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BulletSim: pull heightmap implementation out of the terrain manager so a mesh terrain can be implemented.

connector_plugin
Robert Adams 2012-11-20 14:51:50 -08:00
parent 8dd5813889
commit 71b9640dfa
4 changed files with 326 additions and 180 deletions
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174
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs Executable file
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@ -0,0 +1,174 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.CoreModules;
using OpenSim.Region.Physics.Manager;
using Nini.Config;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSTerrainHeightmap : BSTerrainPhys
{
static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
BulletHeightMapInfo m_mapInfo;
public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize)
: base(physicsScene)
{
Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
}
m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
m_mapInfo.minCoords = minTerrainCoords;
m_mapInfo.maxCoords = maxTerrainCoords;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
// are the high and low points of the heightmap).
public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene)
{
m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
m_mapInfo.minCoords = minCoords;
m_mapInfo.maxCoords = maxCoords;
m_mapInfo.minZ = minCoords.Z;
m_mapInfo.maxZ = maxCoords.Z;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
public override void Dispose()
{
ReleaseHeightMapTerrain();
}
// Using the information in m_mapInfo, create the physical representation of the heightmap.
private void BuildHeightmapTerrain()
{
m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
m_mapInfo.minCoords, m_mapInfo.maxCoords,
m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
// Create the terrain shape from the mapInfo
m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
PhysicsShapeType.SHAPE_TERRAIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
m_mapInfo.ID, centerPos, Quaternion.Identity));
// Set current terrain attributes
BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make it so the terrain will not move or be considered for movement.
BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
return;
}
// If there is information in m_mapInfo pointing to physical structures, release same.
private void ReleaseHeightMapTerrain()
{
if (m_mapInfo != null)
{
if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr))
{
// Frees both the body and the shape.
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
}
}
}
m_mapInfo = null;
}
// The passed position is relative to the base of the region.
public override float GetHeightAtXYZ(Vector3 pos)
{
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
try
{
ret = m_mapInfo.heightMap[mapIndex];
}
catch
{
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
LogHeader, m_mapInfo.terrainRegionBase, pos);
ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
}
return ret;
}
public override Vector3 TerrainBase
{
get { return m_mapInfo.terrainRegionBase; }
}
}
}

255
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@ -40,6 +40,22 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// The physical implementation of the terrain is wrapped in this class.
public abstract class BSTerrainPhys : IDisposable
{
public BSScene PhysicsScene { get; private set; }
public BSTerrainPhys(BSScene physicsScene)
{
PhysicsScene = physicsScene;
}
public abstract void Dispose();
public abstract float GetHeightAtXYZ(Vector3 pos);
public abstract Vector3 TerrainBase { get; }
}
// ==========================================================================================
public sealed class BSTerrainManager
{
static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
@ -67,11 +83,10 @@ public sealed class BSTerrainManager
// If doing mega-regions, if we're region zero we will be managing multiple
// region terrains since region zero does the physics for the whole mega-region.
private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
private Dictionary<Vector3, BSTerrainPhys> m_terrains;
// True of the terrain has been modified.
// Used to force recalculation of terrain height after terrain has been modified
private bool m_terrainModified;
// Flags used to know when to recalculate the height.
private bool m_terrainModified = false;
// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
// This is incremented before assigning to new region so it is the last ID allocated.
@ -89,8 +104,7 @@ public sealed class BSTerrainManager
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
m_terrainModified = false;
m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
// Assume one region of default size
m_worldOffset = Vector3.Zero;
@ -99,9 +113,6 @@ public sealed class BSTerrainManager
}
// Create the initial instance of terrain and the underlying ground plane.
// The objects are allocated in the unmanaged space and the pointers are tracked
// by the managed code.
// The terrains and the groundPlane are not added to the list of PhysObjects.
// This is called from the initialization routine so we presume it is
// safe to call Bullet in real time. We hope no one is moving prims around yet.
public void CreateInitialGroundPlaneAndTerrain()
@ -121,15 +132,9 @@ public sealed class BSTerrainManager
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = HEIGHT_INITIALIZATION;
}
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
// Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, BSScene.TERRAIN_ID, DefaultRegionSize);
m_terrains.Add(Vector3.Zero, initialTerrain);
}
// Release all the terrain structures we might have allocated
@ -150,15 +155,11 @@ public sealed class BSTerrainManager
// Release all the terrain we have allocated
public void ReleaseTerrain()
{
foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
{
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
}
kvp.Value.Dispose();
}
m_heightMaps.Clear();
m_terrains.Clear();
}
// The simulator wants to set a new heightmap for the terrain.
@ -176,8 +177,9 @@ public sealed class BSTerrainManager
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
BSScene.CHILDTERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
}
else
@ -185,7 +187,7 @@ public sealed class BSTerrainManager
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
});
@ -195,56 +197,60 @@ public sealed class BSTerrainManager
// based on the passed information. The 'id' should be either the terrain id or
// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
// The latter feature is for creating child terrains for mega-regions.
// If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
// then a new body and shape is created and the mapInfo is filled.
// This call is used for doing the initial terrain creation.
// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
// terrain shape is created and added to the body.
// This call is most often used to update the heightMap and parameters of the terrain.
// (The above does suggest that some simplification/refactoring is in order.)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
private void UpdateTerrain(uint id, float[] heightMap,
Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
// Find high and low points of passed heightmap.
// The min and max passed in are usually the region objects can exist in (maximum
// object height, for instance). The terrain wants the bounding box for the
// terrain so we replace passed min and max Z with the actual terrain min/max Z.
// limit, for
float minZ = float.MaxValue;
float maxZ = float.MinValue;
Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
int heightMapSize = heightMap.Length;
for (int ii = 0; ii < heightMapSize; ii++)
foreach (float height in heightMap)
{
float height = heightMap[ii];
if (height < minZ) minZ = height;
if (height > maxZ) maxZ = height;
}
// The shape of the terrain is from its base to its extents.
minCoords.Z = minZ;
maxCoords.Z = maxZ;
BulletHeightMapInfo mapInfo;
if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
BSTerrainPhys terrainPhys;
if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
{
// If this is terrain we know about, it's easy to update
mapInfo.heightMap = heightMap;
mapInfo.minCoords = minCoords;
mapInfo.maxCoords = maxCoords;
mapInfo.minZ = minZ;
mapInfo.maxZ = maxZ;
mapInfo.sizeX = maxCoords.X - minCoords.X;
mapInfo.sizeY = maxCoords.Y - minCoords.Y;
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
DetailLog("{0},UpdateTerrain:UpdateExisting,call,terrainBase={1}", BSScene.DetailLogZero, terrainRegionBase);
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate()
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate()
{
if (MegaRegionParentPhysicsScene != null)
// Remove old terrain from the collection
m_terrains.Remove(terrainPhys.TerrainBase);
// Release any physical memory it may be using.
terrainPhys.Dispose();
if (MegaRegionParentPhysicsScene == null)
{
BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, id,
heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
}
else
{
// It's possible that Combine() was called after this code was queued.
// If we are a child of combined regions, we don't create any terrain for us.
DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
// Get rid of any terrain that may have been allocated for us.
ReleaseGroundPlaneAndTerrain();
@ -252,91 +258,6 @@ public sealed class BSTerrainManager
// I hate doing this, but just bail
return;
}
if (mapInfo.terrainBody.ptr != IntPtr.Zero)
{
// Updating an existing terrain.
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
// Remove from the dynamics world because we're going to mangle this object
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// Get rid of the old terrain
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
mapInfo.Ptr = IntPtr.Zero;
/*
// NOTE: This routine is half here because I can't get the terrain shape replacement
// to work. In the short term, the above three lines completely delete the old
// terrain and the code below recreates one from scratch.
// Hopefully the Bullet community will help me out on this one.
// First, release the old collision shape (there is only one terrain)
BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
// Fill the existing height map info with the new location and size information
BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// Create a terrain shape based on the new info
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
// Stuff the shape into the existing terrain body
BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
*/
}
// else
{
// Creating a new terrain.
DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
mapInfo.ID = id;
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
PhysicsShapeType.SHAPE_TERRAIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
centerPos.Z = minZ + ((maxZ - minZ) / 2f);
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
}
// Make sure the entry is in the heightmap table
m_heightMaps[terrainRegionBase] = mapInfo;
// Set current terrain attributes
BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make sure the new shape is processed.
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
m_terrainModified = true;
});
}
else
@ -353,34 +274,23 @@ public sealed class BSTerrainManager
Vector3 minCoordsX = minCoords;
Vector3 maxCoordsX = maxCoords;
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
// Code that must happen at taint-time
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate()
PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate()
{
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
// Create a new mapInfo that will be filled with the new info
mapInfo = new BulletHeightMapInfo(id, heightMapX,
BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
// Put the unfilled heightmap info into the collection of same
m_heightMaps.Add(terrainRegionBase, mapInfo);
// Build the terrain
UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}",
BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y);
BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, newTerrainID,
heightMapX, minCoordsX, maxCoordsX);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
});
}
}
// Someday we will have complex terrain with caves and tunnels
public float GetTerrainHeightAtXYZ(Vector3 loc)
{
// For the moment, it's flat and convex
return GetTerrainHeightAtXY(loc.X, loc.Y);
}
// Given an X and Y, find the height of the terrain.
// Since we could be handling multiple terrains for a mega-region,
// the base of the region is calcuated assuming all regions are
@ -390,8 +300,10 @@ public sealed class BSTerrainManager
private float lastHeightTX = 999999f;
private float lastHeightTY = 999999f;
private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
private float GetTerrainHeightAtXY(float tX, float tY)
public float GetTerrainHeightAtXYZ(Vector3 loc)
{
float tX = loc.X;
float tY = loc.Y;
// You'd be surprized at the number of times this routine is called
// with the same parameters as last time.
if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
@ -403,27 +315,14 @@ public sealed class BSTerrainManager
int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
BulletHeightMapInfo mapInfo;
if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
BSTerrainPhys physTerrain;
if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain))
{
float regionX = tX - offsetX;
float regionY = tY - offsetY;
int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
try
{
ret = mapInfo.heightMap[mapIndex];
}
catch
{
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
LogHeader, terrainBaseXY, regionX, regionY);
ret = HEIGHT_GETHEIGHT_RET;
}
// DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
// BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ);
DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}",
BSScene.DetailLogZero, loc, terrainBaseXYZ, ret);
}
else
{
@ -466,7 +365,7 @@ public sealed class BSTerrainManager
// Unhook all the combining that I know about.
public void UnCombine(PhysicsScene pScene)
{
// Just like ODE, for the moment a NOP
// Just like ODE, we don't do anything yet.
DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
}

73
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs Executable file
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@ -0,0 +1,73 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.CoreModules;
using OpenSim.Region.Physics.Manager;
using Nini.Config;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSTerrainMesh : BSTerrainPhys
{
static string LogHeader = "[BULLETSIM TERRAIN MESH]";
public BSTerrainMesh(BSScene physicsScene, uint id, Vector3 regionSize)
: base(physicsScene)
{
}
public BSTerrainMesh(BSScene physicsScene /* parameters for making mesh */)
: base(physicsScene)
{
}
public override void Dispose()
{
return;
}
public override float GetHeightAtXYZ(Vector3 pos)
{
return 12345f;
}
public override Vector3 TerrainBase
{
get { return Vector3.Zero; }
}
}
}

4
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -152,7 +152,7 @@ public class BulletHeightMapInfo
ID = id;
Ptr = xx;
heightMap = hm;
terrainRegionBase = new Vector2(0f, 0f);
terrainRegionBase = Vector3.Zero;
minCoords = new Vector3(100f, 100f, 25f);
maxCoords = new Vector3(101f, 101f, 26f);
minZ = maxZ = 0f;
@ -161,7 +161,7 @@ public class BulletHeightMapInfo
public uint ID;
public IntPtr Ptr;
public float[] heightMap;
public Vector2 terrainRegionBase;
public Vector3 terrainRegionBase;
public Vector3 minCoords;
public Vector3 maxCoords;
public float sizeX, sizeY;