ChODE Only: Corrected Heightmap load to iliminate crack at 255M. Added 'fence' option to prevent physical objects crossing region border.
kitto
parent
add47befac
commit
e2a521742a
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@ -180,6 +180,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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internal int m_material = (int)Material.Wood;
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private int frcount = 0; // Used to limit dynamics debug output to
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private int revcount = 0; // Reverse motion while > 0
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private IntPtr m_body = IntPtr.Zero;
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@ -1888,22 +1889,19 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void changemove(float timestep)
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{
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//Console.WriteLine("changemove for {0}", m_primName );
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//Console.WriteLine("changemove sing/root {0} to {1}", m_primName, _position );
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if (m_isphysical)
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{
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//Console.WriteLine("phys {0} {1} {2}", m_disabled, m_taintremove, childPrim);
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// if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
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if (!m_taintremove && !childPrim)
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{
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//Console.WriteLine("physOK");
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if (Body == IntPtr.Zero)
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enableBody();
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//Prim auto disable after 20 frames,
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//if you move it, re-enable the prim manually.
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if (_parent != null)
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{
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//Console.WriteLine("physChild");
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if (m_linkJoint != IntPtr.Zero)
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{
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d.JointDestroy(m_linkJoint);
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@ -1912,7 +1910,6 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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if (Body != IntPtr.Zero)
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{
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//Console.WriteLine("physNotIPZ");
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
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if (_parent != null)
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@ -1945,7 +1942,6 @@ Console.WriteLine(" JointCreateFixed");
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}
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else
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{
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//Console.WriteLine("NONphys");
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// string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
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// int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
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_parent_scene.waitForSpaceUnlock(m_targetSpace);
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@ -2382,9 +2378,7 @@ Console.WriteLine(" JointCreateFixed");
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if (IsPhysical)
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{
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if (Body != IntPtr.Zero)
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{
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d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
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}
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}
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//resetCollisionAccounting();
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@ -2394,31 +2388,9 @@ Console.WriteLine(" JointCreateFixed");
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public void UpdatePositionAndVelocity()
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{
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return; // moved to the Move() method
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return; // moved to the Move () method
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}
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/* No one uses this?
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public Matrix4 FromDMass(d.Mass pMass)
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{
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Matrix4 obj;
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obj.M11 = pMass.I.M00;
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obj.M12 = pMass.I.M01;
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obj.M13 = pMass.I.M02;
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obj.M14 = 0;
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obj.M21 = pMass.I.M10;
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obj.M22 = pMass.I.M11;
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obj.M23 = pMass.I.M12;
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obj.M24 = 0;
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obj.M31 = pMass.I.M20;
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obj.M32 = pMass.I.M21;
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obj.M33 = pMass.I.M22;
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obj.M34 = 0;
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obj.M41 = 0;
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obj.M42 = 0;
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obj.M43 = 0;
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obj.M44 = 1;
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return obj;
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}
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*/
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public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
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{
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obj.I.M00 = pMat[0, 0];
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@ -2996,44 +2968,114 @@ Console.WriteLine(" JointCreateFixed");
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float fx = 0;
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float fy = 0;
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float fz = 0;
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Vector3 linvel; // velocity applied, including any reversal
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int outside = 0;
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// If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
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// This is a temp patch until proper region crossing is developed.
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int failureLimit = _parent_scene.geomCrossingFailuresBeforeOutofbounds;
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int fence = _parent_scene.geomRegionFence;
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float border_limit = 0.05f; // original limit
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if (fence == 1) border_limit = 0.5f; // bounce point
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frcount++; // used to limit debug comment output
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if (frcount > 100)
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frcount = 0;
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if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims.
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if(revcount > 0) revcount--;
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if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // Only move root prims.
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{
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// Old public void UpdatePositionAndVelocity(), more accuratley calculated here
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// Old public void UpdatePositionAndVelocity(), more accuratley calculated here
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bool lastZeroFlag = _zeroFlag; // was it stopped
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d.Vector3 vec = d.BodyGetPosition(Body);
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d.Quaternion ori = d.BodyGetQuaternion(Body);
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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// d.Vector3 rotvel = d.BodyGetAngularVel(Body);
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d.Vector3 torque = d.BodyGetTorque(Body);
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_torque = new Vector3(torque.X, torque.Y, torque.Z);
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Vector3 l_position = Vector3.Zero;
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Quaternion l_orientation = Quaternion.Identity;
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m_lastposition = _position;
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m_lastorientation = _orientation;
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l_position.X = vec.X;
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l_position.Y = vec.Y;
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l_position.Z = vec.Z;
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l_orientation.X = ori.X;
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l_orientation.Y = ori.Y;
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l_orientation.Z = ori.Z;
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l_orientation.W = ori.W;
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m_lastposition = _position;
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_position = l_position;
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d.Quaternion ori = d.BodyGetQuaternion(Body);
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// Quaternion l_orientation = Quaternion.Identity;
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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m_lastorientation = _orientation;
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d.Vector3 vel = d.BodyGetLinearVel(Body);
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m_lastVelocity = _velocity;
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_velocity.X = vel.X;
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_velocity.Y = vel.Y;
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_velocity.Z = vel.Z;
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_acceleration = ((_velocity - m_lastVelocity) / timestep);
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d.Vector3 torque = d.BodyGetTorque(Body);
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_torque = new Vector3(torque.X, torque.Y, torque.Z);
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base.RequestPhysicsterseUpdate();
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//Console.WriteLine("Move {0} at {1}", m_primName, l_position);
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// Check if outside region horizontally
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if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) ||
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l_position.X < 0f ||
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l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) ||
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l_position.Y < 0f)
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// Check if outside region
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// In Scene.cs/CrossPrimGroupIntoNewRegion the object is checked for 0.1M from border!
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if (l_position.X > ((float)_parent_scene.WorldExtents.X - border_limit))
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{
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if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
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l_position.X = ((float)_parent_scene.WorldExtents.X - border_limit);
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outside = 1;
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}
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if (l_position.X < border_limit)
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{
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l_position.X = border_limit;
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outside = 2;
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}
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if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - border_limit))
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{
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l_position.Y = ((float)_parent_scene.WorldExtents.Y - border_limit);
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outside = 3;
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}
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if (l_position.Y < border_limit)
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{
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l_position.Y = border_limit;
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outside = 4;
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}
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if (outside > 0)
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{
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//Console.WriteLine(" fence = {0}",fence);
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//Console.WriteLine("Border {0}", l_position);
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if (fence == 1) // bounce object off boundary
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{
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if (revcount == 0)
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{
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if (outside < 3)
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{
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_velocity.X = -_velocity.X;
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}
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else
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{
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_velocity.Y = -_velocity.Y;
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}
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if (m_type != Vehicle.TYPE_NONE) Halt();
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_position = l_position;
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m_taintposition = _position;
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m_lastVelocity = _velocity;
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_acceleration = Vector3.Zero;
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
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d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
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base.RequestPhysicsterseUpdate();
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revcount = 25; // wait for object to move away from border
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}
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} // else old crossing mode
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else if (m_crossingfailures < failureLimit)
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{ // keep trying to cross?
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_position = l_position;
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//_parent_scene.remActivePrim(this);
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@ -3043,9 +3085,12 @@ Console.WriteLine(" JointCreateFixed");
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else
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{ // Too many tries
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if (_parent == null) base.RaiseOutOfBounds(l_position);
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//Console.WriteLine("ROOB 2");
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return; // Dont process any other motion?
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}
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} // end various methods
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} // end outside region horizontally
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if (l_position.Z < 0)
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{
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@ -3057,6 +3102,8 @@ Console.WriteLine(" JointCreateFixed");
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//IsPhysical = false;
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if (_parent == null) base.RaiseOutOfBounds(_position);
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//Console.WriteLine("ROOB 3");
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_acceleration.X = 0; // This stuff may stop client display but it has no
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_acceleration.Y = 0; // effect on the object in phys engine!
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@ -3081,10 +3128,9 @@ Console.WriteLine(" JointCreateFixed");
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if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
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&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
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&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
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&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large
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&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // KF 0.01 is far to large
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{
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_zeroFlag = true;
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//Console.WriteLine("ZFT 2");
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m_throttleUpdates = false;
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}
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else
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@ -3104,10 +3150,7 @@ Console.WriteLine(" JointCreateFixed");
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_acceleration.X = 0;
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_acceleration.Y = 0;
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_acceleration.Z = 0;
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//_orientation.w = 0f;
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//_orientation.X = 0f;
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//_orientation.Y = 0f;
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//_orientation.Z = 0f;
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m_rotationalVelocity.X = 0;
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m_rotationalVelocity.Y = 0;
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m_rotationalVelocity.Z = 0;
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@ -3132,26 +3175,6 @@ Console.WriteLine(" JointCreateFixed");
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base.RequestPhysicsterseUpdate();
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}
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}
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m_lastVelocity = _velocity;
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_position = l_position;
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_velocity.X = vel.X;
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_velocity.Y = vel.Y;
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_velocity.Z = vel.Z;
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// Why 2 calcs???
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// _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
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// _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
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// _velocity.Y - m_lastVelocity.Y / 0.1f,
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// _velocity.Z - m_lastVelocity.Z / 0.1f);
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_acceleration = ((_velocity - m_lastVelocity) / timestep);
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_orientation.X = ori.X;
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_orientation.Y = ori.Y;
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_orientation.Z = ori.Z;
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_orientation.W = ori.W;
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m_lastUpdateSent = false;
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if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
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{
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@ -3167,11 +3190,8 @@ Console.WriteLine(" JointCreateFixed");
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}
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m_lastposition = l_position;
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/// End of old UpdatePositionAndVelocity insert
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/// End UpdatePositionAndVelocity insert
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//if (!Acceleration.ApproxEquals(Vector3.Zero, 0.01f)) Console.WriteLine("Move " + m_primName + " Accel=" + Acceleration);
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// if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_type +
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// " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID);
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if (m_type != Vehicle.TYPE_NONE)
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{
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// get body attitude
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@ -3299,11 +3319,12 @@ Console.WriteLine(" JointCreateFixed");
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{ // not hovering, Gravity rules
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m_wLinObjectVel.Z = vel_now.Z;
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}
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linvel = m_wLinObjectVel;
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// Vehicle Linear Motion done =======================================
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// Apply velocity
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d.BodySetLinearVel(Body, m_wLinObjectVel.X, m_wLinObjectVel.Y, m_wLinObjectVel.Z);
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//if(frcount == 0) Console.WriteLine("LV {0}", linvel);
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d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
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// apply gravity force
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d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
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//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
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@ -3626,9 +3647,10 @@ Console.WriteLine(" JointCreateFixed");
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// react to the physics scene by moving it's position.
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// Avatar to Avatar collisions
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// Prim to avatar collisions
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d.Vector3 dlinvel = vel;
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d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
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d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
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d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
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d.BodyAddForce(Body, 0, 0, fz);
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//KF this prevents furthur motions return;
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}
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@ -224,6 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public float bodyPIDG = 25;
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public int geomCrossingFailuresBeforeOutofbounds = 5;
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public int geomRegionFence = 0;
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public float bodyMotorJointMaxforceTensor = 2;
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@ -447,6 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
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geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
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geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
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geomRegionFence = physicsconfig.GetInt("region_border_fence", 0);
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geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
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bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
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@ -3419,76 +3421,56 @@ namespace OpenSim.Region.Physics.OdePlugin
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public void SetTerrain(float[] heightMap, Vector3 pOffset)
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{
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// this._heightmap[i] = (double)heightMap[i];
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// dbm (danx0r) -- creating a buffer zone of one extra sample all around
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//_origheightmap = heightMap;
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uint regionsize = (uint) Constants.RegionSize; // visible region size eg. 256(M)
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uint heightmapWidth = regionsize + 1; // ODE map size 257 x 257 (Meters) (1 extra
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uint heightmapHeight = regionsize + 1;
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uint heightmapWidthSamples = (uint)regionsize + 2; // Sample file size, 258 x 258 samples
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uint heightmapHeightSamples = (uint)regionsize + 2;
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// Array of height samples for ODE
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float[] _heightmap;
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_heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
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// zero out a heightmap array float array (single dimension [flattened]))
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//if ((int)Constants.RegionSize == 256)
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// _heightmap = new float[514 * 514];
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//else
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_heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
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uint heightmapWidth = Constants.RegionSize + 1;
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uint heightmapHeight = Constants.RegionSize + 1;
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uint heightmapWidthSamples;
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uint heightmapHeightSamples;
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//if (((int)Constants.RegionSize) == 256)
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//{
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// heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
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// heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
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// heightmapWidth++;
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// heightmapHeight++;
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//}
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//else
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//{
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heightmapWidthSamples = (uint)Constants.RegionSize + 1;
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heightmapHeightSamples = (uint)Constants.RegionSize + 1;
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//}
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// Other ODE parameters
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const float scale = 1.0f;
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const float offset = 0.0f;
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const float thickness = 0.2f;
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const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
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const int wrap = 0;
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int regionsize = (int) Constants.RegionSize + 2;
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//Double resolution
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//if (((int)Constants.RegionSize) == 256)
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// heightMap = ResizeTerrain512Interpolation(heightMap);
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// if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
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// regionsize = 512;
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float hfmin = 2000;
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float hfmax = -2000;
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float hfmin = 2000f;
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float hfmax = -2000f;
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float minele = 0.0f; // Dont allow -ve heights
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for (int x = 0; x < heightmapWidthSamples; x++)
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uint x = 0;
|
||||
uint y = 0;
|
||||
uint xx = 0;
|
||||
uint yy = 0;
|
||||
|
||||
// load the height samples array from the heightMap
|
||||
for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
|
||||
{
|
||||
for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
|
||||
{
|
||||
for (int y = 0; y < heightmapHeightSamples; y++)
|
||||
{
|
||||
int xx = Util.Clip(x - 1, 0, regionsize - 1);
|
||||
int yy = Util.Clip(y - 1, 0, regionsize - 1);
|
||||
|
||||
|
||||
float val= heightMap[yy * (int)Constants.RegionSize + xx];
|
||||
_heightmap[x * ((int)Constants.RegionSize + 2) + y] = val;
|
||||
|
||||
hfmin = (val < hfmin) ? val : hfmin;
|
||||
hfmax = (val > hfmax) ? val : hfmax;
|
||||
}
|
||||
xx = x - 1;
|
||||
if (xx < 0) xx = 0;
|
||||
if (xx > (regionsize - 1)) xx = regionsize - 1;
|
||||
|
||||
yy = y - 1;
|
||||
if (yy < 0) yy = 0;
|
||||
if (yy > (regionsize - 1)) yy = regionsize - 1;
|
||||
// Input xx = 0 0 1 2 ..... 254 255 255 256 total in
|
||||
// Output x = 0 1 2 3 ..... 255 256 257 258 total out
|
||||
float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
|
||||
if (val < minele) val = minele;
|
||||
_heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
|
||||
hfmin = (val < hfmin) ? val : hfmin;
|
||||
hfmax = (val > hfmax) ? val : hfmax;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
lock (OdeLock)
|
||||
{
|
||||
IntPtr GroundGeom = IntPtr.Zero;
|
||||
|
|
@ -3504,19 +3486,17 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
d.SpaceRemove(space, GroundGeom);
|
||||
d.GeomDestroy(GroundGeom);
|
||||
}
|
||||
|
||||
}
|
||||
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
||||
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1,
|
||||
(int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale,
|
||||
offset, thickness, wrap);
|
||||
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
|
||||
heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
|
||||
(int)heightmapHeightSamples, scale, offset, thickness, wrap);
|
||||
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
|
||||
GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
||||
if (GroundGeom != IntPtr.Zero)
|
||||
{
|
||||
d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
|
||||
d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
|
||||
|
||||
}
|
||||
geom_name_map[GroundGeom] = "Terrain";
|
||||
|
||||
|
|
@ -3534,7 +3514,7 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
|
||||
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
|
||||
d.GeomSetRotation(GroundGeom, ref R);
|
||||
d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)) - 1, (pOffset.Y + ((int)Constants.RegionSize * 0.5f)) - 1, 0);
|
||||
d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
|
||||
IntPtr testGround = IntPtr.Zero;
|
||||
if (RegionTerrain.TryGetValue(pOffset, out testGround))
|
||||
{
|
||||
|
|
@ -3542,7 +3522,6 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
}
|
||||
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
|
||||
TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue