BulletSim: Changes to terrain storage and management so mega-regions work.
Moved all terrain code out of BSScene and into new BSTerrainManager.
Added logic to manage multiple terrains for mega-regions.
Added new functions to BulletSimAPI to match the library.
Moved all of the terrain creation and setup logic from C++ code to C# code.
The unused code has not yet been removed from either place. Soon.
Moved checks for avatar above ground and in bounds into BSCharacter.
integration
Robert Adams
parent
7b6987ce83
commit
7c140570db
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@ -226,16 +226,37 @@ public class BSCharacter : BSPhysObject
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bool ret = false;
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// If below the ground, move the avatar up
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float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
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if (_position.Z < terrainHeight)
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float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);
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if (Position.Z < terrainHeight)
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{
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DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
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_position.Z = terrainHeight + 2.0f;
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DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
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Vector3 newPos = _position;
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newPos.Z = terrainHeight + 2.0f;
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_position = newPos;
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ret = true;
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}
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// TODO: check for out of bounds
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return ret;
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}
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// A version of the sanity check that also makes sure a new position value is
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// pushed back to the physics engine. This routine would be used by anyone
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// who is not already pushing the value.
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private bool PositionSanityCheck2()
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{
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bool ret = false;
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if (PositionSanityCheck())
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{
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// The new position value must be pushed into the physics engine but we can't
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// just assign to "Position" because of potential call loops.
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_scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
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{
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DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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});
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ret = true;
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}
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return ret;
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}
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@ -500,9 +521,13 @@ public class BSCharacter : BSPhysObject
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// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
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// base.RequestPhysicsterseUpdate();
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DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
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// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
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PositionSanityCheck2();
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float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // just for debug
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DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
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LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
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entprop.Acceleration, entprop.RotationalVelocity);
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entprop.Acceleration, entprop.RotationalVelocity, heightHere);
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}
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// Called by the scene when a collision with this object is reported
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@ -48,11 +48,10 @@ public abstract class BSConstraint : IDisposable
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{
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if (m_enabled)
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{
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// BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID);
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m_enabled = false;
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bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
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m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
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m_constraint.Ptr = System.IntPtr.Zero;
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m_enabled = false;
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}
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}
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@ -465,6 +465,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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}//end SetDefaultsForType
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// One step of the vehicle properties for the next 'pTimestep' seconds.
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internal void Step(float pTimestep)
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{
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if (m_type == Vehicle.TYPE_NONE) return;
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@ -592,9 +593,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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// If below the terrain, move us above the ground a little.
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if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
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if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos))
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{
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pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
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pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2;
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m_prim.Position = pos;
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VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
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}
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@ -609,7 +610,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
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{
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m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
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m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
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}
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if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
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{
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@ -673,7 +674,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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grav.Z = (float)(grav.Z * 1.125);
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}
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float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
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float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
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float postemp = (pos.Z - terraintemp);
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if (postemp > 2.5f)
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{
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@ -1,58 +1,60 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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// Class to wrap all objects.
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// The rest of BulletSim doesn't need to keep checking for avatars or prims
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// unless the difference is significant.
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public abstract class BSPhysObject : PhysicsActor
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{
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public abstract BSLinkset Linkset { get; set; }
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public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
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OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
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public abstract void SendCollisions();
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// Return the object mass without calculating it or side effects
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public abstract float MassRaw { get; }
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public abstract BulletBody Body { get; set; }
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public abstract void ZeroMotion();
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public abstract void UpdateProperties(EntityProperties entprop);
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public abstract void Destroy();
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}
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}
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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// Class to wrap all objects.
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// The rest of BulletSim doesn't need to keep checking for avatars or prims
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// unless the difference is significant.
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public abstract class BSPhysObject : PhysicsActor
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{
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public abstract BSLinkset Linkset { get; set; }
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public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
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OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
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public abstract void SendCollisions();
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// Return the object mass without calculating it or side effects
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public abstract float MassRaw { get; }
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public abstract BulletBody Body { get; set; }
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public abstract void ZeroMotion();
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public virtual void StepVehicle(float timeStep) { }
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public abstract void UpdateProperties(EntityProperties entprop);
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public abstract void Destroy();
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}
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}
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@ -377,7 +377,7 @@ public sealed class BSPrim : BSPhysObject
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// Called each simulation step to advance vehicle characteristics.
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// Called from Scene when doing simulation step so we're in taint processing time.
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public void StepVehicle(float timeStep)
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public override void StepVehicle(float timeStep)
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{
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if (IsPhysical)
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_vehicle.Step(timeStep);
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@ -39,8 +39,6 @@ using log4net;
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using OpenMetaverse;
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// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
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// Debug linkset
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// Test with multiple regions in one simulator
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// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
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// Test sculpties
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// Compute physics FPS reasonably
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@ -54,10 +52,8 @@ using OpenMetaverse;
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// Use collision masks for collision with terrain and phantom objects
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// Check out llVolumeDetect. Must do something for that.
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// Should prim.link() and prim.delink() membership checking happen at taint time?
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// changing the position and orientation of a linked prim must rebuild the constraint with the root.
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// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
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// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
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// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
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// Implement LockAngularMotion
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// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
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// Does NeedsMeshing() really need to exclude all the different shapes?
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@ -85,18 +81,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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// moved to a better place.
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private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>();
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private List<BSPrim> m_vehicles = new List<BSPrim>();
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private float[] m_heightMap;
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private float m_waterLevel;
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private uint m_worldID;
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public uint WorldID { get { return m_worldID; } }
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// List of all the objects that have vehicle properties and should be called
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// to update each physics step.
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private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
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// let my minuions use my logger
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public ILog Logger { get { return m_log; } }
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private bool m_initialized = false;
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// If non-zero, the number of simulation steps between calls to the physics
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// engine to output detailed physics stats. Debug logging level must be on also.
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private int m_detailedStatsStep = 0;
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public IMesher mesher;
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@ -106,29 +99,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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public float MeshMegaPrimThreshold { get; private set; }
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public float SculptLOD { get; private set; }
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private BulletSim m_worldSim;
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public BulletSim World
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{
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get { return m_worldSim; }
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}
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private BSConstraintCollection m_constraintCollection;
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public BSConstraintCollection Constraints
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{
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get { return m_constraintCollection; }
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}
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public uint WorldID { get; private set; }
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public BulletSim World { get; private set; }
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// All the constraints that have been allocated in this instance.
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public BSConstraintCollection Constraints { get; private set; }
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// Simulation parameters
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private int m_maxSubSteps;
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private float m_fixedTimeStep;
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private long m_simulationStep = 0;
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public long SimulationStep { get { return m_simulationStep; } }
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// The length of the last timestep we were asked to simulate.
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// This is used by the vehicle code. Since the vehicle code is called
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// once per simulation step, its constants need to be scaled by this.
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public float LastSimulatedTimestep { get; private set; }
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// A value of the time now so all the collision and update routines do not have to get their own
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// Set to 'now' just before all the prims and actors are called for collisions and updates
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private int m_simulationNowTime;
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public int SimulationNowTime { get { return m_simulationNowTime; } }
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// Set to 'now' just before all the prims and actors are called for collisions and updates
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public int SimulationNowTime { get; private set; }
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// True if initialized and ready to do simulation steps
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private bool m_initialized = false;
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// Pinned memory used to pass step information between managed and unmanaged
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private int m_maxCollisionsPerFrame;
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private CollisionDesc[] m_collisionArray;
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private GCHandle m_collisionArrayPinnedHandle;
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@ -145,6 +140,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
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public const uint GROUNDPLANE_ID = 1;
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public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
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private float m_waterLevel;
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public BSTerrainManager TerrainManager { get; private set; }
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public ConfigurationParameters Params
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{
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@ -155,12 +154,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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get { return new Vector3(0f, 0f, Params.gravity); }
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}
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private float m_maximumObjectMass;
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public float MaximumObjectMass
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{
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get { return m_maximumObjectMass; }
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}
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public float MaximumObjectMass { get; private set; }
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// When functions in the unmanaged code must be called, it is only
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// done at a known time just before the simulation step. The taint
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// system saves all these function calls and executes them in
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// order before the simulation.
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public delegate void TaintCallback();
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private struct TaintCallbackEntry
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{
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@ -176,6 +175,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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private Object _taintLock = new Object();
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// A pointer to an instance if this structure is passed to the C++ code
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// Used to pass basic configuration values to the unmanaged code.
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ConfigurationParameters[] m_params;
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GCHandle m_paramsHandle;
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@ -189,11 +189,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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private bool m_physicsLoggingEnabled;
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private string m_physicsLoggingDir;
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private string m_physicsLoggingPrefix;
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private int m_physicsLoggingFileMinutes;
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private bool m_vehicleLoggingEnabled;
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public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
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private int m_physicsLoggingFileMinutes;
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// 'true' of the vehicle code is to log lots of details
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public bool VehicleLoggingEnabled { get; private set; }
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#region Construction and Initialization
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public BSScene(string identifier)
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{
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m_initialized = false;
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@ -216,6 +216,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
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m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
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mesher = meshmerizer;
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_taintedObjects = new List<TaintCallbackEntry>();
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// Enable very detailed logging.
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// By creating an empty logger when not logging, the log message invocation code
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// can be left in and every call doesn't have to check for null.
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@ -228,11 +231,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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PhysicsLogging = new Logging.LogWriter();
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}
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// Get the version of the DLL
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// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
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// BulletSimVersion = BulletSimAPI.GetVersion();
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// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
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// If Debug logging level, enable logging from the unmanaged code
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if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
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{
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@ -245,22 +243,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
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}
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_taintedObjects = new List<TaintCallbackEntry>();
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// Get the version of the DLL
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// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
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// BulletSimVersion = BulletSimAPI.GetVersion();
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||||
// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
|
||||
|
||||
mesher = meshmerizer;
|
||||
|
||||
// The bounding box for the simulated world
|
||||
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
|
||||
// a child in a mega-region.
|
||||
// Turns out that Bullet really doesn't care about the extents of the simulated
|
||||
// area. It tracks active objects no matter where they are.
|
||||
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f);
|
||||
|
||||
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
|
||||
m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
|
||||
WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
|
||||
m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
|
||||
m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
|
||||
|
||||
// Initialization to support the transition to a new API which puts most of the logic
|
||||
// into the C# code so it is easier to modify and add to.
|
||||
m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID));
|
||||
m_constraintCollection = new BSConstraintCollection(World);
|
||||
World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
|
||||
|
||||
Constraints = new BSConstraintCollection(World);
|
||||
|
||||
// Note: choose one of the two following lines
|
||||
// BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID);
|
||||
TerrainManager = new BSTerrainManager(this);
|
||||
TerrainManager.CreateInitialGroundPlaneAndTerrain();
|
||||
|
||||
m_initialized = true;
|
||||
}
|
||||
|
|
@ -288,7 +296,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
|
||||
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
|
||||
// Very detailed logging for vehicle debugging
|
||||
m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
|
||||
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
|
||||
|
||||
// Do any replacements in the parameters
|
||||
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
|
||||
|
|
@ -323,6 +331,38 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
|
||||
}
|
||||
|
||||
public override void Dispose()
|
||||
{
|
||||
// m_log.DebugFormat("{0}: Dispose()", LogHeader);
|
||||
|
||||
// make sure no stepping happens while we're deleting stuff
|
||||
m_initialized = false;
|
||||
|
||||
TerrainManager.ReleaseGroundPlaneAndTerrain();
|
||||
|
||||
foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
|
||||
{
|
||||
kvp.Value.Destroy();
|
||||
}
|
||||
PhysObjects.Clear();
|
||||
|
||||
// Now that the prims are all cleaned up, there should be no constraints left
|
||||
if (Constraints != null)
|
||||
{
|
||||
Constraints.Dispose();
|
||||
Constraints = null;
|
||||
}
|
||||
|
||||
// Anything left in the unmanaged code should be cleaned out
|
||||
BulletSimAPI.Shutdown(WorldID);
|
||||
|
||||
// Not logging any more
|
||||
PhysicsLogging.Close();
|
||||
}
|
||||
#endregion // Construction and Initialization
|
||||
|
||||
#region Prim and Avatar addition and removal
|
||||
|
||||
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
|
||||
{
|
||||
m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
|
||||
|
|
@ -413,6 +453,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// information call is not needed.
|
||||
public override void AddPhysicsActorTaint(PhysicsActor prim) { }
|
||||
|
||||
#endregion // Prim and Avatar addition and removal
|
||||
|
||||
#region Simulation
|
||||
// Simulate one timestep
|
||||
public override float Simulate(float timeStep)
|
||||
{
|
||||
|
|
@ -428,7 +471,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
|
||||
int simulateStartTime = Util.EnvironmentTickCount();
|
||||
|
||||
// update the prim states while we know the physics engine is not busy
|
||||
// update the prim states while we know the physics engine is not busy
|
||||
int numTaints = _taintedObjects.Count;
|
||||
ProcessTaints();
|
||||
|
||||
// Some of the prims operate with special vehicle properties
|
||||
|
|
@ -440,14 +484,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
int numSubSteps = 0;
|
||||
try
|
||||
{
|
||||
numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
|
||||
numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
|
||||
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
|
||||
DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
|
||||
DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}",
|
||||
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e);
|
||||
// DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount);
|
||||
m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
|
||||
LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
|
||||
DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
|
||||
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
|
||||
updatedEntityCount = 0;
|
||||
collidersCount = 0;
|
||||
}
|
||||
|
|
@ -456,7 +503,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
|
||||
|
||||
// Get a value for 'now' so all the collision and update routines don't have to get their own
|
||||
m_simulationNowTime = Util.EnvironmentTickCount();
|
||||
SimulationNowTime = Util.EnvironmentTickCount();
|
||||
|
||||
// If there were collisions, process them by sending the event to the prim.
|
||||
// Collisions must be processed before updates.
|
||||
|
|
@ -527,7 +574,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// Something has collided
|
||||
private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
|
||||
{
|
||||
if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
|
||||
if (localID <= TerrainManager.HighestTerrainID)
|
||||
{
|
||||
return; // don't send collisions to the terrain
|
||||
}
|
||||
|
|
@ -539,7 +586,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
BSPhysObject collidee = null;
|
||||
|
||||
ActorTypes type = ActorTypes.Prim;
|
||||
if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
|
||||
if (collidingWith <= TerrainManager.HighestTerrainID)
|
||||
{
|
||||
type = ActorTypes.Ground;
|
||||
}
|
||||
|
|
@ -558,28 +605,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
return;
|
||||
}
|
||||
|
||||
#endregion // Simulation
|
||||
|
||||
public override void GetResults() { }
|
||||
|
||||
public override void SetTerrain(float[] heightMap) {
|
||||
m_heightMap = heightMap;
|
||||
this.TaintedObject("BSScene.SetTerrain", delegate()
|
||||
{
|
||||
BulletSimAPI.SetHeightmap(m_worldID, m_heightMap);
|
||||
});
|
||||
}
|
||||
#region Terrain
|
||||
|
||||
// Someday we will have complex terrain with caves and tunnels
|
||||
// For the moment, it's flat and convex
|
||||
public float GetTerrainHeightAtXYZ(Vector3 loc)
|
||||
{
|
||||
return GetTerrainHeightAtXY(loc.X, loc.Y);
|
||||
}
|
||||
|
||||
public float GetTerrainHeightAtXY(float tX, float tY)
|
||||
{
|
||||
if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize)
|
||||
return 30;
|
||||
return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
|
||||
public override void SetTerrain(float[] heightMap) {
|
||||
TerrainManager.SetTerrain(heightMap);
|
||||
}
|
||||
|
||||
public override void SetWaterLevel(float baseheight)
|
||||
|
|
@ -595,34 +628,28 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
public override void DeleteTerrain()
|
||||
{
|
||||
// m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
|
||||
}
|
||||
|
||||
// Although no one seems to check this, I do support combining.
|
||||
public override bool SupportsCombining()
|
||||
{
|
||||
return TerrainManager.SupportsCombining();
|
||||
}
|
||||
// This call says I am a child to region zero in a mega-region. 'pScene' is that
|
||||
// of region zero, 'offset' is my offset from regions zero's origin, and
|
||||
// 'extents' is the largest XY that is handled in my region.
|
||||
public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
|
||||
{
|
||||
TerrainManager.Combine(pScene, offset, extents);
|
||||
}
|
||||
|
||||
// Unhook all the combining that I know about.
|
||||
public override void UnCombine(PhysicsScene pScene)
|
||||
{
|
||||
TerrainManager.UnCombine(pScene);
|
||||
}
|
||||
|
||||
public override void Dispose()
|
||||
{
|
||||
// m_log.DebugFormat("{0}: Dispose()", LogHeader);
|
||||
|
||||
// make sure no stepping happens while we're deleting stuff
|
||||
m_initialized = false;
|
||||
|
||||
foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
|
||||
{
|
||||
kvp.Value.Destroy();
|
||||
}
|
||||
PhysObjects.Clear();
|
||||
|
||||
// Now that the prims are all cleaned up, there should be no constraints left
|
||||
if (m_constraintCollection != null)
|
||||
{
|
||||
m_constraintCollection.Dispose();
|
||||
m_constraintCollection = null;
|
||||
}
|
||||
|
||||
// Anything left in the unmanaged code should be cleaned out
|
||||
BulletSimAPI.Shutdown(WorldID);
|
||||
|
||||
// Not logging any more
|
||||
PhysicsLogging.Close();
|
||||
}
|
||||
#endregion // Terrain
|
||||
|
||||
public override Dictionary<uint, float> GetTopColliders()
|
||||
{
|
||||
|
|
@ -833,14 +860,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// no locking because only called when physics engine is not busy
|
||||
private void ProcessVehicles(float timeStep)
|
||||
{
|
||||
foreach (BSPrim prim in m_vehicles)
|
||||
foreach (BSPhysObject pobj in m_vehicles)
|
||||
{
|
||||
prim.StepVehicle(timeStep);
|
||||
pobj.StepVehicle(timeStep);
|
||||
}
|
||||
}
|
||||
#endregion Vehicles
|
||||
|
||||
#region Parameters
|
||||
#region INI and command line parameter processing
|
||||
|
||||
delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
|
||||
delegate float ParamGet(BSScene scene);
|
||||
|
|
@ -943,9 +970,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
(s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
|
||||
new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
|
||||
10000.01f,
|
||||
(s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); },
|
||||
(s) => { return (float)s.m_maximumObjectMass; },
|
||||
(s,p,l,v) => { s.m_maximumObjectMass = v; } ),
|
||||
(s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
|
||||
(s) => { return (float)s.MaximumObjectMass; },
|
||||
(s,p,l,v) => { s.MaximumObjectMass = v; } ),
|
||||
|
||||
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
|
||||
2200f,
|
||||
|
|
@ -1207,6 +1234,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
|
||||
private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
|
||||
|
||||
// This creates an array in the correct format for returning the list of
|
||||
// parameters. This is used by the 'list' option of the 'physics' command.
|
||||
private void BuildParameterTable()
|
||||
{
|
||||
if (SettableParameters.Length < ParameterDefinitions.Length)
|
||||
|
|
@ -1283,7 +1312,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
TaintedObject("BSScene.UpdateParameterSet", delegate() {
|
||||
foreach (uint lID in objectIDs)
|
||||
{
|
||||
BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval);
|
||||
BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
|
||||
}
|
||||
});
|
||||
break;
|
||||
|
|
@ -1301,7 +1330,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
string xparm = parm.ToLower();
|
||||
float xval = val;
|
||||
TaintedObject("BSScene.TaintedUpdateParameter", delegate() {
|
||||
BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval);
|
||||
BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval);
|
||||
});
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,307 @@
|
|||
/*
|
||||
* 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 class BSTerrainManager
|
||||
{
|
||||
static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
|
||||
|
||||
BSScene m_physicsScene;
|
||||
|
||||
private BulletBody m_groundPlane;
|
||||
|
||||
// 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, BulletBody> m_terrains;
|
||||
private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
|
||||
|
||||
// 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.
|
||||
private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
|
||||
public uint HighestTerrainID { get {return m_terrainCount; } }
|
||||
|
||||
// If doing mega-regions, this holds our offset from region zero of
|
||||
// the mega-regions. "parentScene" points to the PhysicsScene of region zero.
|
||||
private Vector3 m_worldOffset = Vector3.Zero;
|
||||
public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize);
|
||||
private PhysicsScene m_parentScene = null;
|
||||
|
||||
public BSTerrainManager(BSScene physicsScene)
|
||||
{
|
||||
m_physicsScene = physicsScene;
|
||||
m_terrains = new Dictionary<Vector2,BulletBody>();
|
||||
m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
|
||||
}
|
||||
|
||||
// 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 around prim yet.
|
||||
public void CreateInitialGroundPlaneAndTerrain()
|
||||
{
|
||||
// The ground plane is here to catch things that are trying to drop to negative infinity
|
||||
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
|
||||
BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f));
|
||||
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
|
||||
|
||||
Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f);
|
||||
Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f);
|
||||
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
|
||||
float[] initialMap = new float[totalHeights];
|
||||
for (int ii = 0; ii < totalHeights; ii++)
|
||||
{
|
||||
initialMap[ii] = 25f;
|
||||
}
|
||||
CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords);
|
||||
}
|
||||
|
||||
public void ReleaseGroundPlaneAndTerrain()
|
||||
{
|
||||
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr))
|
||||
{
|
||||
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
|
||||
}
|
||||
m_groundPlane.Ptr = IntPtr.Zero;
|
||||
|
||||
foreach (KeyValuePair<Vector2, BulletBody> kvp in m_terrains)
|
||||
{
|
||||
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr))
|
||||
{
|
||||
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr);
|
||||
BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr);
|
||||
}
|
||||
}
|
||||
m_terrains.Clear();
|
||||
m_heightMaps.Clear();
|
||||
}
|
||||
|
||||
// Create a new terrain description. This is used for mega-regions where
|
||||
// the children of region zero give region zero all of the terrain
|
||||
// segments since region zero does all the physics for the mega-region.
|
||||
// Call at taint time!!
|
||||
public void CreateNewTerrainSegment(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
|
||||
{
|
||||
// The Z coordinates are recalculated to be the min and max height of the terrain
|
||||
// itself. The caller may have passed us the real region extent.
|
||||
float minZ = float.MaxValue;
|
||||
float maxZ = float.MinValue;
|
||||
int hSize = heightMap.Length;
|
||||
for (int ii = 0; ii < hSize; ii++)
|
||||
{
|
||||
minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ;
|
||||
maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ;
|
||||
}
|
||||
minCoords.Z = minZ;
|
||||
maxCoords.Z = maxZ;
|
||||
// If the terrain is flat, make a difference so we get a good bounding box
|
||||
if (minZ == maxZ)
|
||||
minZ -= 0.2f;
|
||||
Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
|
||||
|
||||
// Create the heightmap data structure in the unmanaged space
|
||||
BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(
|
||||
BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap);
|
||||
mapInfo.terrainRegionBase = terrainRegionBase;
|
||||
mapInfo.maxRegionExtent = maxCoords;
|
||||
mapInfo.minZ = minZ;
|
||||
mapInfo.maxZ = maxZ;
|
||||
mapInfo.sizeX = maxCoords.X - minCoords.X;
|
||||
mapInfo.sizeY = maxCoords.Y - minCoords.Y;
|
||||
|
||||
DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}",
|
||||
BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords);
|
||||
// Create the terrain body from that heightmap
|
||||
BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateTerrainBody2(id, mapInfo.Ptr, 0.01f));
|
||||
|
||||
BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
|
||||
BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
|
||||
BulletSimAPI.SetRestitution2(terrainBody.Ptr, m_physicsScene.Params.terrainRestitution);
|
||||
BulletSimAPI.SetCollisionFlags2(terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
|
||||
BulletSimAPI.Activate2(terrainBody.Ptr, true);
|
||||
|
||||
// Add the new terrain to the dynamics world
|
||||
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr);
|
||||
BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr);
|
||||
|
||||
|
||||
// Add the created terrain to the management set. If we are doing mega-regions,
|
||||
// the terrains of our children will be added.
|
||||
m_terrains.Add(terrainRegionBase, terrainBody);
|
||||
m_heightMaps.Add(terrainRegionBase, mapInfo);
|
||||
}
|
||||
|
||||
public void SetTerrain(float[] heightMap) {
|
||||
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
|
||||
{
|
||||
// If doing the mega-prim stuff and we are the child of the zero region,
|
||||
// the terrain is really added to our parent
|
||||
if (m_parentScene is BSScene)
|
||||
{
|
||||
((BSScene)m_parentScene).TerrainManager.SetTerrain(heightMap, m_worldOffset);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// if not doing the mega-prim thing, just change the terrain
|
||||
SetTerrain(heightMap, m_worldOffset);
|
||||
}
|
||||
}
|
||||
|
||||
private void SetTerrain(float[] heightMap, Vector3 tOffset)
|
||||
{
|
||||
float minZ = float.MaxValue;
|
||||
float maxZ = float.MinValue;
|
||||
|
||||
// Copy heightMap local and compute some statistics.
|
||||
// Not really sure if we need to do this deep copy but, given
|
||||
// the magic that happens to make the closure for taint
|
||||
// below, I don't want there to be any problem with sharing
|
||||
// locations of there are multiple calls to this routine
|
||||
// within one tick.
|
||||
int heightMapSize = heightMap.Length;
|
||||
float[] localHeightMap = new float[heightMapSize];
|
||||
for (int ii = 0; ii < heightMapSize; ii++)
|
||||
{
|
||||
float height = heightMap[ii];
|
||||
if (height < minZ) minZ = height;
|
||||
if (height > maxZ) maxZ = height;
|
||||
localHeightMap[ii] = height;
|
||||
}
|
||||
|
||||
Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y);
|
||||
BulletHeightMapInfo mapInfo;
|
||||
if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
|
||||
{
|
||||
// If this is terrain we know about, it's easy to update
|
||||
mapInfo.heightMap = localHeightMap;
|
||||
m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate()
|
||||
{
|
||||
DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}",
|
||||
BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ);
|
||||
BulletSimAPI.UpdateHeightMap2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.heightMap);
|
||||
});
|
||||
}
|
||||
else
|
||||
{
|
||||
// Our mega-prim child is giving us a new terrain to add to the phys world
|
||||
uint newTerrainID = ++m_terrainCount;
|
||||
|
||||
Vector3 minCoords = tOffset;
|
||||
minCoords.Z = minZ;
|
||||
Vector3 maxCoords = new Vector3(tOffset.X + Constants.RegionSize,
|
||||
tOffset.Y + Constants.RegionSize,
|
||||
maxZ);
|
||||
m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate()
|
||||
{
|
||||
DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y);
|
||||
CreateNewTerrainSegment(newTerrainID, heightMap, minCoords, maxCoords);
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
// Someday we will have complex terrain with caves and tunnels
|
||||
// For the moment, it's flat and convex
|
||||
public float GetTerrainHeightAtXYZ(Vector3 loc)
|
||||
{
|
||||
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
|
||||
// the same size and that is the default.
|
||||
// Once the heightMapInfo is found, we have all the information to
|
||||
// compute the offset into the array.
|
||||
public float GetTerrainHeightAtXY(float tX, float tY)
|
||||
{
|
||||
float ret = 30f;
|
||||
|
||||
int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
|
||||
|
||||
BulletHeightMapInfo mapInfo;
|
||||
if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
|
||||
{
|
||||
float regionX = tX - offsetX;
|
||||
float regionY = tY - offsetY;
|
||||
regionX = regionX > mapInfo.sizeX ? 0 : regionX;
|
||||
regionY = regionY > mapInfo.sizeY ? 0 : regionY;
|
||||
ret = mapInfo.heightMap[(int)(regionX * mapInfo.sizeX + regionY)];
|
||||
}
|
||||
else
|
||||
{
|
||||
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}",
|
||||
LogHeader, tX, tY);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Although no one seems to check this, I do support combining.
|
||||
public bool SupportsCombining()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
// This call says I am a child to region zero in a mega-region. 'pScene' is that
|
||||
// of region zero, 'offset' is my offset from regions zero's origin, and
|
||||
// 'extents' is the largest XY that is handled in my region.
|
||||
public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
|
||||
{
|
||||
m_worldOffset = offset;
|
||||
WorldExtents = new Vector2(extents.X, extents.Y);
|
||||
m_parentScene = pScene;
|
||||
}
|
||||
|
||||
// Unhook all the combining that I know about.
|
||||
public void UnCombine(PhysicsScene pScene)
|
||||
{
|
||||
// Just like ODE, for the moment a NOP
|
||||
}
|
||||
|
||||
|
||||
private void DetailLog(string msg, params Object[] args)
|
||||
{
|
||||
m_physicsScene.PhysicsLogging.Write(msg, args);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -33,6 +33,9 @@ using OpenMetaverse;
|
|||
namespace OpenSim.Region.Physics.BulletSPlugin {
|
||||
|
||||
// Classes to allow some type checking for the API
|
||||
// These hold pointers to allocated objects in the unmanaged space.
|
||||
|
||||
// The physics engine controller class created at initialization
|
||||
public struct BulletSim
|
||||
{
|
||||
public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; }
|
||||
|
|
@ -42,6 +45,7 @@ public struct BulletSim
|
|||
public IntPtr Ptr;
|
||||
}
|
||||
|
||||
// An allocated Bullet btRigidBody
|
||||
public struct BulletBody
|
||||
{
|
||||
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
|
||||
|
|
@ -49,12 +53,35 @@ public struct BulletBody
|
|||
public uint ID;
|
||||
}
|
||||
|
||||
// An allocated Bullet btConstraint
|
||||
public struct BulletConstraint
|
||||
{
|
||||
public BulletConstraint(IntPtr xx) { Ptr = xx; }
|
||||
public IntPtr Ptr;
|
||||
}
|
||||
|
||||
// An allocated HeightMapThing which hold various heightmap info
|
||||
// Made a class rather than a struct so there would be only one
|
||||
// instance of this and C# will pass around pointers rather
|
||||
// than making copies.
|
||||
public class BulletHeightMapInfo
|
||||
{
|
||||
public BulletHeightMapInfo(IntPtr xx, float[] hm) {
|
||||
Ptr = xx;
|
||||
heightMap = hm;
|
||||
terrainRegionBase = new Vector2(0f, 0f);
|
||||
maxRegionExtent = new Vector3(100f, 100f, 25f);
|
||||
minZ = maxZ = 0f;
|
||||
sizeX = sizeY = 256f;
|
||||
}
|
||||
public IntPtr Ptr;
|
||||
public float[] heightMap;
|
||||
public Vector2 terrainRegionBase;
|
||||
public Vector3 maxRegionExtent;
|
||||
public float sizeX, sizeY;
|
||||
public float minZ, maxZ;
|
||||
}
|
||||
|
||||
// ===============================================================================
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
public struct ConvexHull
|
||||
|
|
@ -230,6 +257,9 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
|
|||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
|
||||
|
|
@ -414,12 +444,23 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
|
|||
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin);
|
||||
public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateTerrainBody2(uint id,
|
||||
Vector3 minCoords, Vector3 maxCoords, float collisionMargin,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
IntPtr heightMapInfo,
|
||||
float collisionMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
|
|
@ -473,11 +514,16 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
|
||||
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
|
||||
public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
|
||||
public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Activate2(IntPtr obj, bool forceActivation);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetPosition2(IntPtr obj);
|
||||
|
|
@ -521,6 +567,9 @@ public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetFriction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetHitFraction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetRestitution2(IntPtr obj, float val);
|
||||
|
||||
|
|
@ -564,7 +613,7 @@ public static extern bool SetMargin2(IntPtr obj, float val);
|
|||
public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyObject2(IntPtr world, uint id);
|
||||
public static extern bool DestroyObject2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
||||
|
|
|
|||
Loading…
Reference in New Issue