diff --git a/.nant/local.include b/.nant/local.include index 9c9aa28a5c..5185717cbc 100644 --- a/.nant/local.include +++ b/.nant/local.include @@ -132,6 +132,11 @@ + + + + + @@ -240,6 +245,11 @@ + + + + + diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3c48dcca45..e2aa41e820 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject { _physicsActorType = (int)ActorTypes.Agent; _position = pos; + + // Old versions of ScenePresence passed only the height. If width and/or depth are zero, + // replace with the default values. _size = size; + if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + _flying = isFlying; _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; @@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject get { // Avatar capsule size is kept in the scale parameter. - // return _size; - return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z); + return _size; } set { @@ -184,8 +189,8 @@ public sealed class BSCharacter : BSPhysObject _size = value; ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); - DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", - LocalID, Scale, _avatarDensity, _avatarVolume, RawMass); + DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", + LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { @@ -203,9 +208,9 @@ public sealed class BSCharacter : BSPhysObject set { BaseShape = value; } } // I want the physics engine to make an avatar capsule - public override ShapeData.PhysicsShapeType PreferredPhysicalShape + public override PhysicsShapeType PreferredPhysicalShape { - get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } + get {return PhysicsShapeType.SHAPE_CAPSULE; } } public override bool Grabbed { @@ -614,13 +619,19 @@ public sealed class BSCharacter : BSPhysObject // The 'size' given by the simulator is the mid-point of the avatar // and X and Y are unspecified. - OMV.Vector3 newScale = OMV.Vector3.Zero; - newScale.X = PhysicsScene.Params.avatarCapsuleRadius; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; + OMV.Vector3 newScale = size; + // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; + // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; // From the total height, remove the capsule half spheres that are at each end - newScale.Z = size.Z - (newScale.X + newScale.Y); - Scale = newScale; + // The 1.15f came from ODE. Not sure what this factors in. + // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); + + // The total scale height is the central cylindar plus the caps on the two ends. + newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); + + // Convert diameters to radii and height to half height -- the way Bullet expects it. + Scale = newScale / 2f; } // set _avatarVolume and _mass based on capsule size, _density and Scale diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 436e043670..4ee047b836 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -82,9 +82,9 @@ public abstract class BSLinkset // Some linksets have a preferred physical shape. // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public virtual PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + return PhysicsShapeType.SHAPE_UNKNOWN; } // Linksets move around the children so the linkset might need to compute the child position diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3238c85ef1..cb378409f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -42,12 +42,12 @@ public sealed class BSLinksetCompound : BSLinkset } // For compound implimented linksets, if there are children, use compound shape for the root. - public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public override PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + PhysicsShapeType ret = PhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { - ret = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + ret = PhysicsShapeType.SHAPE_COMPOUND; } // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 991e5b1ebe..e68b1678d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor public PrimitiveBaseShape BaseShape { get; protected set; } // Some types of objects have preferred physical representations. // Returns SHAPE_UNKNOWN if there is no preference. - public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape + public virtual PhysicsShapeType PreferredPhysicalShape { - get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } + get { return PhysicsShapeType.SHAPE_UNKNOWN; } } // When the physical properties are updated, an EntityProperty holds the update values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 500c84acbc..5d16bbf2e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -47,7 +47,6 @@ public sealed class BSPrim : BSPhysObject // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer private bool _grabbed; private bool _isSelected; @@ -94,7 +93,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type + Scale = size; // the scale will be set by CreateGeom depending on object type _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -155,6 +154,8 @@ public sealed class BSPrim : BSPhysObject public override OMV.Vector3 Size { get { return _size; } set { + // We presume the scale and size are the same. If scale must be changed for + // the physical shape, that is done when the geometry is built. _size = value; ForceBodyShapeRebuild(false); } @@ -170,7 +171,7 @@ public sealed class BSPrim : BSPhysObject } } // Whatever the linkset wants is what I want. - public override ShapeData.PhysicsShapeType PreferredPhysicalShape + public override PhysicsShapeType PreferredPhysicalShape { get { return Linkset.PreferredPhysicalShape(this); } } public override bool ForceBodyShapeRebuild(bool inTaintTime) @@ -274,19 +275,19 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) _position = Linkset.Position(this); - // don't do the GetObjectPosition for root elements because this function is called a zillion times + // don't do the GetObjectPosition for root elements because this function is called a zillion times. // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); return _position; } set { - // If you must push the position into the physics engine, use ForcePosition. + // If the position must be forced into the physics engine, use ForcePosition. if (_position == value) { return; } _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? - PositionSanityCheck(); + PositionSanityCheck(false); PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -302,7 +303,7 @@ public sealed class BSPrim : BSPhysObject } set { _position = value; - PositionSanityCheck(); + // PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better. BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); } @@ -311,52 +312,43 @@ public sealed class BSPrim : BSPhysObject // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. // Returns 'true' of the position was made sane by some action. - private bool PositionSanityCheck() + private bool PositionSanityCheck(bool inTaintTime) { bool ret = false; - // If totally below the ground, move the prim up - // TODO: figure out the right solution for this... only for dynamic objects? - /* float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + OMV.Vector3 upForce = OMV.Vector3.Zero; if (Position.Z < terrainHeight) { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + 2.0f; + float targetHeight = terrainHeight + (Size.Z / 2f); + // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. + upForce.Z = (terrainHeight - Position.Z) * 1f; ret = true; } - */ + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water - if (Position.Z < waterHeight) + if (Math.Abs(Position.Z - waterHeight) > 0.1f) { - _position.Z = waterHeight; + // Upforce proportional to the distance away from the water. Correct the error in 1 sec. + upForce.Z = (waterHeight - Position.Z) * 1f; ret = true; } } // TODO: check for out of bounds - return ret; - } - // A version of the sanity check that also makes sure a new position value is - // pushed to the physics engine. This routine would be used by anyone - // who is not already pushing the value. - private bool PositionSanityCheck(bool inTaintTime) - { - bool ret = false; - if (PositionSanityCheck()) + // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. + if (ret) { - // The new position value must be pushed into the physics engine but we can't - // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate() { - DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + // Apply upforce and overcome gravity. + ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity; }); - ret = true; } return ret; } @@ -940,6 +932,7 @@ public sealed class BSPrim : BSPhysObject public override void AddForce(OMV.Vector3 force, bool pushforce) { AddForce(force, pushforce, false); } + // Applying a force just adds this to the total force on the object. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) @@ -971,6 +964,7 @@ public sealed class BSPrim : BSPhysObject }); } + // An impulse force is scaled by the mass of the object. public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; @@ -1423,7 +1417,7 @@ public sealed class BSPrim : BSPhysObject if (changed != 0) { // Only update the position of single objects and linkset roots - if (this._parentPrim == null) + if (Linkset.IsRoot(this)) { base.RequestPhysicsterseUpdate(); } @@ -1435,19 +1429,24 @@ public sealed class BSPrim : BSPhysObject // Updates only for individual prims and for the root object of a linkset. if (Linkset.IsRoot(this)) { - // Assign to the local variables so the normal set action does not happen + // Assign directly to the local variables so the normal set action does not happen _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // The sanity check can change the velocity and/or position. + if (PositionSanityCheck(true)) + { + entprop.Position = _position; + entprop.Velocity = _velocity; + } + // remember the current and last set values LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - PositionSanityCheck(true); - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2fee95e1a2..27a78d1f2a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -712,7 +712,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // here just before the physics engine is called to step the simulation. public void ProcessTaints() { - InTaintTime = true; + InTaintTime = true; // Only used for debugging so locking is not necessary. ProcessRegularTaints(); ProcessPostTaintTaints(); InTaintTime = false; @@ -758,6 +758,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count); } */ + // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) @@ -787,8 +788,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // will replace any previous operation by the same object. public void PostTaintObject(String ident, uint ID, TaintCallback callback) { - if (!m_initialized) return; - string uniqueIdent = ident + "-" + ID.ToString(); lock (_taintLock) { @@ -864,13 +863,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + // Only used for debugging. Does not change state of anything so locking is not necessary. public bool AssertInTaintTime(string whereFrom) { if (!InTaintTime) { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(); + Util.PrintCallStack(); // Prints the stack into the DEBUG log file. } return InTaintTime; } @@ -1145,6 +1145,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + (float)BSTerrainPhys.TerrainImplementation.Mesh, + (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); }, + (s) => { return s.m_params[0].terrainImplementation; }, + (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, @@ -1180,11 +1185,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarRestitution; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), - new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", - 0.37f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleRadius; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), + new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + 0.6f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleWidth; }, + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ), + new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + 0.45f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleDepth; }, + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f, (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 29a23c0247..869735ce46 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -178,7 +178,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; switch (shape.type) { - case ShapeData.PhysicsShapeType.SHAPE_MESH: + case PhysicsShapeType.SHAPE_MESH: MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { @@ -201,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; break; - case ShapeData.PhysicsShapeType.SHAPE_HULL: + case PhysicsShapeType.SHAPE_HULL: HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { @@ -224,7 +224,7 @@ public sealed class BSShapeCollection : IDisposable hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + case PhysicsShapeType.SHAPE_UNKNOWN: break; default: // Native shapes are not tracked and they don't go into any list @@ -255,16 +255,16 @@ public sealed class BSShapeCollection : IDisposable { switch (shape.type) { - case ShapeData.PhysicsShapeType.SHAPE_HULL: + case PhysicsShapeType.SHAPE_HULL: DereferenceHull(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_MESH: + case PhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_COMPOUND: + case PhysicsShapeType.SHAPE_COMPOUND: DereferenceCompound(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + case PhysicsShapeType.SHAPE_UNKNOWN: break; default: break; @@ -352,28 +352,28 @@ public sealed class BSShapeCollection : IDisposable BulletShape shapeInfo = new BulletShape(cShape); if (TryGetMeshByPtr(cShape, out meshDesc)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH; + shapeInfo.type = PhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { if (TryGetHullByPtr(cShape, out hullDesc)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL; + shapeInfo.type = PhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; } else { if (BulletSimAPI.IsCompound2(cShape)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + shapeInfo.type = PhysicsShapeType.SHAPE_COMPOUND; } else { if (BulletSimAPI.IsNativeShape2(cShape)) { shapeInfo.isNativeShape = true; - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + shapeInfo.type = PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) } } } @@ -381,7 +381,7 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN) + if (shapeInfo.type != PhysicsShapeType.SHAPE_UNKNOWN) { DereferenceShape(shapeInfo, true, null); } @@ -405,11 +405,11 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; bool haveShape = false; - if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, - ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); + ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_CAPSULE, + FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; @@ -417,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable // Compound shapes are handled special as they are rebuilt from scratch. // This isn't too great a hardship since most of the child shapes will already been created. - if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) { ret = GetReferenceToCompoundShape(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); @@ -460,11 +460,11 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE + || prim.PhysShape.type != PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE, - ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); + ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_SPHERE, + FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } @@ -474,11 +474,11 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX + || prim.PhysShape.type != PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX, - ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); + ret = GetReferenceToNativeShape( prim, PhysicsShapeType.SHAPE_BOX, + FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } @@ -519,15 +519,12 @@ public sealed class BSShapeCollection : IDisposable // Creates a native shape and assignes it to prim.BSShape. // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape(). private bool GetReferenceToNativeShape(BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, + PhysicsShapeType shapeType, FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); - // Bullet native objects are scaled by the Bullet engine so pass the size in - prim.Scale = prim.Size; - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. @@ -538,8 +535,8 @@ public sealed class BSShapeCollection : IDisposable return true; } - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType, - ShapeData.FixedShapeKey shapeKey) + private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, PhysicsShapeType shapeType, + FixedShapeKey shapeKey) { BulletShape newShape; // Need to make sure the passed shape information is for the native type. @@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; + nativeShapeData.Size = prim.Scale; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) { + // The proper scale has been calculated in the prim. newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); @@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable } else { + // Native shapes are scaled in Bullet so set the scaling to the size + prim.Scale = prim.Size; + nativeShapeData.Scale = prim.Scale; newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } if (newShape.ptr == IntPtr.Zero) @@ -585,7 +586,7 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) + if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", @@ -643,7 +644,7 @@ public sealed class BSShapeCollection : IDisposable indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } } - BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); + BulletShape newShape = new BulletShape(meshPtr, PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; return newShape; @@ -659,7 +660,7 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) + if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", @@ -780,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable } } - BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); + BulletShape newShape = new BulletShape(hullPtr, PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; // 'true' means a new shape has been added to this prim @@ -803,7 +804,7 @@ public sealed class BSShapeCollection : IDisposable // DereferenceShape(prim.PhysShape, true, shapeCallback); BulletShape cShape = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); + BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), PhysicsShapeType.SHAPE_COMPOUND); // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. CreateGeomMeshOrHull(prim, shapeCallback); @@ -894,7 +895,7 @@ public sealed class BSShapeCollection : IDisposable // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); + BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } @@ -940,7 +941,7 @@ public sealed class BSShapeCollection : IDisposable else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.ForcePosition, prim.ForceOrientation); + prim.LocalID, prim.RawPosition, prim.RawOrientation); DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(prim.LocalID, bodyPtr); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index d59a486b69..f2e62d9719 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSShape { public IntPtr ptr { get; set; } - public ShapeData.PhysicsShapeType type { get; set; } + public PhysicsShapeType type { get; set; } public System.UInt64 key { get; set; } public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } @@ -43,7 +43,7 @@ public abstract class BSShape public BSShape() { ptr = IntPtr.Zero; - type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + type = PhysicsShapeType.SHAPE_UNKNOWN; key = 0; referenceCount = 0; lastReferenced = DateTime.Now; @@ -54,17 +54,17 @@ public abstract class BSShape { BSShape ret = null; - if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, - ShapeData.FixedShapeKey.KEY_CAPSULE); + ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_CAPSULE, + FixedShapeKey.KEY_CAPSULE); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); } // Compound shapes are handled special as they are rebuilt from scratch. // This isn't too great a hardship since most of the child shapes will already been created. - if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + if (ret == null && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeCompound.GetReference(prim); @@ -123,14 +123,14 @@ public class BSShapeNative : BSShape { } public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); } private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; @@ -141,7 +141,7 @@ public class BSShapeNative : BSShape nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) { ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs new file mode 100755 index 0000000000..8fc36d117b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -0,0 +1,170 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainHeightmap : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; + + BulletHeightMapInfo m_mapInfo = null; + + // Constructor to build a default, flat heightmap terrain. + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; + } + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minTerrainCoords; + m_mapInfo.maxCoords = maxTerrainCoords; + m_mapInfo.terrainRegionBase = TerrainBase; + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + // This minCoords and maxCoords passed in give the size of the terrain (min and max Z + // are the high and low points of the heightmap). + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minCoords; + m_mapInfo.maxCoords = maxCoords; + m_mapInfo.minZ = minCoords.Z; + m_mapInfo.maxZ = maxCoords.Z; + m_mapInfo.terrainRegionBase = TerrainBase; + + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + public override void Dispose() + { + ReleaseHeightMapTerrain(); + } + + // Using the information in m_mapInfo, create the physical representation of the heightmap. + private void BuildHeightmapTerrain() + { + m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.minCoords, m_mapInfo.maxCoords, + m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + + // Create the terrain shape from the mapInfo + m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), + PhysicsShapeType.SHAPE_TERRAIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); + centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); + + m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, + m_mapInfo.ID, centerPos, Quaternion.Identity)); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + + return; + } + + // If there is information in m_mapInfo pointing to physical structures, release same. + private void ReleaseHeightMapTerrain() + { + if (m_mapInfo != null) + { + if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + } + } + m_mapInfo = null; + } + + // The passed position is relative to the base of the region. + public override float GetHeightAtXYZ(Vector3 pos) + { + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; + try + { + ret = m_mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, m_mapInfo.terrainRegionBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 7c34af29bd..71fca3310a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -40,6 +40,32 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// The physical implementation of the terrain is wrapped in this class. +public abstract class BSTerrainPhys : IDisposable +{ + public enum TerrainImplementation + { + Heightmap = 0, + Mesh = 1 + } + + public BSScene PhysicsScene { get; private set; } + // Base of the region in world coordinates. Coordinates inside the region are relative to this. + public Vector3 TerrainBase { get; private set; } + public uint ID { get; private set; } + + public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) + { + PhysicsScene = physicsScene; + TerrainBase = regionBase; + ID = id; + } + public abstract void Dispose(); + public abstract float GetHeightAtXYZ(Vector3 pos); +} + +// ========================================================================================== public sealed class BSTerrainManager { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; @@ -67,11 +93,10 @@ public sealed class BSTerrainManager // If doing mega-regions, if we're region zero we will be managing multiple // region terrains since region zero does the physics for the whole mega-region. - private Dictionary m_heightMaps; + private Dictionary m_terrains; - // True of the terrain has been modified. - // Used to force recalculation of terrain height after terrain has been modified - private bool m_terrainModified; + // Flags used to know when to recalculate the height. + private bool m_terrainModified = false; // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. // This is incremented before assigning to new region so it is the last ID allocated. @@ -89,8 +114,7 @@ public sealed class BSTerrainManager public BSTerrainManager(BSScene physicsScene) { PhysicsScene = physicsScene; - m_heightMaps = new Dictionary(); - m_terrainModified = false; + m_terrains = new Dictionary(); // Assume one region of default size m_worldOffset = Vector3.Zero; @@ -99,9 +123,6 @@ public sealed class BSTerrainManager } // Create the initial instance of terrain and the underlying ground plane. - // The objects are allocated in the unmanaged space and the pointers are tracked - // by the managed code. - // The terrains and the groundPlane are not added to the list of PhysObjects. // This is called from the initialization routine so we presume it is // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() @@ -109,7 +130,7 @@ public sealed class BSTerrainManager // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = new BulletShape( BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), - ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); + PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); @@ -121,15 +142,9 @@ public sealed class BSTerrainManager BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); - Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); - int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; - float[] initialMap = new float[totalHeights]; - for (int ii = 0; ii < totalHeights; ii++) - { - initialMap[ii] = HEIGHT_INITIALIZATION; - } - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true); + // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. + BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); + m_terrains.Add(Vector3.Zero, initialTerrain); } // Release all the terrain structures we might have allocated @@ -150,15 +165,11 @@ public sealed class BSTerrainManager // Release all the terrain we have allocated public void ReleaseTerrain() { - foreach (KeyValuePair kvp in m_heightMaps) + foreach (KeyValuePair kvp in m_terrains) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr)) - { - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); - } + kvp.Value.Dispose(); } - m_heightMaps.Clear(); + m_terrains.Clear(); } // The simulator wants to set a new heightmap for the terrain. @@ -176,8 +187,9 @@ public sealed class BSTerrainManager { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, - localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( + BSScene.CHILDTERRAIN_ID, localHeightMap, + m_worldOffset, m_worldOffset + DefaultRegionSize, true); } } else @@ -185,7 +197,7 @@ public sealed class BSTerrainManager // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, + UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); } }); @@ -195,56 +207,63 @@ public sealed class BSTerrainManager // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. // The latter feature is for creating child terrains for mega-regions. - // If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0) - // then a new body and shape is created and the mapInfo is filled. - // This call is used for doing the initial terrain creation. // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) - private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) + private void UpdateTerrain(uint id, float[] heightMap, + Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); + // Find high and low points of passed heightmap. + // The min and max passed in is usually the area objects can be in (maximum + // object height, for instance). The terrain wants the bounding box for the + // terrain so we replace passed min and max Z with the actual terrain min/max Z. float minZ = float.MaxValue; float maxZ = float.MinValue; - Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); - - int heightMapSize = heightMap.Length; - for (int ii = 0; ii < heightMapSize; ii++) + foreach (float height in heightMap) { - float height = heightMap[ii]; if (height < minZ) minZ = height; if (height > maxZ) maxZ = height; } - - // The shape of the terrain is from its base to its extents. + if (minZ == maxZ) + { + // If min and max are the same, reduce min a little bit so a good bounding box is created. + minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; + } minCoords.Z = minZ; maxCoords.Z = maxZ; - BulletHeightMapInfo mapInfo; - if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) + Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); + + BSTerrainPhys terrainPhys; + if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { - // If this is terrain we know about, it's easy to update + // There is already a terrain in this spot. Free the old and build the new. + DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", + BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); - mapInfo.heightMap = heightMap; - mapInfo.minCoords = minCoords; - mapInfo.maxCoords = maxCoords; - mapInfo.minZ = minZ; - mapInfo.maxZ = maxZ; - mapInfo.sizeX = maxCoords.X - minCoords.X; - mapInfo.sizeY = maxCoords.Y - minCoords.Y; - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", - BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); - - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate() { - if (MegaRegionParentPhysicsScene != null) + // Remove old terrain from the collection + m_terrains.Remove(terrainRegionBase); + // Release any physical memory it may be using. + terrainPhys.Dispose(); + + if (MegaRegionParentPhysicsScene == null) + { + BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); + m_terrains.Add(terrainRegionBase, newTerrainPhys); + + m_terrainModified = true; + } + else { // It's possible that Combine() was called after this code was queued. // If we are a child of combined regions, we don't create any terrain for us. - DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); + DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); // Get rid of any terrain that may have been allocated for us. ReleaseGroundPlaneAndTerrain(); @@ -252,91 +271,6 @@ public sealed class BSTerrainManager // I hate doing this, but just bail return; } - - if (mapInfo.terrainBody.ptr != IntPtr.Zero) - { - // Updating an existing terrain. - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", - BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); - - // Remove from the dynamics world because we're going to mangle this object - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - // Get rid of the old terrain - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); - mapInfo.Ptr = IntPtr.Zero; - - /* - // NOTE: This routine is half here because I can't get the terrain shape replacement - // to work. In the short term, the above three lines completely delete the old - // terrain and the code below recreates one from scratch. - // Hopefully the Bullet community will help me out on this one. - - // First, release the old collision shape (there is only one terrain) - BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr); - - // Fill the existing height map info with the new location and size information - BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID, - mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); - - // Create a terrain shape based on the new info - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); - - // Stuff the shape into the existing terrain body - BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr); - */ - } - // else - { - // Creating a new terrain. - DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", - BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); - - mapInfo.ID = id; - mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, - mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); - - // Create the terrain shape from the mapInfo - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), - ShapeData.PhysicsShapeType.SHAPE_TERRAIN); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); - centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); - centerPos.Z = minZ + ((maxZ - minZ) / 2f); - - mapInfo.terrainBody = new BulletBody(mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - id, centerPos, Quaternion.Identity)); - } - - // Make sure the entry is in the heightmap table - m_heightMaps[terrainRegionBase] = mapInfo; - - // Set current terrain attributes - BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make sure the new shape is processed. - // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - - m_terrainModified = true; }); } else @@ -353,34 +287,51 @@ public sealed class BSTerrainManager Vector3 minCoordsX = minCoords; Vector3 maxCoordsX = maxCoords; - DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", + DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); // Code that must happen at taint-time - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate() { - DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); - // Create a new mapInfo that will be filled with the new info - mapInfo = new BulletHeightMapInfo(id, heightMapX, - BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, - minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); - // Put the unfilled heightmap info into the collection of same - m_heightMaps.Add(terrainRegionBase, mapInfo); - // Build the terrain - UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); + DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", + BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); + BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); + m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; }); } } - // Someday we will have complex terrain with caves and tunnels - public float GetTerrainHeightAtXYZ(Vector3 loc) + // TODO: redo terrain implementation selection to allow other base types than heightMap. + private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - // For the moment, it's flat and convex - return GetTerrainHeightAtXY(loc.X, loc.Y); + PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, PhysicsScene.RegionName, terrainRegionBase, + (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation); + BSTerrainPhys newTerrainPhys = null; + switch ((int)PhysicsScene.Params.terrainImplementation) + { + case (int)BSTerrainPhys.TerrainImplementation.Heightmap: + newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + case (int)BSTerrainPhys.TerrainImplementation.Mesh: + newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + default: + PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", + LogHeader, + (int)PhysicsScene.Params.terrainImplementation, + PhysicsScene.Params.terrainImplementation, + PhysicsScene.RegionName, terrainRegionBase); + break; + } + return newTerrainPhys; } + // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, // the base of the region is calcuated assuming all regions are @@ -390,8 +341,10 @@ public sealed class BSTerrainManager private float lastHeightTX = 999999f; private float lastHeightTY = 999999f; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - private float GetTerrainHeightAtXY(float tX, float tY) + public float GetTerrainHeightAtXYZ(Vector3 loc) { + float tX = loc.X; + float tY = loc.Y; // You'd be surprized at the number of times this routine is called // with the same parameters as last time. if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY) @@ -403,27 +356,14 @@ public sealed class BSTerrainManager int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector2 terrainBaseXY = new Vector2(offsetX, offsetY); + Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - BulletHeightMapInfo mapInfo; - if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo)) + BSTerrainPhys physTerrain; + if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) { - float regionX = tX - offsetX; - float regionY = tY - offsetY; - int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; - try - { - ret = mapInfo.heightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", - LogHeader, terrainBaseXY, regionX, regionY); - ret = HEIGHT_GETHEIGHT_RET; - } - // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", - // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); + ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); + DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}", + BSScene.DetailLogZero, loc, terrainBaseXYZ, ret); } else { @@ -466,7 +406,7 @@ public sealed class BSTerrainManager // Unhook all the combining that I know about. public void UnCombine(PhysicsScene pScene) { - // Just like ODE, for the moment a NOP + // Just like ODE, we don't do anything yet. DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs new file mode 100755 index 0000000000..3279b6fcaf --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -0,0 +1,256 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainMesh : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN MESH]"; + + private float[] m_savedHeightMap; + int m_sizeX; + int m_sizeY; + + BulletShape m_terrainShape; + BulletBody m_terrainBody; + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + } + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) + : base(physicsScene, regionBase, id) + { + } + + // Create terrain mesh from a heightmap. + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + int indicesCount; + int[] indices; + int verticesCount; + float[] vertices; + + m_savedHeightMap = initialMap; + + m_sizeX = (int)(maxCoords.X - minCoords.X); + m_sizeY = (int)(maxCoords.Y - minCoords.Y); + + if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, + m_sizeX, m_sizeY, + (float)m_sizeX, (float)m_sizeY, + Vector3.Zero, 1.0f, + out indicesCount, out indices, out verticesCount, out vertices)) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); + PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + + m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indicesCount, indices, verticesCount, vertices), + PhysicsShapeType.SHAPE_MESH); + if (m_terrainShape.ptr == IntPtr.Zero) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + + Vector3 pos = regionBase; + Quaternion rot = Quaternion.Identity; + + m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); + if (m_terrainBody.ptr == IntPtr.Zero) + { + // DISASTER!! + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Static objects are not very massive. + BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + } + + public override void Dispose() + { + if (m_terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); + } + } + + public override float GetHeightAtXYZ(Vector3 pos) + { + // For the moment use the saved heightmap to get the terrain height. + // TODO: raycast downward to find the true terrain below the position. + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; + try + { + ret = m_savedHeightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, TerrainBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } + + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). + // Return 'true' if successfully created. + public static bool ConvertHeightmapToMesh( + BSScene physicsScene, + float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap + float extentX, float extentY, // zero based range for output vertices + Vector3 extentBase, // base to be added to all vertices + float magnification, // number of vertices to create between heightMap coords + out int indicesCountO, out int[] indicesO, + out int verticesCountO, out float[] verticesO) + { + bool ret = false; + + int indicesCount = 0; + int verticesCount = 0; + int[] indices = new int[0]; + float[] vertices = new float[0]; + + // Simple mesh creation which assumes magnification == 1. + // TODO: do a more general solution that scales, adds new vertices and smoothes the result. + + try + { + // One vertice per heightmap value plus the vertices off the top and bottom edge. + int totalVertices = (sizeX + 1) * (sizeY + 1); + vertices = new float[totalVertices * 3]; + int totalIndices = sizeX * sizeY * 6; + indices = new int[totalIndices]; + + float magX = (float)sizeX / extentX; + float magY = (float)sizeY / extentY; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", + BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); + // Note that sizeX+1 vertices are created since there is land between this and the next region. + for (int yy = 0; yy <= sizeY; yy++) + { + for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times + { + int offset = yy * sizeX + xx; + // Extend the height from the height from the last row or column + if (yy == sizeY) offset -= sizeX; + if (xx == sizeX) offset -= 1; + float height = heightMap[offset]; + vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; + vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; + vertices[verticesCount + 2] = height + extentBase.Z; + verticesCount += 3; + } + } + verticesCount = verticesCount / 3; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", + BSScene.DetailLogZero, verticesCount); + + for (int yy = 0; yy < sizeY; yy++) + { + for (int xx = 0; xx < sizeX; xx++) + { + int offset = yy * sizeX + xx; + // Each vertices is presumed to be the upper left corner of a box of two triangles + indices[indicesCount + 0] = offset; + indices[indicesCount + 1] = offset + 1; + indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column + indices[indicesCount + 3] = offset + 1; + indices[indicesCount + 4] = offset + sizeX + 2; + indices[indicesCount + 5] = offset + sizeX + 1; + indicesCount += 6; + } + } + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG + LogHeader, indicesCount); // DEBUG + ret = true; + } + catch (Exception e) + { + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", + LogHeader, physicsScene.RegionName, extentBase, e); + } + + indicesCountO = indicesCount; + indicesO = indices; + verticesCountO = verticesCount; + verticesO = vertices; + + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 28fae13827..4647c2d3c7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -88,11 +88,11 @@ public struct BulletShape public BulletShape(IntPtr xx) { ptr = xx; - type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = 0; + type=PhysicsShapeType.SHAPE_UNKNOWN; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) + public BulletShape(IntPtr xx, PhysicsShapeType typ) { ptr = xx; type = typ; @@ -100,7 +100,7 @@ public struct BulletShape isNativeShape = false; } public IntPtr ptr; - public ShapeData.PhysicsShapeType type; + public PhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() @@ -152,7 +152,7 @@ public class BulletHeightMapInfo ID = id; Ptr = xx; heightMap = hm; - terrainRegionBase = new Vector2(0f, 0f); + terrainRegionBase = Vector3.Zero; minCoords = new Vector3(100f, 100f, 25f); maxCoords = new Vector3(101f, 101f, 26f); minZ = maxZ = 0f; @@ -161,7 +161,7 @@ public class BulletHeightMapInfo public uint ID; public IntPtr Ptr; public float[] heightMap; - public Vector2 terrainRegionBase; + public Vector3 terrainRegionBase; public Vector3 minCoords; public Vector3 maxCoords; public float sizeX, sizeY; @@ -178,24 +178,37 @@ public struct ConvexHull int VertexCount; Vector3[] Vertices; } +public enum PhysicsShapeType +{ + SHAPE_UNKNOWN = 0, + SHAPE_CAPSULE = 1, + SHAPE_BOX = 2, + SHAPE_CONE = 3, + SHAPE_CYLINDER = 4, + SHAPE_SPHERE = 5, + SHAPE_MESH = 6, + SHAPE_HULL = 7, + // following defined by BulletSim + SHAPE_GROUNDPLANE = 20, + SHAPE_TERRAIN = 21, + SHAPE_COMPOUND = 22, + SHAPE_HEIGHTMAP = 23, +}; + +// The native shapes have predefined shape hash keys +public enum FixedShapeKey : ulong +{ + KEY_NONE = 0, + KEY_BOX = 1, + KEY_SPHERE = 2, + KEY_CONE = 3, + KEY_CYLINDER = 4, + KEY_CAPSULE = 5, +} + [StructLayout(LayoutKind.Sequential)] public struct ShapeData { - public enum PhysicsShapeType - { - SHAPE_UNKNOWN = 0, - SHAPE_AVATAR = 1, - SHAPE_BOX = 2, - SHAPE_CONE = 3, - SHAPE_CYLINDER = 4, - SHAPE_SPHERE = 5, - SHAPE_MESH = 6, - SHAPE_HULL = 7, - // following defined by BulletSim - SHAPE_GROUNDPLANE = 20, - SHAPE_TERRAIN = 21, - SHAPE_COMPOUND = 22, - }; public uint ID; public PhysicsShapeType Type; public Vector3 Position; @@ -216,16 +229,6 @@ public struct ShapeData // note that bools are passed as floats since bool size changes by language and architecture public const float numericTrue = 1f; public const float numericFalse = 0f; - - // The native shapes have predefined shape hash keys - public enum FixedShapeKey : ulong - { - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, - } } [StructLayout(LayoutKind.Sequential)] public struct SweepHit @@ -280,6 +283,7 @@ public struct ConfigurationParameters public float ccdSweptSphereRadius; public float contactProcessingThreshold; + public float terrainImplementation; public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; @@ -287,7 +291,8 @@ public struct ConfigurationParameters public float avatarStandingFriction; public float avatarDensity; public float avatarRestitution; - public float avatarCapsuleRadius; + public float avatarCapsuleWidth; + public float avatarCapsuleDepth; public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; @@ -388,13 +393,13 @@ public enum CollisionFilterGroups : uint ObjectFilter = BSolidFilter, ObjectMask = BAllFilter, StaticObjectFilter = BStaticFilter, - StaticObjectMask = BAllFilter, + StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other LinksetFilter = BLinksetFilter, - LinksetMask = BAllFilter & ~BLinksetFilter, + LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter & ~BStaticFilter, + TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter diff --git a/OpenSim/Server/Handlers/Asset/AssetServerPostHandler.cs b/OpenSim/Server/Handlers/Asset/AssetServerPostHandler.cs index 87b3d2dd32..a006fa8395 100644 --- a/OpenSim/Server/Handlers/Asset/AssetServerPostHandler.cs +++ b/OpenSim/Server/Handlers/Asset/AssetServerPostHandler.cs @@ -57,14 +57,23 @@ namespace OpenSim.Server.Handlers.Asset public override byte[] Handle(string path, Stream request, IOSHttpRequest httpRequest, IOSHttpResponse httpResponse) { + AssetBase asset; XmlSerializer xs = new XmlSerializer(typeof (AssetBase)); - AssetBase asset = (AssetBase) xs.Deserialize(request); + + try + { + asset = (AssetBase)xs.Deserialize(request); + } + catch (XmlException) + { + httpResponse.StatusCode = (int)HttpStatusCode.BadRequest; + return null; + } string[] p = SplitParams(path); if (p.Length > 1) { - bool result = - m_AssetService.UpdateContent(p[1], asset.Data); + bool result = m_AssetService.UpdateContent(p[1], asset.Data); xs = new XmlSerializer(typeof(bool)); return ServerUtils.SerializeResult(xs, result); diff --git a/OpenSim/Server/Handlers/Asset/Tests/AssetServerPostHandlerTests.cs b/OpenSim/Server/Handlers/Asset/Tests/AssetServerPostHandlerTests.cs new file mode 100644 index 0000000000..427fa1674d --- /dev/null +++ b/OpenSim/Server/Handlers/Asset/Tests/AssetServerPostHandlerTests.cs @@ -0,0 +1,110 @@ +/* + * 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 copyright + * 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.IO; +using System.Net; +using System.Text; +using System.Xml; +using System.Xml.Serialization; +using Nini.Config; +using NUnit.Framework; +using OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Server.Handlers.Asset; +using OpenSim.Services.AssetService; +using OpenSim.Services.Interfaces; +using OpenSim.Tests.Common; +using OpenSim.Tests.Common.Mock; + +namespace OpenSim.Server.Handlers.Asset.Test +{ + [TestFixture] + public class AssetServerPostHandlerTests : OpenSimTestCase + { + [Test] + public void TestGoodAssetStoreRequest() + { + TestHelpers.InMethod(); + + UUID assetId = TestHelpers.ParseTail(0x1); + + IConfigSource config = new IniConfigSource(); + config.AddConfig("AssetService"); + config.Configs["AssetService"].Set("StorageProvider", "OpenSim.Tests.Common.dll"); + + AssetService assetService = new AssetService(config); + + AssetServerPostHandler asph = new AssetServerPostHandler(assetService); + + AssetBase asset = AssetHelpers.CreateNotecardAsset(assetId, "Hello World"); + + MemoryStream buffer = new MemoryStream(); + + XmlWriterSettings settings = new XmlWriterSettings(); + settings.Encoding = Encoding.UTF8; + + using (XmlWriter writer = XmlWriter.Create(buffer, settings)) + { + XmlSerializer serializer = new XmlSerializer(typeof(AssetBase)); + serializer.Serialize(writer, asset); + writer.Flush(); + } + + buffer.Position = 0; + asph.Handle(null, buffer, null, null); + + AssetBase retrievedAsset = assetService.Get(assetId.ToString()); + + Assert.That(retrievedAsset, Is.Not.Null); + } + + [Test] + public void TestBadXmlAssetStoreRequest() + { + TestHelpers.InMethod(); + + IConfigSource config = new IniConfigSource(); + config.AddConfig("AssetService"); + config.Configs["AssetService"].Set("StorageProvider", "OpenSim.Tests.Common.dll"); + + AssetService assetService = new AssetService(config); + + AssetServerPostHandler asph = new AssetServerPostHandler(assetService); + + MemoryStream buffer = new MemoryStream(); + byte[] badData = new byte[] { 0x48, 0x65, 0x6c, 0x6c, 0x6f }; + buffer.Write(badData, 0, badData.Length); + buffer.Position = 0; + + TestOSHttpResponse response = new TestOSHttpResponse(); + asph.Handle(null, buffer, null, response); + + Assert.That(response.StatusCode, Is.EqualTo((int)HttpStatusCode.BadRequest)); + } + } +} \ No newline at end of file diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini index 01ba5b9119..54f252ec3a 100644 --- a/bin/OpenSimDefaults.ini +++ b/bin/OpenSimDefaults.ini @@ -909,7 +909,8 @@ AvatarFriction = 0.2 AvatarRestitution = 0.0 AvatarDensity = 60.0 - AvatarCapsuleRadius = 0.37 + AvatarCapsuleWidth = 0.6 + AvatarCapsuleDepth = 0.45 AvatarCapsuleHeight = 1.5 AvatarContactProcessingThreshold = 0.1 diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index 9c8cf005f9..2ae1c75e3d 100755 Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so index 0277cf1c1c..d4852a55bd 100755 Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll index 5675ff3bcf..77cf7e3f28 100755 Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so index 49396a82dc..4ec62b2a66 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ diff --git a/prebuild.xml b/prebuild.xml index cff14ce3fe..e13ce8bca0 100644 --- a/prebuild.xml +++ b/prebuild.xml @@ -3421,6 +3421,52 @@ + + + + ../../../bin/ + + + + + ../../../bin/ + + + + ../../../bin/ + + + + + + + + + + + + + + + + + + + + + + + + + + + +