1;
heightmapHeightSamples = (uint)WorldExtents.Y + 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 = 0.2f;
const int wrap = 0; const int wrap = 0;
int regionsize = (int) Constants.RegionSize;
//Double resolution //Double resolution
//if (((int)m_worldExtents.X) == 256 && (int)m_worldExtents.Y == 256) if (((int)Constants.RegionSize) == 256)
// heightMap = ResizeTerrain512Interpolation(heightMap); heightMap = ResizeTerrain512Interpolation(heightMap);
//if (((int)m_worldExtents.X) == 256 && (int)m_worldExtents.Y == 256) if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
// regionsize = 512; regionsize = 512;
float hfmin = 2000; float hfmin = 2000;
float hfmax = -2000; float hfmax = -2000;
@ -3327,11 +3376,11 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
for (int y = 0; y < heightmapHeightSamples; y++) for (int y = 0; y < heightmapHeightSamples; y++)
{ {
int xx = Util.Clip(x - 1, 0, (int)WorldExtents.X - 1); int xx = Util.Clip(x - 1, 0, regionsize - 1);
int yy = Util.Clip(y - 1, 0, (int)WorldExtents.Y - 1); int yy = Util.Clip(y - 1, 0, regionsize - 1);
float val = heightMap[yy*(int)WorldExtents.Y + xx]; float val = heightMap[yy * regionsize + xx];
_heightmap[x*heightmapHeightSamples + y] = val; _heightmap[x * heightmapHeightSamples + y] = val;
hfmin = (val < hfmin) ? val : hfmin; hfmin = (val < hfmin) ? val : hfmin;
hfmax = (val > hfmax) ? val : hfmax; hfmax = (val > hfmax) ? val : hfmax;
} }
@ -3339,23 +3388,34 @@ namespace OpenSim.Region.Physics.OdePlugin
lock (OdeLock) lock (OdeLock)
{ {
if (LandGeom != IntPtr.Zero) IntPtr GroundGeom = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out GroundGeom))
{ {
d.SpaceRemove(space, LandGeom); RegionTerrain.Remove(pOffset);
if (GroundGeom != IntPtr.Zero)
{
if (TerrainHeightFieldHeights.ContainsKey(GroundGeom))
{
TerrainHeightFieldHeights.Remove(GroundGeom);
}
d.SpaceRemove(space, GroundGeom);
d.GeomDestroy(GroundGeom);
}
} }
IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight, d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
(int) heightmapWidthSamples, (int) heightmapHeightSamples, 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);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1); GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
if (LandGeom != IntPtr.Zero) if (GroundGeom != IntPtr.Zero)
{ {
d.GeomSetCategoryBits(LandGeom, (int)(CollisionCategories.Land)); d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(LandGeom, (int)(CollisionCategories.Space)); d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
} }
geom_name_map[LandGeom] = "Terrain"; geom_name_map[GroundGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3(); d.Matrix3 R = new d.Matrix3();
@ -3363,15 +3423,23 @@ namespace OpenSim.Region.Physics.OdePlugin
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)); //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; //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(LandGeom, ref R); d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(LandGeom, (int)WorldExtents.X * 0.5f, (int)WorldExtents.Y * 0.5f, 0); d.GeomSetPosition(GroundGeom, pOffset.X + ((int)Constants.RegionSize * 0.5f), (pOffset.Y + (int)Constants.RegionSize * 0.5f), 0);
IntPtr testGround = IntPtr.Zero;
if (RegionTerrain.TryGetValue(pOffset, out testGround))
{
RegionTerrain.Remove(pOffset);
}
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
TerrainHeightFieldHeights.Add(GroundGeom,heightMap);
} }
} }