BulletSim: clean up some variable naming for consistancy.
Update DLL API for new terrain and shape/body pattern methods. Terrain creation and modification uses new shape/body pattern. Move debug logging callback set to initialization call so logging is per physics engine.integration
Robert Adams
parent
d3adf9b2b3
commit
ae852bb873
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@ -39,8 +39,7 @@ public class BSCharacter : BSPhysObject
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private static readonly string LogHeader = "[BULLETS CHAR]";
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private BSScene _scene;
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public BSScene Scene { get { return _scene; } }
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public BSScene Scene { get; private set; }
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private String _avName;
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// private bool _stopped;
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private Vector3 _size;
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@ -92,7 +91,7 @@ public class BSCharacter : BSPhysObject
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{
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_localID = localID;
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_avName = avName;
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_scene = parent_scene;
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Scene = parent_scene;
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_position = pos;
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_size = size;
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_flying = isFlying;
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@ -101,11 +100,11 @@ public class BSCharacter : BSPhysObject
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_buoyancy = ComputeBuoyancyFromFlying(isFlying);
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// The dimensions of the avatar capsule are kept in the scale.
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// Physics creates a unit capsule which is scaled by the physics engine.
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_scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z);
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_density = _scene.Params.avatarDensity;
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_scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z);
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_density = Scene.Params.avatarDensity;
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ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale
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Linkset = new BSLinkset(_scene, this);
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Linkset = new BSLinkset(Scene, this);
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ShapeData shapeData = new ShapeData();
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shapeData.ID = _localID;
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@ -117,19 +116,19 @@ public class BSCharacter : BSPhysObject
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shapeData.Mass = _mass;
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shapeData.Buoyancy = _buoyancy;
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shapeData.Static = ShapeData.numericFalse;
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shapeData.Friction = _scene.Params.avatarFriction;
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shapeData.Restitution = _scene.Params.avatarRestitution;
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shapeData.Friction = Scene.Params.avatarFriction;
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shapeData.Restitution = Scene.Params.avatarRestitution;
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// do actual create at taint time
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_scene.TaintedObject("BSCharacter.create", delegate()
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Scene.TaintedObject("BSCharacter.create", delegate()
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{
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DetailLog("{0},BSCharacter.create", _localID);
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BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
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BulletSimAPI.CreateObject(Scene.WorldID, shapeData);
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// Set the buoyancy for flying. This will be refactored when all the settings happen in C#
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BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
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BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
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Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
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Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
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// avatars get all collisions no matter what (makes walking on ground and such work)
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BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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});
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@ -141,9 +140,9 @@ public class BSCharacter : BSPhysObject
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public override void Destroy()
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{
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DetailLog("{0},BSCharacter.Destroy", LocalID);
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_scene.TaintedObject("BSCharacter.destroy", delegate()
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Scene.TaintedObject("BSCharacter.destroy", delegate()
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{
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BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
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BulletSimAPI.DestroyObject(Scene.WorldID, _localID);
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});
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}
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@ -172,9 +171,9 @@ public class BSCharacter : BSPhysObject
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ComputeAvatarVolumeAndMass();
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_scene.TaintedObject("BSCharacter.setSize", delegate()
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Scene.TaintedObject("BSCharacter.setSize", delegate()
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{
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BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true);
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BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true);
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});
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}
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@ -203,17 +202,17 @@ public class BSCharacter : BSPhysObject
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public override Vector3 Position {
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get {
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
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return _position;
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}
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set {
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_position = value;
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PositionSanityCheck();
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_scene.TaintedObject("BSCharacter.setPosition", delegate()
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Scene.TaintedObject("BSCharacter.setPosition", delegate()
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{
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DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
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});
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}
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}
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@ -229,10 +228,8 @@ public class BSCharacter : BSPhysObject
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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},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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DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
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_position.Z = terrainHeight + 2.0f;
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ret = true;
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}
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@ -250,10 +247,10 @@ public class BSCharacter : BSPhysObject
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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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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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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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@ -301,10 +298,10 @@ public class BSCharacter : BSPhysObject
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set {
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_velocity = value;
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// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
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_scene.TaintedObject("BSCharacter.setVelocity", delegate()
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Scene.TaintedObject("BSCharacter.setVelocity", delegate()
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{
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DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
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BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
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BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity);
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});
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}
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}
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@ -327,10 +324,10 @@ public class BSCharacter : BSPhysObject
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set {
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_orientation = value;
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// m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
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_scene.TaintedObject("BSCharacter.setOrientation", delegate()
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Scene.TaintedObject("BSCharacter.setOrientation", delegate()
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{
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// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
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BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
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// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
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BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
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});
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}
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}
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@ -367,11 +364,11 @@ public class BSCharacter : BSPhysObject
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set { _throttleUpdates = value; }
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}
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public override bool IsColliding {
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get { return (_collidingStep == _scene.SimulationStep); }
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get { return (_collidingStep == Scene.SimulationStep); }
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set { _isColliding = value; }
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}
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public override bool CollidingGround {
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get { return (_collidingGroundStep == _scene.SimulationStep); }
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get { return (_collidingGroundStep == Scene.SimulationStep); }
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set { _collidingGround = value; }
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}
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public override bool CollidingObj {
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@ -393,10 +390,10 @@ public class BSCharacter : BSPhysObject
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public override float Buoyancy {
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get { return _buoyancy; }
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set { _buoyancy = value;
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_scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
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Scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
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{
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DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
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BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
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BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
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});
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}
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}
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@ -440,7 +437,7 @@ public class BSCharacter : BSPhysObject
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_force.Y += force.Y;
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_force.Z += force.Z;
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// m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
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_scene.TaintedObject("BSCharacter.AddForce", delegate()
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Scene.TaintedObject("BSCharacter.AddForce", delegate()
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{
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DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
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BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
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@ -524,10 +521,9 @@ public class BSCharacter : BSPhysObject
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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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float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only 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, heightHere);
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LocalID, _position, _orientation, _velocity, _acceleration, _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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@ -539,16 +535,16 @@ public class BSCharacter : BSPhysObject
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// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
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// The following makes IsColliding() and IsCollidingGround() work
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_collidingStep = _scene.SimulationStep;
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_collidingStep = Scene.SimulationStep;
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if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
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{
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_collidingGroundStep = _scene.SimulationStep;
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_collidingGroundStep = Scene.SimulationStep;
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}
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// DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
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// throttle collisions to the rate specified in the subscription
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if (_subscribedEventsMs != 0) {
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int nowTime = _scene.SimulationNowTime;
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int nowTime = Scene.SimulationNowTime;
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if (nowTime >= _nextCollisionOkTime) {
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_nextCollisionOkTime = nowTime + _subscribedEventsMs;
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@ -232,15 +232,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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}
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// If Debug logging level, enable logging from the unmanaged code
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m_DebugLogCallbackHandle = null;
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if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
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{
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m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
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if (PhysicsLogging.Enabled)
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// The handle is saved in a variable to make sure it doesn't get freed after this call
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m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
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else
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m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
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// The handle is saved in a variable to make sure it doesn't get freed after this call
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BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
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}
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// Get the version of the DLL
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@ -257,7 +257,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
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WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
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m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
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m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
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m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
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m_DebugLogCallbackHandle);
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// Initialization to support the transition to a new API which puts most of the logic
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// into the C# code so it is easier to modify and add to.
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@ -265,8 +266,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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Constraints = new BSConstraintCollection(World);
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// Note: choose one of the two following lines
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// BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID);
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TerrainManager = new BSTerrainManager(this);
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TerrainManager.CreateInitialGroundPlaneAndTerrain();
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@ -378,7 +377,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
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lock (PhysObjects) PhysObjects.Add(localID, actor);
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// Remove kludge someday
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// TODO: Remove kludge someday.
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// We must generate a collision for avatars whether they collide or not.
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// This is required by OpenSim to update avatar animations, etc.
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lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor);
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return actor;
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@ -44,8 +44,22 @@ public class BSTerrainManager
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{
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static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
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// These height values are fractional so the odd values will be
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// noticable when debugging.
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public const float HEIGHT_INITIALIZATION = 24.987f;
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public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
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public const float HEIGHT_GETHEIGHT_RET = 24.765f;
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// If the min and max height are equal, we reduce the min by this
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// amount to make sure that a bounding box is built for the terrain.
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public const float HEIGHT_EQUAL_FUDGE = 0.2f;
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public const float TERRAIN_COLLISION_MARGIN = 0.2f;
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// The scene that I am part of
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BSScene m_physicsScene;
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// The ground plane created to keep thing from falling to infinity.
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private BulletBody m_groundPlane;
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// If doing mega-regions, if we're region zero we will be managing multiple
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@ -53,6 +67,10 @@ public class BSTerrainManager
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private Dictionary<Vector2, BulletBody> m_terrains;
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private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
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// True of the terrain has been modified.
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// Used to force recalculation of terrain height after terrain has been modified
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private bool m_terrainModified;
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// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
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// This is incremented before assigning to new region so it is the last ID allocated.
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private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
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@ -69,6 +87,7 @@ public class BSTerrainManager
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m_physicsScene = physicsScene;
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m_terrains = new Dictionary<Vector2,BulletBody>();
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m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
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m_terrainModified = false;
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}
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// Create the initial instance of terrain and the underlying ground plane.
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@ -80,17 +99,18 @@ public class BSTerrainManager
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public void CreateInitialGroundPlaneAndTerrain()
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{
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// The ground plane is here to catch things that are trying to drop to negative infinity
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BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN));
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m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
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BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f));
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BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity));
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BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
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Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f);
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Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f);
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Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
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Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, HEIGHT_INITIALIZATION);
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int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
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float[] initialMap = new float[totalHeights];
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for (int ii = 0; ii < totalHeights; ii++)
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{
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initialMap[ii] = 25f;
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initialMap[ii] = HEIGHT_INITIALIZATION;
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}
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CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords);
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}
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@ -108,7 +128,7 @@ public class BSTerrainManager
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if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr))
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{
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BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr);
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BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(m_heightMaps[kvp.Key].Ptr);
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}
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}
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m_terrains.Clear();
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@ -128,30 +148,41 @@ public class BSTerrainManager
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int hSize = heightMap.Length;
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for (int ii = 0; ii < hSize; ii++)
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{
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minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ;
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maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ;
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float height = heightMap[ii];
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if (height < minZ) minZ = height;
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if (height > maxZ) maxZ = height;
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}
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// If the terrain is flat, make a difference so we get a bounding box
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if (minZ == maxZ)
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minZ -= HEIGHT_EQUAL_FUDGE;
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minCoords.Z = minZ;
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maxCoords.Z = maxZ;
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// If the terrain is flat, make a difference so we get a good bounding box
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if (minZ == maxZ)
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minZ -= 0.2f;
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Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
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// Create the heightmap data structure in the unmanaged space
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BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(
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BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap);
|
||||
BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(id, heightMap,
|
||||
BulletSimAPI.CreateHeightMapInfo2(id, minCoords, maxCoords, heightMap, TERRAIN_COLLISION_MARGIN));
|
||||
mapInfo.terrainRegionBase = terrainRegionBase;
|
||||
mapInfo.maxRegionExtent = maxCoords;
|
||||
mapInfo.minCoords = minCoords;
|
||||
mapInfo.maxCoords = maxCoords;
|
||||
mapInfo.minZ = minZ;
|
||||
mapInfo.maxZ = maxZ;
|
||||
mapInfo.sizeX = maxCoords.X - minCoords.X;
|
||||
mapInfo.sizeY = maxCoords.Y - minCoords.Y;
|
||||
|
||||
Vector3 centerPos;
|
||||
centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
|
||||
centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
|
||||
centerPos.Z = minZ + (maxZ - minZ) / 2f;
|
||||
|
||||
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));
|
||||
// Create the terrain shape from the mapInfo
|
||||
BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
|
||||
|
||||
BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2(terrainShape.Ptr,
|
||||
centerPos, Quaternion.Identity));
|
||||
|
||||
BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
|
||||
BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
|
||||
|
|
@ -163,11 +194,12 @@ public class BSTerrainManager
|
|||
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);
|
||||
|
||||
m_terrainModified = true;
|
||||
}
|
||||
|
||||
public void SetTerrain(float[] heightMap) {
|
||||
|
|
@ -191,34 +223,57 @@ public class BSTerrainManager
|
|||
{
|
||||
float minZ = float.MaxValue;
|
||||
float maxZ = float.MinValue;
|
||||
Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y);
|
||||
|
||||
// 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);
|
||||
// The shape of the terrain is from its base to its extents.
|
||||
Vector3 minCoords, maxCoords;
|
||||
minCoords = tOffset;
|
||||
minCoords.Z = minZ;
|
||||
maxCoords = tOffset;
|
||||
maxCoords.X += Constants.RegionSize;
|
||||
maxCoords.Y += Constants.RegionSize;
|
||||
maxCoords.Z = maxZ;
|
||||
|
||||
BulletBody terrainBody;
|
||||
BulletHeightMapInfo mapInfo;
|
||||
if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
|
||||
{
|
||||
terrainBody = m_terrains[terrainRegionBase];
|
||||
// Copy heightMap local and compute some statistics.
|
||||
for (int ii = 0; ii < heightMapSize; ii++)
|
||||
{
|
||||
mapInfo.heightMap[ii] = heightMap[ii];
|
||||
}
|
||||
|
||||
// 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);
|
||||
// Fill the existing height map info with the new location and size information
|
||||
BulletSimAPI.FillHeightMapInfo2(mapInfo.Ptr, mapInfo.ID, minCoords, maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
|
||||
|
||||
// Create a terrain shape based on the new info
|
||||
BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
|
||||
|
||||
// Swap the shape in the terrain body (this also deletes the old shape)
|
||||
bool success = BulletSimAPI.ReplaceBodyShape2(m_physicsScene.World.Ptr, terrainBody.Ptr, terrainShape.Ptr);
|
||||
|
||||
if (!success)
|
||||
{
|
||||
DetailLog("{0},SetTerrain:UpdateExisting,Failed", BSScene.DetailLogZero);
|
||||
m_physicsScene.Logger.ErrorFormat("{0} Failed updating terrain heightmap. Region={1}",
|
||||
LogHeader, m_physicsScene.RegionName);
|
||||
|
||||
}
|
||||
});
|
||||
}
|
||||
else
|
||||
|
|
@ -226,11 +281,6 @@ public class BSTerrainManager
|
|||
// 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);
|
||||
|
|
@ -240,9 +290,9 @@ public class BSTerrainManager
|
|||
}
|
||||
|
||||
// Someday we will have complex terrain with caves and tunnels
|
||||
// For the moment, it's flat and convex
|
||||
public float GetTerrainHeightAtXYZ(Vector3 loc)
|
||||
{
|
||||
// For the moment, it's flat and convex
|
||||
return GetTerrainHeightAtXY(loc.X, loc.Y);
|
||||
}
|
||||
|
||||
|
|
@ -252,9 +302,19 @@ public class BSTerrainManager
|
|||
// 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.
|
||||
private float lastHeightTX = 999999f;
|
||||
private float lastHeightTY = 999999f;
|
||||
private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
|
||||
public float GetTerrainHeightAtXY(float tX, float tY)
|
||||
{
|
||||
float ret = 30f;
|
||||
// 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)
|
||||
return lastHeight;
|
||||
|
||||
lastHeightTX = tX;
|
||||
lastHeightTY = tY;
|
||||
float ret = HEIGHT_GETHEIGHT_RET;
|
||||
|
||||
int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
|
||||
|
|
@ -265,15 +325,20 @@ public class BSTerrainManager
|
|||
{
|
||||
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)];
|
||||
if (regionX > mapInfo.sizeX) regionX = 0;
|
||||
if (regionY > mapInfo.sizeY) regionY = 0;
|
||||
int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
|
||||
ret = mapInfo.heightMap[mapIndex];
|
||||
m_terrainModified = false;
|
||||
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);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}",
|
||||
LogHeader, tX, tY);
|
||||
}
|
||||
lastHeight = ret;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -38,13 +38,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin {
|
|||
// 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; }
|
||||
public uint ID;
|
||||
public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; }
|
||||
public uint worldID;
|
||||
// The scene is only in here so very low level routines have a handle to print debug/error messages
|
||||
public BSScene scene;
|
||||
public IntPtr Ptr;
|
||||
}
|
||||
|
||||
public struct BulletShape
|
||||
{
|
||||
public BulletShape(IntPtr xx) { Ptr = xx; }
|
||||
public IntPtr Ptr;
|
||||
}
|
||||
|
||||
// An allocated Bullet btRigidBody
|
||||
public struct BulletBody
|
||||
{
|
||||
|
|
@ -66,18 +72,22 @@ public struct BulletConstraint
|
|||
// than making copies.
|
||||
public class BulletHeightMapInfo
|
||||
{
|
||||
public BulletHeightMapInfo(IntPtr xx, float[] hm) {
|
||||
public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
|
||||
ID = id;
|
||||
Ptr = xx;
|
||||
heightMap = hm;
|
||||
terrainRegionBase = new Vector2(0f, 0f);
|
||||
maxRegionExtent = new Vector3(100f, 100f, 25f);
|
||||
minCoords = new Vector3(100f, 100f, 25f);
|
||||
maxCoords = new Vector3(101f, 101f, 26f);
|
||||
minZ = maxZ = 0f;
|
||||
sizeX = sizeY = 256f;
|
||||
}
|
||||
public uint ID;
|
||||
public IntPtr Ptr;
|
||||
public float[] heightMap;
|
||||
public Vector2 terrainRegionBase;
|
||||
public Vector3 maxRegionExtent;
|
||||
public Vector3 minCoords;
|
||||
public Vector3 maxCoords;
|
||||
public float sizeX, sizeY;
|
||||
public float minZ, maxZ;
|
||||
}
|
||||
|
|
@ -248,6 +258,10 @@ public enum ConstraintParamAxis : int
|
|||
// ===============================================================================
|
||||
static class BulletSimAPI {
|
||||
|
||||
// Link back to the managed code for outputting log messages
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.LPStr)]
|
||||
public static extern string GetVersion();
|
||||
|
|
@ -255,7 +269,8 @@ public static extern string GetVersion();
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray);
|
||||
int maxUpdates, IntPtr updateArray,
|
||||
DebugLogCallback logRoutine);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
|
||||
|
|
@ -372,8 +387,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
|
|||
public static extern void DumpBulletStatistics();
|
||||
|
||||
// Log a debug message
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
||||
|
||||
|
|
@ -407,7 +420,7 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
|
|||
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightmap2(IntPtr world, float[] heightmap);
|
||||
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Shutdown2(IntPtr sim);
|
||||
|
|
@ -442,25 +455,31 @@ public static extern IntPtr BuildNativeShape2(IntPtr world,
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool ReplaceBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape);
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin);
|
||||
public static extern IntPtr CreateHeightMapInfo2(uint id, Vector3 minCoords, Vector3 maxCoords,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateTerrainBody2(uint id,
|
||||
IntPtr heightMapInfo,
|
||||
float collisionMargin);
|
||||
public static extern IntPtr FillHeightMapInfo2(IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo);
|
||||
public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
|
||||
|
||||
// =====================================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
|
|
|
|||
Loading…
Reference in New Issue