462 lines
20 KiB
C#
Executable File
462 lines
20 KiB
C#
Executable File
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Physics.Manager;
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using Nini.Config;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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// The physical implementation of the terrain is wrapped in this class.
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public abstract class BSTerrainPhys : IDisposable
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{
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public enum TerrainImplementation
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{
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Heightmap = 0,
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Mesh = 1
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}
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public BSScene PhysicsScene { get; private set; }
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// Base of the region in world coordinates. Coordinates inside the region are relative to this.
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public Vector3 TerrainBase { get; private set; }
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public uint ID { get; private set; }
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public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
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{
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PhysicsScene = physicsScene;
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TerrainBase = regionBase;
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ID = id;
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}
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public abstract void Dispose();
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public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
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public abstract float GetWaterLevelAtXYZ(Vector3 pos);
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}
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// ==========================================================================================
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public sealed class BSTerrainManager : IDisposable
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{
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static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
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// These height values are fractional so the odd values will be
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// noticable when debugging.
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public const float HEIGHT_INITIALIZATION = 24.987f;
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public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
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public const float HEIGHT_GETHEIGHT_RET = 24.765f;
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public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
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// If the min and max height are equal, we reduce the min by this
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// amount to make sure that a bounding box is built for the terrain.
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public const float HEIGHT_EQUAL_FUDGE = 0.2f;
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// Until the whole simulator is changed to pass us the region size, we rely on constants.
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public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
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// The scene that I am part of
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private BSScene PhysicsScene { get; set; }
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// The ground plane created to keep thing from falling to infinity.
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private BulletBody m_groundPlane;
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// If doing mega-regions, if we're region zero we will be managing multiple
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// region terrains since region zero does the physics for the whole mega-region.
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private Dictionary<Vector3, BSTerrainPhys> m_terrains;
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// Flags used to know when to recalculate the height.
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private bool m_terrainModified = false;
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// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
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// This is incremented before assigning to new region so it is the last ID allocated.
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private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
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public uint HighestTerrainID { get {return m_terrainCount; } }
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// If doing mega-regions, this holds our offset from region zero of
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// the mega-regions. "parentScene" points to the PhysicsScene of region zero.
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private Vector3 m_worldOffset;
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// If the parent region (region 0), this is the extent of the combined regions
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// relative to the origin of region zero
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private Vector3 m_worldMax;
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private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
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public BSTerrainManager(BSScene physicsScene)
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{
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PhysicsScene = physicsScene;
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m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
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// Assume one region of default size
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m_worldOffset = Vector3.Zero;
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m_worldMax = new Vector3(DefaultRegionSize);
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MegaRegionParentPhysicsScene = null;
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}
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public void Dispose()
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{
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ReleaseGroundPlaneAndTerrain();
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}
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// Create the initial instance of terrain and the underlying ground plane.
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// This is called from the initialization routine so we presume it is
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// safe to call Bullet in real time. We hope no one is moving prims around yet.
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public void CreateInitialGroundPlaneAndTerrain()
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{
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// The ground plane is here to catch things that are trying to drop to negative infinity
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BulletShape groundPlaneShape = new BulletShape(
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BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f,
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BSParam.TerrainCollisionMargin),
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BSPhysicsShapeType.SHAPE_GROUNDPLANE);
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m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
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Vector3.Zero, Quaternion.Identity));
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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// Ground plane does not move
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BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
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// Everything collides with the ground plane.
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m_groundPlane.collisionType = CollisionType.Groundplane;
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m_groundPlane.ApplyCollisionMask();
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// Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
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BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
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m_terrains.Add(Vector3.Zero, initialTerrain);
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}
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// Release all the terrain structures we might have allocated
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public void ReleaseGroundPlaneAndTerrain()
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{
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if (m_groundPlane.HasPhysicalBody)
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{
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if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
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{
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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}
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m_groundPlane.Clear();
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}
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ReleaseTerrain();
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}
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// Release all the terrain we have allocated
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public void ReleaseTerrain()
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{
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lock (m_terrains)
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{
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foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
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{
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kvp.Value.Dispose();
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}
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m_terrains.Clear();
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}
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}
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// The simulator wants to set a new heightmap for the terrain.
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public void SetTerrain(float[] heightMap) {
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float[] localHeightMap = heightMap;
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// If there are multiple requests for changes to the same terrain between ticks,
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// only do that last one.
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PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
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{
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if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
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{
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// If a child of a mega-region, we shouldn't have any terrain allocated for us
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ReleaseGroundPlaneAndTerrain();
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// If doing the mega-prim stuff and we are the child of the zero region,
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// the terrain is added to our parent
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if (MegaRegionParentPhysicsScene is BSScene)
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{
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DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
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BSScene.DetailLogZero, m_worldOffset, m_worldMax);
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((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
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BSScene.CHILDTERRAIN_ID, localHeightMap,
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m_worldOffset, m_worldOffset + DefaultRegionSize, true);
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}
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}
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else
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{
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// If not doing the mega-prim thing, just change the terrain
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DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
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UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
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m_worldOffset, m_worldOffset + DefaultRegionSize, true);
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}
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});
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}
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// If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
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// based on the passed information. The 'id' should be either the terrain id or
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// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
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// The latter feature is for creating child terrains for mega-regions.
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// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
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// terrain shape is created and added to the body.
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// This call is most often used to update the heightMap and parameters of the terrain.
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// (The above does suggest that some simplification/refactoring is in order.)
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// Called during taint-time.
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private void UpdateTerrain(uint id, float[] heightMap,
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Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
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{
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DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
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BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
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// Find high and low points of passed heightmap.
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// The min and max passed in is usually the area objects can be in (maximum
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// object height, for instance). The terrain wants the bounding box for the
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// terrain so replace passed min and max Z with the actual terrain min/max Z.
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float minZ = float.MaxValue;
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float maxZ = float.MinValue;
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foreach (float height in heightMap)
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{
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if (height < minZ) minZ = height;
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if (height > maxZ) maxZ = height;
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}
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if (minZ == maxZ)
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{
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// If min and max are the same, reduce min a little bit so a good bounding box is created.
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minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
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}
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minCoords.Z = minZ;
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maxCoords.Z = maxZ;
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Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
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lock (m_terrains)
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{
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BSTerrainPhys terrainPhys;
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if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
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{
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// There is already a terrain in this spot. Free the old and build the new.
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DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
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BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
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// Remove old terrain from the collection
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m_terrains.Remove(terrainRegionBase);
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// Release any physical memory it may be using.
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terrainPhys.Dispose();
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if (MegaRegionParentPhysicsScene == null)
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{
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BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
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m_terrains.Add(terrainRegionBase, newTerrainPhys);
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m_terrainModified = true;
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}
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else
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{
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// It's possible that Combine() was called after this code was queued.
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// If we are a child of combined regions, we don't create any terrain for us.
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DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
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// Get rid of any terrain that may have been allocated for us.
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ReleaseGroundPlaneAndTerrain();
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// I hate doing this, but just bail
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return;
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}
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}
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else
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{
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// We don't know about this terrain so either we are creating a new terrain or
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// our mega-prim child is giving us a new terrain to add to the phys world
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// if this is a child terrain, calculate a unique terrain id
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uint newTerrainID = id;
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if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
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newTerrainID = ++m_terrainCount;
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DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
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BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
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BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
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m_terrains.Add(terrainRegionBase, newTerrainPhys);
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m_terrainModified = true;
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}
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}
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}
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// TODO: redo terrain implementation selection to allow other base types than heightMap.
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private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
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{
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PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
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LogHeader, PhysicsScene.RegionName, terrainRegionBase,
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(BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
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BSTerrainPhys newTerrainPhys = null;
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switch ((int)BSParam.TerrainImplementation)
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{
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case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
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newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
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heightMap, minCoords, maxCoords);
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break;
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case (int)BSTerrainPhys.TerrainImplementation.Mesh:
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newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
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heightMap, minCoords, maxCoords);
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break;
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default:
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PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
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LogHeader,
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(int)BSParam.TerrainImplementation,
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BSParam.TerrainImplementation,
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PhysicsScene.RegionName, terrainRegionBase);
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break;
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}
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return newTerrainPhys;
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}
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// Return 'true' of this position is somewhere in known physical terrain space
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public bool IsWithinKnownTerrain(Vector3 pos)
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{
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Vector3 terrainBaseXYZ;
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BSTerrainPhys physTerrain;
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return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
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}
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// Given an X and Y, find the height of the terrain.
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// Since we could be handling multiple terrains for a mega-region,
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// the base of the region is calcuated assuming all regions are
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// the same size and that is the default.
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// Once the heightMapInfo is found, we have all the information to
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// compute the offset into the array.
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private float lastHeightTX = 999999f;
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private float lastHeightTY = 999999f;
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private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
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public float GetTerrainHeightAtXYZ(Vector3 pos)
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{
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float tX = pos.X;
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float tY = pos.Y;
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// You'd be surprized at the number of times this routine is called
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// with the same parameters as last time.
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if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
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return lastHeight;
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m_terrainModified = false;
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lastHeightTX = tX;
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lastHeightTY = tY;
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float ret = HEIGHT_GETHEIGHT_RET;
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Vector3 terrainBaseXYZ;
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BSTerrainPhys physTerrain;
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if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
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{
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ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
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}
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else
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{
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PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
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LogHeader, PhysicsScene.RegionName, tX, tY);
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DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
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BSScene.DetailLogZero, pos, terrainBaseXYZ);
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}
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lastHeight = ret;
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return ret;
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}
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public float GetWaterLevelAtXYZ(Vector3 pos)
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{
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float ret = WATER_HEIGHT_GETHEIGHT_RET;
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Vector3 terrainBaseXYZ;
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BSTerrainPhys physTerrain;
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if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
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{
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ret = physTerrain.GetWaterLevelAtXYZ(pos);
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}
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else
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{
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PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
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LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
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}
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return ret;
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}
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// Given an address, return 'true' of there is a description of that terrain and output
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// the descriptor class and the 'base' fo the addresses therein.
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private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
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{
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int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
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int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
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Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
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BSTerrainPhys physTerrain = null;
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lock (m_terrains)
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{
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m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
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}
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outTerrainBase = terrainBaseXYZ;
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outPhysTerrain = physTerrain;
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return (physTerrain != null);
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}
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// Although no one seems to check this, I do support combining.
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public bool SupportsCombining()
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{
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return true;
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}
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// This routine is called two ways:
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// One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
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// extent of the combined regions. This is to inform the parent of the size
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// of the combined regions.
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// and one with 'offset' as the offset of the child region to the base region,
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// 'pScene' pointing to the parent and 'extents' of zero. This informs the
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// child of its relative base and new parent.
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public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
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{
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m_worldOffset = offset;
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m_worldMax = extents;
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MegaRegionParentPhysicsScene = pScene;
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if (pScene != null)
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{
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// We are a child.
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// We want m_worldMax to be the highest coordinate of our piece of terrain.
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m_worldMax = offset + DefaultRegionSize;
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}
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DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
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BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
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}
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// Unhook all the combining that I know about.
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public void UnCombine(PhysicsScene pScene)
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{
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// Just like ODE, we don't do anything yet.
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DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
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}
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private void DetailLog(string msg, params Object[] args)
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{
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|
PhysicsScene.PhysicsLogging.Write(msg, args);
|
|
}
|
|
}
|
|
}
|