1725 lines
67 KiB
C#
1725 lines
67 KiB
C#
/*
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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 copyright
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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 OpenSim 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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*/
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using Axiom.Math;
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using Ode.NET;
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using OpenSim.Framework;
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using OpenSim.Framework.Console;
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using OpenSim.Region.Physics.Manager;
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//using OpenSim.Region.Physics.OdePlugin.Meshing;
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namespace OpenSim.Region.Physics.OdePlugin
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{
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/// <summary>
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/// ODE plugin
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/// </summary>
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public class OdePlugin : IPhysicsPlugin
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{
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//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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private CollisionLocker ode;
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private OdeScene _mScene;
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public OdePlugin()
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{
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ode = new CollisionLocker();
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}
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public bool Init()
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{
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return true;
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}
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public PhysicsScene GetScene()
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{
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if (_mScene == null)
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{
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_mScene = new OdeScene(ode);
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}
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return (_mScene);
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}
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public string GetName()
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{
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return ("OpenDynamicsEngine");
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}
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public void Dispose()
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{
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}
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}
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[Flags]
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public enum CollisionCategories : int
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{
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Disabled = 0,
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Geom = 0x00000001,
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Body = 0x00000002,
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Space = 0x00000004,
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Character = 0x00000008,
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Land = 0x00000010,
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Water = 0x00000020,
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Wind = 0x00000040,
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Sensor = 0x00000080,
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Selected = 0x00000100
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}
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public class OdeScene : PhysicsScene
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{
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private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
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CollisionLocker ode;
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private const uint m_regionWidth = Constants.RegionSize;
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private const uint m_regionHeight = Constants.RegionSize;
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private static float ODE_STEPSIZE = 0.020f;
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private static bool RENDER_FLAG = false;
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private static float metersInSpace = 29.9f;
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private int interpenetrations_before_disable = 35;
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private IntPtr contactgroup;
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private IntPtr LandGeom = (IntPtr) 0;
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private float[] _heightmap;
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private float[] _origheightmap;
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private d.NearCallback nearCallback;
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public d.TriCallback triCallback;
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public d.TriArrayCallback triArrayCallback;
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private List<OdeCharacter> _characters = new List<OdeCharacter>();
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private List<OdePrim> _prims = new List<OdePrim>();
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private List<OdePrim> _activeprims = new List<OdePrim>();
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private List<OdePrim> _taintedPrim = new List<OdePrim>();
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public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
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public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
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private d.ContactGeom[] contacts = new d.ContactGeom[30];
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private d.Contact contact;
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private d.Contact TerrainContact;
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private d.Contact AvatarMovementprimContact;
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private d.Contact AvatarMovementTerrainContact;
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private int m_physicsiterations = 10;
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private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
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private PhysicsActor PANull = new NullPhysicsActor();
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private float step_time = 0.0f;
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private int ms = 0;
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public IntPtr world;
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public IntPtr space;
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private IntPtr tmpSpace;
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// split static geometry collision handling into spaces of 30 meters
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public IntPtr[,] staticPrimspace = new IntPtr[(int) (300/metersInSpace),(int) (300/metersInSpace)];
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public static Object OdeLock = new Object();
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public IMesher mesher;
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/// <summary>
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/// Initiailizes the scene
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/// Sets many properties that ODE requires to be stable
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/// These settings need to be tweaked 'exactly' right or weird stuff happens.
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/// </summary>
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public OdeScene(CollisionLocker dode)
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{
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ode = dode;
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nearCallback = near;
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triCallback = TriCallback;
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triArrayCallback = TriArrayCallback;
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/*
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contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
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contact.surface.mu = 10.0f;
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contact.surface.bounce = 0.9f;
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contact.surface.soft_erp = 0.005f;
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contact.surface.soft_cfm = 0.00003f;
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*/
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// Centeral contact friction and bounce
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contact.surface.mu = 250.0f;
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contact.surface.bounce = 0.2f;
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// Terrain contact friction and Bounce
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// This is the *non* moving version. Use this when an avatar
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// isn't moving to keep it in place better
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TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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TerrainContact.surface.mu = 255.0f;
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TerrainContact.surface.bounce = 0.1f;
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TerrainContact.surface.soft_erp = 0.1025f;
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// Prim contact friction and bounce
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// THis is the *non* moving version of friction and bounce
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// Use this when an avatar comes in contact with a prim
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// and is moving
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AvatarMovementprimContact.surface.mu = 75.0f;
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AvatarMovementprimContact.surface.bounce = 0.1f;
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// Terrain contact friction bounce and various error correcting calculations
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// Use this when an avatar is in contact with the terrain and moving.
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AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
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AvatarMovementTerrainContact.surface.mu = 75.0f;
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AvatarMovementTerrainContact.surface.bounce = 0.1f;
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AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;
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lock (OdeLock)
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{
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// Creat the world and the first space
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world = d.WorldCreate();
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space = d.HashSpaceCreate(IntPtr.Zero);
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d.HashSpaceSetLevels(space, -4, 128);
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contactgroup = d.JointGroupCreate(0);
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//contactgroup
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// Set the gravity,, don't disable things automatically (we set it explicitly on some things)
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d.WorldSetGravity(world, 0.0f, 0.0f, -9.8f);
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d.WorldSetAutoDisableFlag(world, false);
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d.WorldSetContactSurfaceLayer(world, 0.001f);
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// Set how many steps we go without running collision testing
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// This is in addition to the step size.
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// Essentially Steps * m_physicsiterations
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d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
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///d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
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}
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// zero out a heightmap array float array (single dimention [flattened]))
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_heightmap = new float[514*514];
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// Zero out the prim spaces array (we split our space into smaller spaces so
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// we can hit test less.
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for (int i = 0; i < staticPrimspace.GetLength(0); i++)
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{
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for (int j = 0; j < staticPrimspace.GetLength(1); j++)
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{
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staticPrimspace[i, j] = IntPtr.Zero;
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}
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}
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}
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public void starttiming()
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{
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ms = Environment.TickCount;
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}
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public int stoptiming()
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{
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return Environment.TickCount - ms;
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}
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// Initialize the mesh plugin
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public override void Initialise(IMesher meshmerizer)
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{
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mesher = meshmerizer;
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}
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internal void waitForSpaceUnlock(IntPtr space)
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{
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while (d.SpaceLockQuery(space))
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{
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}
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}
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/// <summary>
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/// Debug space message for printing the space that a prim/avatar is in.
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/// </summary>
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/// <param name="pos"></param>
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/// <returns>Returns which split up space the given position is in.</returns>
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public string whichspaceamIin(PhysicsVector pos)
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{
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return calculateSpaceForGeom(pos).ToString();
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}
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/// <summary>
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/// This is our near callback. A geometry is near a body
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/// </summary>
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/// <param name="space">The space that contains the geoms. Remember, spaces are also geoms</param>
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/// <param name="g1">a geometry or space</param>
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/// <param name="g2">another geometry or space</param>
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private void near(IntPtr space, IntPtr g1, IntPtr g2)
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{
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// no lock here! It's invoked from within Simulate(), which is thread-locked
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// Test if we're collidng a geom with a space.
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// If so we have to drill down into the space recursively
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if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
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{
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if (g1 == (IntPtr)0 || g2 == (IntPtr)0)
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return;
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// Separating static prim geometry spaces.
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// We'll be calling near recursivly if one
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// of them is a space to find all of the
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// contact points in the space
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try
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{
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d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
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}
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catch (System.AccessViolationException)
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{
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m_log.Warn("[PHYSICS]: Unable to collide test a space");
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return;
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}
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//Colliding a space or a geom with a space or a geom. so drill down
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//Collide all geoms in each space..
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//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
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//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
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}
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else
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{
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// Colliding Geom To Geom
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// This portion of the function 'was' blatantly ripped off from BoxStack.cs
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if (g1 == (IntPtr)0 || g2 == (IntPtr)0)
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return;
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IntPtr b1 = d.GeomGetBody(g1);
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IntPtr b2 = d.GeomGetBody(g2);
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if (g1 == g2)
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return; // Can't collide with yourself
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if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
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return;
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d.GeomClassID id = d.GeomGetClass(g1);
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String name1 = null;
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String name2 = null;
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if (!geom_name_map.TryGetValue(g1, out name1))
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{
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name1 = "null";
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}
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if (!geom_name_map.TryGetValue(g2, out name2))
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{
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name2 = "null";
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}
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//if (id == d.GeomClassId.TriMeshClass)
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//{
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// m_log.InfoFormat("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
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//}
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// Figure out how many contact points we have
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int count = 0;
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try
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{
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//m_log.Warn(g1.ToString() + "|" + g2.ToString());
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count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
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}
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catch (SEHException)
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{
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m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
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ode.drelease(world);
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base.TriggerPhysicsBasedRestart();
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}
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catch (System.AccessViolationException)
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{
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m_log.Warn("[PHYSICS]: Unable to collide test an object");
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return;
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}
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PhysicsActor p1;
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PhysicsActor p2;
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for (int i = 0; i < count; i++)
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{
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//m_log.Warn("[CCOUNT]: " + count);
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IntPtr joint;
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// If we're colliding with terrain, use 'TerrainContact' instead of contact.
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// allows us to have different settings
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if (!actor_name_map.TryGetValue(g1, out p1))
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{
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p1 = PANull;
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}
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if (!actor_name_map.TryGetValue(g2, out p2))
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{
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p2 = PANull;
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}
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// We only need to test p2 for 'jump crouch purposes'
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p2.IsColliding = true;
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switch (p1.PhysicsActorType)
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{
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case (int)ActorTypes.Agent:
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p2.CollidingObj = true;
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break;
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case (int)ActorTypes.Prim:
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if (p2.Velocity.X > 0 || p2.Velocity.Y > 0 || p2.Velocity.Z > 0)
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p2.CollidingObj = true;
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break;
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case (int)ActorTypes.Unknown:
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p2.CollidingGround = true;
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break;
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default:
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p2.CollidingGround = true;
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break;
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}
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// we don't want prim or avatar to explode
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#region InterPenetration Handling - Unintended physics explosions
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if (contacts[i].depth >= 0.08f)
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{
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//This is disabled at the moment only because it needs more tweaking
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//It will eventually be uncommented
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if (contacts[i].depth >= 1.00f)
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{
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//m_log.Debug("[PHYSICS]: " + contacts[i].depth.ToString());
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}
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//If you interpenetrate a prim with an agent
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if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
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p1.PhysicsActorType == (int) ActorTypes.Prim) ||
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(p1.PhysicsActorType == (int) ActorTypes.Agent &&
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p2.PhysicsActorType == (int) ActorTypes.Prim))
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{
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//contacts[i].depth = contacts[i].depth * 4.15f;
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/*
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if (p2.PhysicsActorType == (int) ActorTypes.Agent)
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{
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p2.CollidingObj = true;
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contacts[i].depth = 0.003f;
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p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 2.5f);
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OdeCharacter character = (OdeCharacter) p2;
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character.SetPidStatus(true);
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contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p1.Size.X / 2), contacts[i].pos.Y + (p1.Size.Y / 2), contacts[i].pos.Z + (p1.Size.Z / 2));
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}
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else
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{
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//contacts[i].depth = 0.0000000f;
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}
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if (p1.PhysicsActorType == (int) ActorTypes.Agent)
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{
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p1.CollidingObj = true;
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contacts[i].depth = 0.003f;
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p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 2.5f);
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contacts[i].pos = new d.Vector3(contacts[i].pos.X + (p2.Size.X / 2), contacts[i].pos.Y + (p2.Size.Y / 2), contacts[i].pos.Z + (p2.Size.Z / 2));
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OdeCharacter character = (OdeCharacter)p1;
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character.SetPidStatus(true);
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}
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else
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{
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//contacts[i].depth = 0.0000000f;
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}
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*/
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}
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// If you interpenetrate a prim with another prim
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if (p1.PhysicsActorType == (int) ActorTypes.Prim && p2.PhysicsActorType == (int) ActorTypes.Prim)
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{
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//OdePrim op1 = (OdePrim)p1;
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//OdePrim op2 = (OdePrim)p2;
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//op1.m_collisionscore++;
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//op2.m_collisionscore++;
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//if (op1.m_collisionscore > 8000 || op2.m_collisionscore > 8000)
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//{
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//op1.m_taintdisable = true;
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//AddPhysicsActorTaint(p1);
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//op2.m_taintdisable = true;
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//AddPhysicsActorTaint(p2);
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//}
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//if (contacts[i].depth >= 0.25f)
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//{
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// Don't collide, one or both prim will expld.
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//op1.m_interpenetrationcount++;
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//op2.m_interpenetrationcount++;
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//interpenetrations_before_disable = 200;
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//if (op1.m_interpenetrationcount >= interpenetrations_before_disable)
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//{
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//op1.m_taintdisable = true;
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//AddPhysicsActorTaint(p1);
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//}
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//if (op2.m_interpenetrationcount >= interpenetrations_before_disable)
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//{
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// op2.m_taintdisable = true;
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//AddPhysicsActorTaint(p2);
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//}
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//contacts[i].depth = contacts[i].depth / 8f;
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//contacts[i].normal = new d.Vector3(0, 0, 1);
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//}
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//if (op1.m_disabled || op2.m_disabled)
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//{
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//Manually disabled objects stay disabled
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//contacts[i].depth = 0f;
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//}
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}
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if (contacts[i].depth >= 1.00f)
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{
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//m_log.Info("[P]: " + contacts[i].depth.ToString());
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if ((p2.PhysicsActorType == (int) ActorTypes.Agent &&
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p1.PhysicsActorType == (int) ActorTypes.Unknown) ||
|
|
(p1.PhysicsActorType == (int) ActorTypes.Agent &&
|
|
p2.PhysicsActorType == (int) ActorTypes.Unknown))
|
|
{
|
|
if (p2.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
OdeCharacter character = (OdeCharacter) p2;
|
|
|
|
//p2.CollidingObj = true;
|
|
contacts[i].depth = 0.00000003f;
|
|
p2.Velocity = p2.Velocity + new PhysicsVector(0, 0, 0.5f);
|
|
contacts[i].pos =
|
|
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
|
contacts[i].pos.Y + (p1.Size.Y/2),
|
|
contacts[i].pos.Z + (p1.Size.Z/2));
|
|
character.SetPidStatus(true);
|
|
}
|
|
else
|
|
{
|
|
}
|
|
if (p1.PhysicsActorType == (int) ActorTypes.Agent)
|
|
{
|
|
OdeCharacter character = (OdeCharacter)p1;
|
|
|
|
//p2.CollidingObj = true;
|
|
contacts[i].depth = 0.00000003f;
|
|
p1.Velocity = p1.Velocity + new PhysicsVector(0, 0, 0.5f);
|
|
contacts[i].pos =
|
|
new d.Vector3(contacts[i].pos.X + (p1.Size.X/2),
|
|
contacts[i].pos.Y + (p1.Size.Y/2),
|
|
contacts[i].pos.Z + (p1.Size.Z/2));
|
|
character.SetPidStatus(true);
|
|
}
|
|
else
|
|
{
|
|
//contacts[i].depth = 0.0000000f;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
#endregion
|
|
|
|
if (contacts[i].depth >= 0f)
|
|
{
|
|
// If we're collidng against terrain
|
|
if (name1 == "Terrain" || name2 == "Terrain")
|
|
{
|
|
// If we're moving
|
|
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
|
|
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
|
|
{
|
|
// Use the movement terrain contact
|
|
AvatarMovementTerrainContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
|
|
}
|
|
else
|
|
{
|
|
// Use the non moving terrain contact
|
|
TerrainContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// we're colliding with prim or avatar
|
|
|
|
// check if we're moving
|
|
if ((p2.PhysicsActorType == (int) ActorTypes.Agent) &&
|
|
(Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
|
|
{
|
|
// Use the Movement prim contact
|
|
AvatarMovementprimContact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
|
|
}
|
|
else
|
|
{
|
|
// Use the non movement contact
|
|
contact.geom = contacts[i];
|
|
joint = d.JointCreateContact(world, contactgroup, ref contact);
|
|
}
|
|
}
|
|
d.JointAttach(joint, b1, b2);
|
|
}
|
|
|
|
if (count > 3)
|
|
{
|
|
// If there are more then 3 contact points, it's likely
|
|
// that we've got a pile of objects
|
|
//
|
|
// We don't want to send out hundreds of terse updates over and over again
|
|
// so lets throttle them and send them again after it's somewhat sorted out.
|
|
p2.ThrottleUpdates = true;
|
|
}
|
|
//System.Console.WriteLine(count.ToString());
|
|
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
}
|
|
}
|
|
}
|
|
private float GetTerrainHeightAtXY(float x, float y)
|
|
{
|
|
return (float)_origheightmap[(int)y * Constants.RegionSize + (int)x];
|
|
|
|
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is our collision testing routine in ODE
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
private void collision_optimized(float timeStep)
|
|
{
|
|
|
|
foreach (OdeCharacter chr in _characters)
|
|
{
|
|
// Reset the collision values to false
|
|
// since we don't know if we're colliding yet
|
|
|
|
chr.IsColliding = false;
|
|
chr.CollidingGround = false;
|
|
chr.CollidingObj = false;
|
|
|
|
// test the avatar's geometry for collision with the space
|
|
// This will return near and the space that they are the closest to
|
|
// And we'll run this again against the avatar and the space segment
|
|
// This will return with a bunch of possible objects in the space segment
|
|
// and we'll run it again on all of them.
|
|
try
|
|
{
|
|
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to space collide");
|
|
}
|
|
//float terrainheight = GetTerrainHeightAtXY(chr.Position.X, chr.Position.Y);
|
|
//if (chr.Position.Z + (chr.Velocity.Z * timeStep) < terrainheight + 10)
|
|
//{
|
|
//chr.Position.Z = terrainheight + 10.0f;
|
|
//forcedZ = true;
|
|
//}
|
|
}
|
|
|
|
|
|
// If the sim is running slow this frame,
|
|
// don't process collision for prim!
|
|
if (timeStep < (m_SkipFramesAtms/3))
|
|
{
|
|
foreach (OdePrim chr in _activeprims)
|
|
{
|
|
// This if may not need to be there.. it might be skipped anyway.
|
|
if (d.BodyIsEnabled(chr.Body) && (!chr.m_disabled))
|
|
{
|
|
try
|
|
{
|
|
d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to space collide");
|
|
}
|
|
//calculateSpaceForGeom(chr.Position)
|
|
//foreach (OdePrim ch2 in _prims)
|
|
/// should be a separate space -- lots of avatars will be N**2 slow
|
|
//{
|
|
//if (ch2.IsPhysical && d.BodyIsEnabled(ch2.Body))
|
|
//{
|
|
// Only test prim that are 0.03 meters away in one direction.
|
|
// This should be Optimized!
|
|
|
|
//if ((Math.Abs(ch2.Position.X - chr.Position.X) < 0.03) || (Math.Abs(ch2.Position.Y - chr.Position.Y) < 0.03) || (Math.Abs(ch2.Position.X - chr.Position.X) < 0.03))
|
|
//{
|
|
//d.SpaceCollide2(chr.prim_geom, ch2.prim_geom, IntPtr.Zero, nearCallback);
|
|
//}
|
|
//}
|
|
//}
|
|
}
|
|
try
|
|
{
|
|
d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
|
|
}
|
|
catch (AccessViolationException)
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to space collide");
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Everything is going slow, so we're skipping object to object collisions
|
|
// At least collide test against the ground.
|
|
foreach (OdePrim chr in _activeprims)
|
|
{
|
|
// This if may not need to be there.. it might be skipped anyway.
|
|
if (d.BodyIsEnabled(chr.Body))
|
|
{
|
|
// Collide test the prims with the terrain.. since if you don't do this,
|
|
// next frame, all of the physical prim in the scene will awaken and explode upwards
|
|
tmpSpace = calculateSpaceForGeom(chr.Position);
|
|
if (tmpSpace != (IntPtr) 0 && d.GeomIsSpace(tmpSpace))
|
|
d.SpaceCollide2(calculateSpaceForGeom(chr.Position), chr.prim_geom, IntPtr.Zero, nearCallback);
|
|
d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
OdeCharacter newAv = new OdeCharacter(avName, this, pos, ode, size);
|
|
_characters.Add(newAv);
|
|
return newAv;
|
|
}
|
|
|
|
public override void RemoveAvatar(PhysicsActor actor)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
((OdeCharacter) actor).Destroy();
|
|
_characters.Remove((OdeCharacter) actor);
|
|
}
|
|
}
|
|
|
|
public override void RemovePrim(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
OdePrim p = (OdePrim) prim;
|
|
|
|
p.setPrimForRemoval();
|
|
AddPhysicsActorTaint(prim);
|
|
//RemovePrimThreadLocked(p);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is called from within simulate but outside the locked portion
|
|
/// We need to do our own locking here
|
|
/// Essentially, we need to remove the prim from our space segment, whatever segment it's in.
|
|
///
|
|
/// If there are no more prim in the segment, we need to empty (spacedestroy)the segment and reclaim memory
|
|
/// that the space was using.
|
|
/// </summary>
|
|
/// <param name="prim"></param>
|
|
public void RemovePrimThreadLocked(OdePrim prim)
|
|
{
|
|
lock (ode)
|
|
{
|
|
if (prim.prim_geom != (IntPtr)0)
|
|
{
|
|
while (ode.lockquery())
|
|
{
|
|
}
|
|
ode.dlock(world);
|
|
//System.Threading.Thread.Sleep(20);
|
|
prim.ResetTaints();
|
|
|
|
|
|
if (prim.IsPhysical)
|
|
{
|
|
prim.disableBody();
|
|
}
|
|
// we don't want to remove the main space
|
|
|
|
// If the geometry is in the targetspace, remove it from the target space
|
|
//m_log.Warn(prim.m_targetSpace);
|
|
|
|
//if (prim.m_targetSpace != (IntPtr)0)
|
|
//{
|
|
if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
|
|
{
|
|
|
|
if (d.GeomIsSpace(prim.m_targetSpace))
|
|
{
|
|
waitForSpaceUnlock(prim.m_targetSpace);
|
|
d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
|
|
prim.m_targetSpace = (IntPtr) 0;
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
|
|
((OdePrim)prim).m_targetSpace.ToString());
|
|
}
|
|
|
|
}
|
|
//}
|
|
//m_log.Warn(prim.prim_geom);
|
|
try
|
|
{
|
|
if (prim.prim_geom != (IntPtr)0)
|
|
{
|
|
d.GeomDestroy(prim.prim_geom);
|
|
prim.prim_geom = (IntPtr)0;
|
|
}
|
|
else
|
|
{
|
|
m_log.Warn("[PHYSICS]: Unable to remove prim from physics scene");
|
|
}
|
|
|
|
}
|
|
catch (System.AccessViolationException)
|
|
{
|
|
m_log.Info("[PHYSICS]: Couldn't remove prim from physics scene, it was already be removed.");
|
|
}
|
|
_prims.Remove(prim);
|
|
|
|
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
|
|
//if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
|
|
//{
|
|
//if (!(prim.m_targetSpace.Equals(null)))
|
|
//{
|
|
//if (d.GeomIsSpace(prim.m_targetSpace))
|
|
//{
|
|
//waitForSpaceUnlock(prim.m_targetSpace);
|
|
//d.SpaceRemove(space, prim.m_targetSpace);
|
|
// free up memory used by the space.
|
|
//d.SpaceDestroy(prim.m_targetSpace);
|
|
//int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
|
|
//resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
|
|
//}
|
|
//else
|
|
//{
|
|
//m_log.Info("[Physics]: Invalid Scene passed to 'removeprim from scene':" +
|
|
//((OdePrim) prim).m_targetSpace.ToString());
|
|
//}
|
|
//}
|
|
//}
|
|
}
|
|
|
|
ode.dunlock(world);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Takes a space pointer and zeros out the array we're using to hold the spaces
|
|
/// </summary>
|
|
/// <param name="space"></param>
|
|
public void resetSpaceArrayItemToZero(IntPtr space)
|
|
{
|
|
for (int x = 0; x < staticPrimspace.GetLength(0); x++)
|
|
{
|
|
for (int y = 0; y < staticPrimspace.GetLength(1); y++)
|
|
{
|
|
if (staticPrimspace[x, y] == space)
|
|
staticPrimspace[x, y] = IntPtr.Zero;
|
|
}
|
|
}
|
|
}
|
|
|
|
public void resetSpaceArrayItemToZero(int arrayitemX, int arrayitemY)
|
|
{
|
|
staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Called when a static prim moves. Allocates a space for the prim based on it's position
|
|
/// </summary>
|
|
/// <param name="geom">the pointer to the geom that moved</param>
|
|
/// <param name="pos">the position that the geom moved to</param>
|
|
/// <param name="currentspace">a pointer to the space it was in before it was moved.</param>
|
|
/// <returns>a pointer to the new space it's in</returns>
|
|
public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
|
|
{
|
|
|
|
// Called from setting the Position and Size of an ODEPrim so
|
|
// it's already in locked space.
|
|
|
|
// we don't want to remove the main space
|
|
// we don't need to test physical here because this function should
|
|
// never be called if the prim is physical(active)
|
|
|
|
// All physical prim end up in the root space
|
|
System.Threading.Thread.Sleep(20);
|
|
if (currentspace != space)
|
|
{
|
|
if (d.SpaceQuery(currentspace, geom) && currentspace != (IntPtr) 0)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
d.SpaceRemove(currentspace, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() +
|
|
" Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
|
if (!(sGeomIsIn.Equals(null)))
|
|
{
|
|
if (sGeomIsIn != (IntPtr) 0)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(sGeomIsIn);
|
|
d.SpaceRemove(sGeomIsIn, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
sGeomIsIn.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
|
|
if (d.SpaceGetNumGeoms(currentspace) == 0)
|
|
{
|
|
if (currentspace != (IntPtr) 0)
|
|
{
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
waitForSpaceUnlock(space);
|
|
d.SpaceRemove(space, currentspace);
|
|
// free up memory used by the space.
|
|
|
|
d.SpaceDestroy(currentspace);
|
|
resetSpaceArrayItemToZero(currentspace);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
currentspace.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// this is a physical object that got disabled. ;.;
|
|
if (currentspace != (IntPtr)0 && geom != (IntPtr)0)
|
|
{
|
|
if (d.SpaceQuery(currentspace, geom))
|
|
{
|
|
|
|
if (d.GeomIsSpace(currentspace))
|
|
{
|
|
waitForSpaceUnlock(currentspace);
|
|
d.SpaceRemove(currentspace, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
currentspace.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
|
|
if (!(sGeomIsIn.Equals(null)))
|
|
{
|
|
if (sGeomIsIn != (IntPtr)0)
|
|
{
|
|
if (d.GeomIsSpace(sGeomIsIn))
|
|
{
|
|
waitForSpaceUnlock(sGeomIsIn);
|
|
d.SpaceRemove(sGeomIsIn, geom);
|
|
}
|
|
else
|
|
{
|
|
m_log.Info("[Physics]: Invalid Scene passed to 'recalculatespace':" +
|
|
sGeomIsIn.ToString() + " Geom:" + geom.ToString());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// The routines in the Position and Size sections do the 'inserting' into the space,
|
|
// so all we have to do is make sure that the space that we're putting the prim into
|
|
// is in the 'main' space.
|
|
int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
|
|
IntPtr newspace = calculateSpaceForGeom(pos);
|
|
|
|
if (newspace == IntPtr.Zero)
|
|
{
|
|
newspace = createprimspace(iprimspaceArrItem[0], iprimspaceArrItem[1]);
|
|
d.HashSpaceSetLevels(newspace, -4, 66);
|
|
}
|
|
|
|
return newspace;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Creates a new space at X Y
|
|
/// </summary>
|
|
/// <param name="iprimspaceArrItemX"></param>
|
|
/// <param name="iprimspaceArrItemY"></param>
|
|
/// <returns>A pointer to the created space</returns>
|
|
public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY)
|
|
{
|
|
// creating a new space for prim and inserting it into main space.
|
|
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
|
|
d.GeomSetCategoryBits(staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY], (int)CollisionCategories.Space);
|
|
waitForSpaceUnlock(space);
|
|
d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY]);
|
|
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
|
|
}
|
|
|
|
/// <summary>
|
|
/// Calculates the space the prim should be in by it's position
|
|
/// </summary>
|
|
/// <param name="pos"></param>
|
|
/// <returns>a pointer to the space. This could be a new space or reused space.</returns>
|
|
public IntPtr calculateSpaceForGeom(PhysicsVector pos)
|
|
{
|
|
IntPtr locationbasedspace =IntPtr.Zero;
|
|
|
|
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
|
|
//m_log.Info("[Physics]: Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
|
|
locationbasedspace = staticPrimspace[xyspace[0], xyspace[1]];
|
|
|
|
//locationbasedspace = space;
|
|
return locationbasedspace;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Holds the space allocation logic
|
|
/// </summary>
|
|
/// <param name="pos"></param>
|
|
/// <returns>an array item based on the position</returns>
|
|
public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
|
|
{
|
|
int[] returnint = new int[2];
|
|
|
|
returnint[0] = (int) (pos.X/metersInSpace);
|
|
|
|
if (returnint[0] > ((int) (259f/metersInSpace)))
|
|
returnint[0] = ((int) (259f/metersInSpace));
|
|
if (returnint[0] < 0)
|
|
returnint[0] = 0;
|
|
|
|
returnint[1] = (int) (pos.Y/metersInSpace);
|
|
if (returnint[1] > ((int) (259f/metersInSpace)))
|
|
returnint[1] = ((int) (259f/metersInSpace));
|
|
if (returnint[1] < 0)
|
|
returnint[1] = 0;
|
|
|
|
|
|
return returnint;
|
|
}
|
|
|
|
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
|
|
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
|
|
{
|
|
PhysicsVector pos = new PhysicsVector();
|
|
pos.X = position.X;
|
|
pos.Y = position.Y;
|
|
pos.Z = position.Z;
|
|
PhysicsVector siz = new PhysicsVector();
|
|
siz.X = size.X;
|
|
siz.Y = size.Y;
|
|
siz.Z = size.Z;
|
|
Quaternion rot = new Quaternion();
|
|
rot.w = rotation.w;
|
|
rot.x = rotation.x;
|
|
rot.y = rotation.y;
|
|
rot.z = rotation.z;
|
|
|
|
|
|
|
|
OdePrim newPrim;
|
|
lock (OdeLock)
|
|
{
|
|
newPrim = new OdePrim(name, this, pos, siz, rot, mesh, pbs, isphysical, ode);
|
|
|
|
_prims.Add(newPrim);
|
|
}
|
|
|
|
|
|
return newPrim;
|
|
}
|
|
|
|
public void addActivePrim(OdePrim activatePrim)
|
|
{
|
|
// adds active prim.. (ones that should be iterated over in collisions_optimized
|
|
|
|
_activeprims.Add(activatePrim);
|
|
}
|
|
|
|
public void remActivePrim(OdePrim deactivatePrim)
|
|
{
|
|
_activeprims.Remove(deactivatePrim);
|
|
}
|
|
|
|
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
|
|
{
|
|
/* String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
m_log.InfoFormat("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
|
|
*/
|
|
return 1;
|
|
}
|
|
|
|
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
|
|
{
|
|
String name1 = null;
|
|
String name2 = null;
|
|
|
|
if (!geom_name_map.TryGetValue(trimesh, out name1))
|
|
{
|
|
name1 = "null";
|
|
}
|
|
|
|
if (!geom_name_map.TryGetValue(refObject, out name2))
|
|
{
|
|
name2 = "null";
|
|
}
|
|
|
|
// m_log.InfoFormat("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
|
|
|
|
d.Vector3 v0 = new d.Vector3();
|
|
d.Vector3 v1 = new d.Vector3();
|
|
d.Vector3 v2 = new d.Vector3();
|
|
|
|
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
|
|
// m_log.DebugFormat("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
|
|
|
|
return 1;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Routine to figure out if we need to mesh this prim with our mesher
|
|
/// </summary>
|
|
/// <param name="pbs"></param>
|
|
/// <returns></returns>
|
|
public bool needsMeshing(PrimitiveBaseShape pbs)
|
|
{
|
|
if (pbs.ProfileHollow != 0)
|
|
return true;
|
|
|
|
if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
|
|
return true;
|
|
|
|
if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
|
|
return true;
|
|
|
|
if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
|
|
return true;
|
|
|
|
if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
return true;
|
|
|
|
if (pbs.ProfileShape == ProfileShape.EquilateralTriangle)
|
|
return true;
|
|
|
|
return false;
|
|
}
|
|
|
|
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
|
PhysicsVector size, Quaternion rotation) //To be removed
|
|
{
|
|
return AddPrimShape(primName, pbs, position, size, rotation, false);
|
|
}
|
|
|
|
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
|
|
PhysicsVector size, Quaternion rotation, bool isPhysical)
|
|
{
|
|
PhysicsActor result;
|
|
IMesh mesh = null;
|
|
|
|
switch (pbs.ProfileShape)
|
|
{
|
|
case ProfileShape.Square:
|
|
/// support simple box & hollow box now; later, more shapes
|
|
if (needsMeshing(pbs))
|
|
{
|
|
mesh = mesher.CreateMesh(primName, pbs, size);
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
|
|
|
|
|
|
return result;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Called after our prim properties are set Scale, position etc.
|
|
/// We use this event queue like method to keep changes to the physical scene occuring in the threadlocked mutex
|
|
/// This assures us that we have no race conditions
|
|
/// </summary>
|
|
/// <param name="prim"></param>
|
|
public override void AddPhysicsActorTaint(PhysicsActor prim)
|
|
{
|
|
if (prim is OdePrim)
|
|
{
|
|
OdePrim taintedprim = ((OdePrim) prim);
|
|
if (!(_taintedPrim.Contains(taintedprim)))
|
|
_taintedPrim.Add(taintedprim);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// This is our main simulate loop
|
|
/// It's thread locked by a Mutex in the scene.
|
|
/// It holds Collisions, it instructs ODE to step through the physical reactions
|
|
/// It moves the objects around in memory
|
|
/// It calls the methods that report back to the object owners.. (scenepresence, SceneObjectGroup)
|
|
/// </summary>
|
|
/// <param name="timeStep"></param>
|
|
/// <returns></returns>
|
|
public override float Simulate(float timeStep)
|
|
{
|
|
float fps = 0;
|
|
|
|
step_time += timeStep;
|
|
|
|
|
|
// If We're loaded down by something else,
|
|
// or debugging with the Visual Studio project on pause
|
|
// skip a few frames to catch up gracefully.
|
|
// without shooting the physicsactors all over the place
|
|
|
|
|
|
if (step_time >= m_SkipFramesAtms)
|
|
{
|
|
// Instead of trying to catch up, it'll do 5 physics frames only
|
|
step_time = ODE_STEPSIZE;
|
|
m_physicsiterations = 5;
|
|
}
|
|
else
|
|
{
|
|
m_physicsiterations = 10;
|
|
}
|
|
lock (OdeLock)
|
|
{
|
|
// Process 10 frames if the sim is running normal..
|
|
// process 5 frames if the sim is running slow
|
|
try
|
|
{
|
|
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
|
|
}
|
|
catch (StackOverflowException)
|
|
{
|
|
m_log.Error("[PHYSICS]: The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
|
|
ode.drelease(world);
|
|
base.TriggerPhysicsBasedRestart();
|
|
}
|
|
|
|
int i = 0;
|
|
|
|
// Figure out the Frames Per Second we're going at.
|
|
//(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
|
|
fps = (step_time/ODE_STEPSIZE) * 1000;
|
|
|
|
while (step_time > 0.0f)
|
|
{
|
|
lock (ode)
|
|
{
|
|
if (!ode.lockquery())
|
|
{
|
|
ode.dlock(world);
|
|
try
|
|
{
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
if (actor != null)
|
|
actor.Move(timeStep);
|
|
}
|
|
|
|
collision_optimized(timeStep);
|
|
|
|
d.WorldQuickStep(world, ODE_STEPSIZE);
|
|
|
|
d.JointGroupEmpty(contactgroup);
|
|
ode.dunlock(world);
|
|
}
|
|
catch (Exception e)
|
|
{
|
|
m_log.Error("[PHYSICS]: " + e.Message.ToString() + e.TargetSite.ToString());
|
|
ode.dunlock(world);
|
|
}
|
|
|
|
step_time -= ODE_STEPSIZE;
|
|
i++;
|
|
}
|
|
else
|
|
{
|
|
fps = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
foreach (OdeCharacter actor in _characters)
|
|
{
|
|
if (actor != null)
|
|
actor.UpdatePositionAndVelocity();
|
|
}
|
|
|
|
if (!ode.lockquery())
|
|
{
|
|
bool processedtaints = false;
|
|
foreach (OdePrim prim in _taintedPrim)
|
|
{
|
|
if (prim.m_taintremove)
|
|
{
|
|
RemovePrimThreadLocked(prim);
|
|
}
|
|
|
|
prim.ProcessTaints(timeStep);
|
|
|
|
processedtaints = true;
|
|
prim.m_collisionscore = 0;
|
|
}
|
|
if (processedtaints)
|
|
_taintedPrim = new List<OdePrim>();
|
|
}
|
|
foreach (OdePrim prim in _activeprims)
|
|
{
|
|
prim.m_collisionscore = 0;
|
|
}
|
|
|
|
|
|
|
|
if (timeStep < 0.2f)
|
|
{
|
|
foreach (OdePrim actor in _activeprims)
|
|
{
|
|
if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
|
|
{
|
|
actor.UpdatePositionAndVelocity();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return fps;
|
|
}
|
|
|
|
public override void GetResults()
|
|
{
|
|
}
|
|
|
|
public override bool IsThreaded
|
|
{
|
|
// for now we won't be multithreaded
|
|
get { return (false); }
|
|
}
|
|
public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
|
|
{
|
|
float[] returnarr = new float[262144];
|
|
float[,] resultarr = new float[m_regionWidth, m_regionHeight];
|
|
|
|
// Filling out the array into it's multi-dimentional components
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr[y, x] = heightMap[y * m_regionWidth + x];
|
|
}
|
|
}
|
|
|
|
// Resize using Nearest Neighbour
|
|
|
|
// This particular way is quick but it only works on a multiple of the original
|
|
|
|
// The idea behind this method can be described with the following diagrams
|
|
// second pass and third pass happen in the same loop really.. just separated
|
|
// them to show what this does.
|
|
|
|
// First Pass
|
|
// ResultArr:
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
|
|
// Second Pass
|
|
// ResultArr2:
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
|
|
// Third pass fills in the blanks
|
|
// ResultArr2:
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
|
|
// X,Y = .
|
|
// X+1,y = ^
|
|
// X,Y+1 = *
|
|
// X+1,Y+1 = #
|
|
|
|
// Filling in like this;
|
|
// .*
|
|
// ^#
|
|
// 1st .
|
|
// 2nd *
|
|
// 3rd ^
|
|
// 4th #
|
|
// on single loop.
|
|
|
|
float[,] resultarr2 = new float[512, 512];
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr2[y * 2, x * 2] = resultarr[y, x];
|
|
|
|
if (y < m_regionHeight)
|
|
{
|
|
resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
|
|
}
|
|
if (x < m_regionWidth)
|
|
{
|
|
resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
|
|
}
|
|
if (x < m_regionWidth && y < m_regionHeight)
|
|
{
|
|
resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
}
|
|
|
|
//Flatten out the array
|
|
int i = 0;
|
|
for (int y = 0; y < 512; y++)
|
|
{
|
|
for (int x = 0; x < 512; x++)
|
|
{
|
|
if (resultarr2[y, x] <= 0)
|
|
returnarr[i] = 0.0000001f;
|
|
else
|
|
returnarr[i] = resultarr2[y, x];
|
|
|
|
i++;
|
|
}
|
|
}
|
|
|
|
return returnarr;
|
|
}
|
|
public float[] ResizeTerrain512Interpolation(float[] heightMap)
|
|
{
|
|
float[] returnarr = new float[262144];
|
|
float[,] resultarr = new float[m_regionWidth,m_regionHeight];
|
|
|
|
// Filling out the array into it's multi-dimentional components
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr[y, x] = heightMap[y*m_regionWidth + x];
|
|
}
|
|
}
|
|
|
|
// Resize using interpolation
|
|
|
|
// This particular way is quick but it only works on a multiple of the original
|
|
|
|
// The idea behind this method can be described with the following diagrams
|
|
// second pass and third pass happen in the same loop really.. just separated
|
|
// them to show what this does.
|
|
|
|
// First Pass
|
|
// ResultArr:
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
// 1,1,1,1,1,1
|
|
|
|
// Second Pass
|
|
// ResultArr2:
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
// ,,,,,,,,,,
|
|
// 1,,1,,1,,1,,1,,1,
|
|
|
|
// Third pass fills in the blanks
|
|
// ResultArr2:
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
// 1,1,1,1,1,1,1,1,1,1,1,1
|
|
|
|
// X,Y = .
|
|
// X+1,y = ^
|
|
// X,Y+1 = *
|
|
// X+1,Y+1 = #
|
|
|
|
// Filling in like this;
|
|
// .*
|
|
// ^#
|
|
// 1st .
|
|
// 2nd *
|
|
// 3rd ^
|
|
// 4th #
|
|
// on single loop.
|
|
|
|
float[,] resultarr2 = new float[512,512];
|
|
for (int y = 0; y < m_regionHeight; y++)
|
|
{
|
|
for (int x = 0; x < m_regionWidth; x++)
|
|
{
|
|
resultarr2[y*2, x*2] = resultarr[y, x];
|
|
|
|
if (y < m_regionHeight)
|
|
{
|
|
if (y + 1 < m_regionHeight)
|
|
{
|
|
if (x + 1 < m_regionWidth)
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
|
|
}
|
|
}
|
|
if (x < m_regionWidth)
|
|
{
|
|
if (x + 1 < m_regionWidth)
|
|
{
|
|
if (y + 1 < m_regionHeight)
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
if (x < m_regionWidth && y < m_regionHeight)
|
|
{
|
|
if ((x + 1 < m_regionWidth) && (y + 1 < m_regionHeight))
|
|
{
|
|
resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
|
|
resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
|
|
}
|
|
else
|
|
{
|
|
resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
//Flatten out the array
|
|
int i = 0;
|
|
for (int y = 0; y < 512; y++)
|
|
{
|
|
for (int x = 0; x < 512; x++)
|
|
{
|
|
if (resultarr2[y, x] <= 0)
|
|
returnarr[i] = 0.0000001f;
|
|
else
|
|
returnarr[i] = resultarr2[y, x];
|
|
|
|
i++;
|
|
}
|
|
}
|
|
|
|
return returnarr;
|
|
}
|
|
|
|
public override void SetTerrain(float[] heightMap)
|
|
{
|
|
// this._heightmap[i] = (double)heightMap[i];
|
|
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
|
|
// also, creating a buffer zone of one extra sample all around
|
|
_origheightmap = heightMap;
|
|
const uint heightmapWidth = m_regionWidth + 2;
|
|
const uint heightmapHeight = m_regionHeight + 2;
|
|
const uint heightmapWidthSamples = 2*m_regionWidth + 2;
|
|
const uint heightmapHeightSamples = 2*m_regionHeight + 2;
|
|
const float scale = 1.0f;
|
|
const float offset = 0.0f;
|
|
const float thickness = 0.2f;
|
|
const int wrap = 0;
|
|
|
|
//Double resolution
|
|
heightMap = ResizeTerrain512Interpolation(heightMap);
|
|
for (int x = 0; x < heightmapWidthSamples; x++)
|
|
{
|
|
for (int y = 0; y < heightmapHeightSamples; y++)
|
|
{
|
|
int xx = Util.Clip(x - 1, 0, 511);
|
|
int yy = Util.Clip(y - 1, 0, 511);
|
|
|
|
float val = heightMap[yy*512 + xx];
|
|
_heightmap[x*heightmapHeightSamples + y] = val;
|
|
}
|
|
}
|
|
|
|
lock (OdeLock)
|
|
{
|
|
if (!(LandGeom == (IntPtr) 0))
|
|
{
|
|
d.SpaceRemove(space, LandGeom);
|
|
}
|
|
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
|
|
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth, heightmapHeight,
|
|
(int) heightmapWidthSamples, (int) heightmapHeightSamples, scale,
|
|
offset, thickness, wrap);
|
|
d.GeomHeightfieldDataSetBounds(HeightmapData, m_regionWidth, m_regionHeight);
|
|
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
|
|
if (LandGeom != (IntPtr)0)
|
|
{
|
|
d.GeomSetCategoryBits(LandGeom, (int)(CollisionCategories.Land));
|
|
d.GeomSetCollideBits(LandGeom, (int)(CollisionCategories.Space));
|
|
|
|
}
|
|
geom_name_map[LandGeom] = "Terrain";
|
|
|
|
d.Matrix3 R = new d.Matrix3();
|
|
|
|
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
|
|
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
|
|
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
|
|
|
|
q1 = q1*q2;
|
|
//q1 = q1 * q3;
|
|
Vector3 v3 = new Vector3();
|
|
float angle = 0;
|
|
q1.ToAngleAxis(ref angle, ref v3);
|
|
|
|
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
|
|
d.GeomSetRotation(LandGeom, ref R);
|
|
d.GeomSetPosition(LandGeom, 128, 128, 0);
|
|
}
|
|
}
|
|
|
|
public override void DeleteTerrain()
|
|
{
|
|
}
|
|
|
|
public override void Dispose()
|
|
{
|
|
lock (OdeLock)
|
|
{
|
|
|
|
foreach (OdePrim prm in _prims)
|
|
{
|
|
RemovePrim(prm);
|
|
}
|
|
|
|
foreach (OdeCharacter act in _characters)
|
|
{
|
|
RemoveAvatar(act);
|
|
}
|
|
d.WorldDestroy(world);
|
|
//d.CloseODE();
|
|
}
|
|
}
|
|
}
|
|
}
|