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authorkitto2010-04-04 22:57:32 -0400
committerkitto2010-04-04 22:57:32 -0400
commite2a521742a737aa54e43dd934c0a0d5f2e380e8f (patch)
tree8259c800deb55b3e42faac9760cf2bcd3d6b27af /OpenSim/Region/Physics
parentUpdate acceleration to 0 on no tphysical. (diff)
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ChODE Only: Corrected Heightmap load to iliminate crack at 255M. Added 'fence' option to prevent physical objects crossing region border.
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs202
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs111
2 files changed, 157 insertions, 156 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index e8894f7..67f8af5 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -180,6 +180,7 @@ namespace OpenSim.Region.Physics.OdePlugin
180 internal int m_material = (int)Material.Wood; 180 internal int m_material = (int)Material.Wood;
181 181
182 private int frcount = 0; // Used to limit dynamics debug output to 182 private int frcount = 0; // Used to limit dynamics debug output to
183 private int revcount = 0; // Reverse motion while > 0
183 184
184 private IntPtr m_body = IntPtr.Zero; 185 private IntPtr m_body = IntPtr.Zero;
185 186
@@ -1888,22 +1889,19 @@ namespace OpenSim.Region.Physics.OdePlugin
1888 1889
1889 public void changemove(float timestep) 1890 public void changemove(float timestep)
1890 { 1891 {
1891//Console.WriteLine("changemove for {0}", m_primName ); 1892//Console.WriteLine("changemove sing/root {0} to {1}", m_primName, _position );
1892
1893 if (m_isphysical) 1893 if (m_isphysical)
1894 { 1894 {
1895//Console.WriteLine("phys {0} {1} {2}", m_disabled, m_taintremove, childPrim); 1895//Console.WriteLine("phys {0} {1} {2}", m_disabled, m_taintremove, childPrim);
1896// if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits! 1896// if (!m_disabled && !m_taintremove && !childPrim) After one edit m_disabled is sometimes set, disabling further edits!
1897 if (!m_taintremove && !childPrim) 1897 if (!m_taintremove && !childPrim)
1898 { 1898 {
1899//Console.WriteLine("physOK");
1900 if (Body == IntPtr.Zero) 1899 if (Body == IntPtr.Zero)
1901 enableBody(); 1900 enableBody();
1902 //Prim auto disable after 20 frames, 1901 //Prim auto disable after 20 frames,
1903 //if you move it, re-enable the prim manually. 1902 //if you move it, re-enable the prim manually.
1904 if (_parent != null) 1903 if (_parent != null)
1905 { 1904 {
1906//Console.WriteLine("physChild");
1907 if (m_linkJoint != IntPtr.Zero) 1905 if (m_linkJoint != IntPtr.Zero)
1908 { 1906 {
1909 d.JointDestroy(m_linkJoint); 1907 d.JointDestroy(m_linkJoint);
@@ -1912,7 +1910,6 @@ namespace OpenSim.Region.Physics.OdePlugin
1912 } 1910 }
1913 if (Body != IntPtr.Zero) 1911 if (Body != IntPtr.Zero)
1914 { 1912 {
1915//Console.WriteLine("physNotIPZ");
1916 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z); 1913 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
1917 1914
1918 if (_parent != null) 1915 if (_parent != null)
@@ -1945,7 +1942,6 @@ Console.WriteLine(" JointCreateFixed");
1945 } 1942 }
1946 else 1943 else
1947 { 1944 {
1948//Console.WriteLine("NONphys");
1949 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position); 1945 // string primScenAvatarIn = _parent_scene.whichspaceamIin(_position);
1950 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position); 1946 // int[] arrayitem = _parent_scene.calculateSpaceArrayItemFromPos(_position);
1951 _parent_scene.waitForSpaceUnlock(m_targetSpace); 1947 _parent_scene.waitForSpaceUnlock(m_targetSpace);
@@ -2382,9 +2378,7 @@ Console.WriteLine(" JointCreateFixed");
2382 if (IsPhysical) 2378 if (IsPhysical)
2383 { 2379 {
2384 if (Body != IntPtr.Zero) 2380 if (Body != IntPtr.Zero)
2385 {
2386 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); 2381 d.BodySetLinearVel(Body, m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
2387 }
2388 } 2382 }
2389 2383
2390 //resetCollisionAccounting(); 2384 //resetCollisionAccounting();
@@ -2394,31 +2388,9 @@ Console.WriteLine(" JointCreateFixed");
2394 2388
2395 public void UpdatePositionAndVelocity() 2389 public void UpdatePositionAndVelocity()
2396 { 2390 {
2397 return; // moved to the Move() method 2391 return; // moved to the Move () method
2398 }
2399/* No one uses this?
2400 public Matrix4 FromDMass(d.Mass pMass)
2401 {
2402 Matrix4 obj;
2403 obj.M11 = pMass.I.M00;
2404 obj.M12 = pMass.I.M01;
2405 obj.M13 = pMass.I.M02;
2406 obj.M14 = 0;
2407 obj.M21 = pMass.I.M10;
2408 obj.M22 = pMass.I.M11;
2409 obj.M23 = pMass.I.M12;
2410 obj.M24 = 0;
2411 obj.M31 = pMass.I.M20;
2412 obj.M32 = pMass.I.M21;
2413 obj.M33 = pMass.I.M22;
2414 obj.M34 = 0;
2415 obj.M41 = 0;
2416 obj.M42 = 0;
2417 obj.M43 = 0;
2418 obj.M44 = 1;
2419 return obj;
2420 } 2392 }
2421*/ 2393
2422 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj) 2394 public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
2423 { 2395 {
2424 obj.I.M00 = pMat[0, 0]; 2396 obj.I.M00 = pMat[0, 0];
@@ -2996,44 +2968,114 @@ Console.WriteLine(" JointCreateFixed");
2996 float fx = 0; 2968 float fx = 0;
2997 float fy = 0; 2969 float fy = 0;
2998 float fz = 0; 2970 float fz = 0;
2971 Vector3 linvel; // velocity applied, including any reversal
2972 int outside = 0;
2973
2974 // If geomCrossingFailuresBeforeOutofbounds is set to 0 in OpenSim.ini then phys objects bounce off region borders.
2975 // This is a temp patch until proper region crossing is developed.
2976
2977 int failureLimit = _parent_scene.geomCrossingFailuresBeforeOutofbounds;
2978 int fence = _parent_scene.geomRegionFence;
2979
2980 float border_limit = 0.05f; // original limit
2981 if (fence == 1) border_limit = 0.5f; // bounce point
2999 2982
3000 frcount++; // used to limit debug comment output 2983 frcount++; // used to limit debug comment output
3001 if (frcount > 100) 2984 if (frcount > 100)
3002 frcount = 0; 2985 frcount = 0;
3003 2986
3004 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // KF: Only move root prims. 2987 if(revcount > 0) revcount--;
2988
2989 if (IsPhysical && (Body != IntPtr.Zero) && !m_isSelected && !childPrim) // Only move root prims.
3005 { 2990 {
3006 2991 // Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3007// Old public void UpdatePositionAndVelocity(), more accuratley calculated here
3008 bool lastZeroFlag = _zeroFlag; // was it stopped 2992 bool lastZeroFlag = _zeroFlag; // was it stopped
2993
3009 d.Vector3 vec = d.BodyGetPosition(Body); 2994 d.Vector3 vec = d.BodyGetPosition(Body);
3010 d.Quaternion ori = d.BodyGetQuaternion(Body);
3011 d.Vector3 vel = d.BodyGetLinearVel(Body);
3012 // d.Vector3 rotvel = d.BodyGetAngularVel(Body);
3013 d.Vector3 torque = d.BodyGetTorque(Body);
3014 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3015 Vector3 l_position = Vector3.Zero; 2995 Vector3 l_position = Vector3.Zero;
3016 Quaternion l_orientation = Quaternion.Identity;
3017
3018 m_lastposition = _position;
3019 m_lastorientation = _orientation;
3020
3021 l_position.X = vec.X; 2996 l_position.X = vec.X;
3022 l_position.Y = vec.Y; 2997 l_position.Y = vec.Y;
3023 l_position.Z = vec.Z; 2998 l_position.Z = vec.Z;
3024 l_orientation.X = ori.X; 2999 m_lastposition = _position;
3025 l_orientation.Y = ori.Y; 3000 _position = l_position;
3026 l_orientation.Z = ori.Z; 3001
3027 l_orientation.W = ori.W; 3002 d.Quaternion ori = d.BodyGetQuaternion(Body);
3003 // Quaternion l_orientation = Quaternion.Identity;
3004 _orientation.X = ori.X;
3005 _orientation.Y = ori.Y;
3006 _orientation.Z = ori.Z;
3007 _orientation.W = ori.W;
3008 m_lastorientation = _orientation;
3009
3010 d.Vector3 vel = d.BodyGetLinearVel(Body);
3011 m_lastVelocity = _velocity;
3012 _velocity.X = vel.X;
3013 _velocity.Y = vel.Y;
3014 _velocity.Z = vel.Z;
3015 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3016
3017 d.Vector3 torque = d.BodyGetTorque(Body);
3018 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3019
3020 base.RequestPhysicsterseUpdate();
3021
3028//Console.WriteLine("Move {0} at {1}", m_primName, l_position); 3022//Console.WriteLine("Move {0} at {1}", m_primName, l_position);
3029 3023
3030 // Check if outside region horizontally 3024 // Check if outside region
3031 if (l_position.X > ((int)_parent_scene.WorldExtents.X - 0.05f) || 3025 // In Scene.cs/CrossPrimGroupIntoNewRegion the object is checked for 0.1M from border!
3032 l_position.X < 0f || 3026 if (l_position.X > ((float)_parent_scene.WorldExtents.X - border_limit))
3033 l_position.Y > ((int)_parent_scene.WorldExtents.Y - 0.05f) || 3027 {
3034 l_position.Y < 0f) 3028 l_position.X = ((float)_parent_scene.WorldExtents.X - border_limit);
3029 outside = 1;
3030 }
3031
3032 if (l_position.X < border_limit)
3033 {
3034 l_position.X = border_limit;
3035 outside = 2;
3036 }
3037 if (l_position.Y > ((float)_parent_scene.WorldExtents.Y - border_limit))
3038 {
3039 l_position.Y = ((float)_parent_scene.WorldExtents.Y - border_limit);
3040 outside = 3;
3041 }
3042
3043 if (l_position.Y < border_limit)
3044 {
3045 l_position.Y = border_limit;
3046 outside = 4;
3047 }
3048
3049 if (outside > 0)
3035 { 3050 {
3036 if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) 3051//Console.WriteLine(" fence = {0}",fence);
3052
3053//Console.WriteLine("Border {0}", l_position);
3054 if (fence == 1) // bounce object off boundary
3055 {
3056 if (revcount == 0)
3057 {
3058 if (outside < 3)
3059 {
3060 _velocity.X = -_velocity.X;
3061 }
3062 else
3063 {
3064 _velocity.Y = -_velocity.Y;
3065 }
3066 if (m_type != Vehicle.TYPE_NONE) Halt();
3067 _position = l_position;
3068 m_taintposition = _position;
3069 m_lastVelocity = _velocity;
3070 _acceleration = Vector3.Zero;
3071 d.BodySetPosition(Body, _position.X, _position.Y, _position.Z);
3072 d.BodySetLinearVel(Body, _velocity.X, _velocity.Y, _velocity.Z);
3073 base.RequestPhysicsterseUpdate();
3074
3075 revcount = 25; // wait for object to move away from border
3076 }
3077 } // else old crossing mode
3078 else if (m_crossingfailures < failureLimit)
3037 { // keep trying to cross? 3079 { // keep trying to cross?
3038 _position = l_position; 3080 _position = l_position;
3039 //_parent_scene.remActivePrim(this); 3081 //_parent_scene.remActivePrim(this);
@@ -3043,9 +3085,12 @@ Console.WriteLine(" JointCreateFixed");
3043 else 3085 else
3044 { // Too many tries 3086 { // Too many tries
3045 if (_parent == null) base.RaiseOutOfBounds(l_position); 3087 if (_parent == null) base.RaiseOutOfBounds(l_position);
3088//Console.WriteLine("ROOB 2");
3089
3046 return; // Dont process any other motion? 3090 return; // Dont process any other motion?
3047 } 3091 } // end various methods
3048 } // end outside region horizontally 3092 } // end outside region horizontally
3093
3049 3094
3050 if (l_position.Z < 0) 3095 if (l_position.Z < 0)
3051 { 3096 {
@@ -3057,6 +3102,8 @@ Console.WriteLine(" JointCreateFixed");
3057 3102
3058 //IsPhysical = false; 3103 //IsPhysical = false;
3059 if (_parent == null) base.RaiseOutOfBounds(_position); 3104 if (_parent == null) base.RaiseOutOfBounds(_position);
3105//Console.WriteLine("ROOB 3");
3106
3060 3107
3061 _acceleration.X = 0; // This stuff may stop client display but it has no 3108 _acceleration.X = 0; // This stuff may stop client display but it has no
3062 _acceleration.Y = 0; // effect on the object in phys engine! 3109 _acceleration.Y = 0; // effect on the object in phys engine!
@@ -3081,10 +3128,9 @@ Console.WriteLine(" JointCreateFixed");
3081 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) 3128 if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
3082 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) 3129 && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
3083 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) 3130 && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
3084 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.0001)) // KF 0.01 is far to large 3131 && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, _orientation)) < 0.0001)) // KF 0.01 is far to large
3085 { 3132 {
3086 _zeroFlag = true; 3133 _zeroFlag = true;
3087//Console.WriteLine("ZFT 2");
3088 m_throttleUpdates = false; 3134 m_throttleUpdates = false;
3089 } 3135 }
3090 else 3136 else
@@ -3104,10 +3150,7 @@ Console.WriteLine(" JointCreateFixed");
3104 _acceleration.X = 0; 3150 _acceleration.X = 0;
3105 _acceleration.Y = 0; 3151 _acceleration.Y = 0;
3106 _acceleration.Z = 0; 3152 _acceleration.Z = 0;
3107 //_orientation.w = 0f; 3153
3108 //_orientation.X = 0f;
3109 //_orientation.Y = 0f;
3110 //_orientation.Z = 0f;
3111 m_rotationalVelocity.X = 0; 3154 m_rotationalVelocity.X = 0;
3112 m_rotationalVelocity.Y = 0; 3155 m_rotationalVelocity.Y = 0;
3113 m_rotationalVelocity.Z = 0; 3156 m_rotationalVelocity.Z = 0;
@@ -3132,26 +3175,6 @@ Console.WriteLine(" JointCreateFixed");
3132 base.RequestPhysicsterseUpdate(); 3175 base.RequestPhysicsterseUpdate();
3133 } 3176 }
3134 } 3177 }
3135
3136 m_lastVelocity = _velocity;
3137
3138 _position = l_position;
3139
3140 _velocity.X = vel.X;
3141 _velocity.Y = vel.Y;
3142 _velocity.Z = vel.Z;
3143// Why 2 calcs???
3144// _acceleration = ((_velocity - m_lastVelocity) / 0.1f);
3145// _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f,
3146// _velocity.Y - m_lastVelocity.Y / 0.1f,
3147// _velocity.Z - m_lastVelocity.Z / 0.1f);
3148
3149 _acceleration = ((_velocity - m_lastVelocity) / timestep);
3150
3151 _orientation.X = ori.X;
3152 _orientation.Y = ori.Y;
3153 _orientation.Z = ori.Z;
3154 _orientation.W = ori.W;
3155 m_lastUpdateSent = false; 3178 m_lastUpdateSent = false;
3156 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) 3179 if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
3157 { 3180 {
@@ -3167,11 +3190,8 @@ Console.WriteLine(" JointCreateFixed");
3167 } 3190 }
3168 m_lastposition = l_position; 3191 m_lastposition = l_position;
3169 3192
3170 /// End of old UpdatePositionAndVelocity insert 3193 /// End UpdatePositionAndVelocity insert
3171 3194
3172//if (!Acceleration.ApproxEquals(Vector3.Zero, 0.01f)) Console.WriteLine("Move " + m_primName + " Accel=" + Acceleration);
3173// if(frcount == 0) Console.WriteLine("Move " + m_primName + " VTyp " + m_type +
3174// " usePID=" + m_usePID + " seHover=" + m_useHoverPID + " useAPID=" + m_useAPID);
3175 if (m_type != Vehicle.TYPE_NONE) 3195 if (m_type != Vehicle.TYPE_NONE)
3176 { 3196 {
3177 // get body attitude 3197 // get body attitude
@@ -3299,11 +3319,12 @@ Console.WriteLine(" JointCreateFixed");
3299 { // not hovering, Gravity rules 3319 { // not hovering, Gravity rules
3300 m_wLinObjectVel.Z = vel_now.Z; 3320 m_wLinObjectVel.Z = vel_now.Z;
3301 } 3321 }
3302 3322 linvel = m_wLinObjectVel;
3303 3323
3304 // Vehicle Linear Motion done ======================================= 3324 // Vehicle Linear Motion done =======================================
3305 // Apply velocity 3325 // Apply velocity
3306 d.BodySetLinearVel(Body, m_wLinObjectVel.X, m_wLinObjectVel.Y, m_wLinObjectVel.Z); 3326//if(frcount == 0) Console.WriteLine("LV {0}", linvel);
3327 d.BodySetLinearVel(Body, linvel.X, linvel.Y, linvel.Z);
3307 // apply gravity force 3328 // apply gravity force
3308 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); 3329 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
3309//if(frcount == 0) Console.WriteLine("Grav {0}", grav); 3330//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
@@ -3626,9 +3647,10 @@ Console.WriteLine(" JointCreateFixed");
3626 // react to the physics scene by moving it's position. 3647 // react to the physics scene by moving it's position.
3627 // Avatar to Avatar collisions 3648 // Avatar to Avatar collisions
3628 // Prim to avatar collisions 3649 // Prim to avatar collisions
3650 d.Vector3 dlinvel = vel;
3629 3651
3630 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight); 3652 d.BodySetPosition(Body, pos.X, pos.Y, m_targetHoverHeight);
3631 d.BodySetLinearVel(Body, vel.X, vel.Y, 0); 3653 d.BodySetLinearVel(Body, dlinvel.X, dlinvel.Y, dlinvel.Z);
3632 d.BodyAddForce(Body, 0, 0, fz); 3654 d.BodyAddForce(Body, 0, 0, fz);
3633 //KF this prevents furthur motions return; 3655 //KF this prevents furthur motions return;
3634 } 3656 }
diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
index deb6164..79e2986 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
@@ -224,6 +224,7 @@ namespace OpenSim.Region.Physics.OdePlugin
224 public float bodyPIDG = 25; 224 public float bodyPIDG = 25;
225 225
226 public int geomCrossingFailuresBeforeOutofbounds = 5; 226 public int geomCrossingFailuresBeforeOutofbounds = 5;
227 public int geomRegionFence = 0;
227 228
228 public float bodyMotorJointMaxforceTensor = 2; 229 public float bodyMotorJointMaxforceTensor = 2;
229 230
@@ -447,6 +448,7 @@ namespace OpenSim.Region.Physics.OdePlugin
447 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3); 448 geomContactPointsStartthrottle = physicsconfig.GetInt("geom_contactpoints_start_throttling", 3);
448 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15); 449 geomUpdatesPerThrottledUpdate = physicsconfig.GetInt("geom_updates_before_throttled_update", 15);
449 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5); 450 geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 5);
451 geomRegionFence = physicsconfig.GetInt("region_border_fence", 0);
450 452
451 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f); 453 geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
452 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20); 454 bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
@@ -3419,76 +3421,56 @@ namespace OpenSim.Region.Physics.OdePlugin
3419 3421
3420 public void SetTerrain(float[] heightMap, Vector3 pOffset) 3422 public void SetTerrain(float[] heightMap, Vector3 pOffset)
3421 { 3423 {
3422 // this._heightmap[i] = (double)heightMap[i];
3423 // dbm (danx0r) -- creating a buffer zone of one extra sample all around
3424 //_origheightmap = heightMap;
3425 3424
3425 uint regionsize = (uint) Constants.RegionSize; // visible region size eg. 256(M)
3426
3427 uint heightmapWidth = regionsize + 1; // ODE map size 257 x 257 (Meters) (1 extra
3428 uint heightmapHeight = regionsize + 1;
3429
3430 uint heightmapWidthSamples = (uint)regionsize + 2; // Sample file size, 258 x 258 samples
3431 uint heightmapHeightSamples = (uint)regionsize + 2;
3432
3433 // Array of height samples for ODE
3426 float[] _heightmap; 3434 float[] _heightmap;
3435 _heightmap = new float[(heightmapWidthSamples * heightmapHeightSamples)]; // loaded samples 258 x 258
3427 3436
3428 // zero out a heightmap array float array (single dimension [flattened])) 3437 // Other ODE parameters
3429 //if ((int)Constants.RegionSize == 256)
3430 // _heightmap = new float[514 * 514];
3431 //else
3432
3433 _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
3434
3435 uint heightmapWidth = Constants.RegionSize + 1;
3436 uint heightmapHeight = Constants.RegionSize + 1;
3437
3438 uint heightmapWidthSamples;
3439
3440 uint heightmapHeightSamples;
3441
3442 //if (((int)Constants.RegionSize) == 256)
3443 //{
3444 // heightmapWidthSamples = 2 * (uint)Constants.RegionSize + 2;
3445 // heightmapHeightSamples = 2 * (uint)Constants.RegionSize + 2;
3446 // heightmapWidth++;
3447 // heightmapHeight++;
3448 //}
3449 //else
3450 //{
3451
3452 heightmapWidthSamples = (uint)Constants.RegionSize + 1;
3453 heightmapHeightSamples = (uint)Constants.RegionSize + 1;
3454 //}
3455
3456 const float scale = 1.0f; 3438 const float scale = 1.0f;
3457 const float offset = 0.0f; 3439 const float offset = 0.0f;
3458 const float thickness = 0.2f; 3440 const float thickness = 2.0f; // Was 0.2f, Larger appears to prevent Av fall-through
3459 const int wrap = 0; 3441 const int wrap = 0;
3460 3442
3461 int regionsize = (int) Constants.RegionSize + 2; 3443 float hfmin = 2000f;
3462 //Double resolution 3444 float hfmax = -2000f;
3463 //if (((int)Constants.RegionSize) == 256) 3445 float minele = 0.0f; // Dont allow -ve heights
3464 // heightMap = ResizeTerrain512Interpolation(heightMap);
3465
3466
3467 // if (((int)Constants.RegionSize) == 256 && (int)Constants.RegionSize == 256)
3468 // regionsize = 512;
3469
3470 float hfmin = 2000;
3471 float hfmax = -2000;
3472 3446
3473 for (int x = 0; x < heightmapWidthSamples; x++) 3447 uint x = 0;
3448 uint y = 0;
3449 uint xx = 0;
3450 uint yy = 0;
3451
3452 // load the height samples array from the heightMap
3453 for ( x = 0; x < heightmapWidthSamples; x++) // 0 to 257
3454 {
3455 for ( y = 0; y < heightmapHeightSamples; y++) // 0 to 257
3474 { 3456 {
3475 for (int y = 0; y < heightmapHeightSamples; y++) 3457 xx = x - 1;
3476 { 3458 if (xx < 0) xx = 0;
3477 int xx = Util.Clip(x - 1, 0, regionsize - 1); 3459 if (xx > (regionsize - 1)) xx = regionsize - 1;
3478 int yy = Util.Clip(y - 1, 0, regionsize - 1); 3460
3479 3461 yy = y - 1;
3480 3462 if (yy < 0) yy = 0;
3481 float val= heightMap[yy * (int)Constants.RegionSize + xx]; 3463 if (yy > (regionsize - 1)) yy = regionsize - 1;
3482 _heightmap[x * ((int)Constants.RegionSize + 2) + y] = val; 3464 // Input xx = 0 0 1 2 ..... 254 255 255 256 total in
3483 3465 // Output x = 0 1 2 3 ..... 255 256 257 258 total out
3484 hfmin = (val < hfmin) ? val : hfmin; 3466 float val= heightMap[(yy * regionsize) + xx]; // input from heightMap, <0-255 * 256> <0-255>
3485 hfmax = (val > hfmax) ? val : hfmax; 3467 if (val < minele) val = minele;
3486 } 3468 _heightmap[x * (regionsize + 2) + y] = val; // samples output to _heightmap, <0-257 * 258> <0-257>
3469 hfmin = (val < hfmin) ? val : hfmin;
3470 hfmax = (val > hfmax) ? val : hfmax;
3487 } 3471 }
3472 }
3488 3473
3489
3490
3491
3492 lock (OdeLock) 3474 lock (OdeLock)
3493 { 3475 {
3494 IntPtr GroundGeom = IntPtr.Zero; 3476 IntPtr GroundGeom = IntPtr.Zero;
@@ -3504,19 +3486,17 @@ namespace OpenSim.Region.Physics.OdePlugin
3504 d.SpaceRemove(space, GroundGeom); 3486 d.SpaceRemove(space, GroundGeom);
3505 d.GeomDestroy(GroundGeom); 3487 d.GeomDestroy(GroundGeom);
3506 } 3488 }
3507
3508 } 3489 }
3509 IntPtr HeightmapData = d.GeomHeightfieldDataCreate(); 3490 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
3510 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, heightmapWidth + 1, heightmapHeight + 1, 3491 d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0,
3511 (int)heightmapWidthSamples + 1, (int)heightmapHeightSamples + 1, scale, 3492 heightmapWidth, heightmapHeight, (int)heightmapWidthSamples,
3512 offset, thickness, wrap); 3493 (int)heightmapHeightSamples, scale, offset, thickness, wrap);
3513 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1); 3494 d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1, hfmax + 1);
3514 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1); 3495 GroundGeom = d.CreateHeightfield(space, HeightmapData, 1);
3515 if (GroundGeom != IntPtr.Zero) 3496 if (GroundGeom != IntPtr.Zero)
3516 { 3497 {
3517 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land)); 3498 d.GeomSetCategoryBits(GroundGeom, (int)(CollisionCategories.Land));
3518 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space)); 3499 d.GeomSetCollideBits(GroundGeom, (int)(CollisionCategories.Space));
3519
3520 } 3500 }
3521 geom_name_map[GroundGeom] = "Terrain"; 3501 geom_name_map[GroundGeom] = "Terrain";
3522 3502
@@ -3534,7 +3514,7 @@ namespace OpenSim.Region.Physics.OdePlugin
3534 3514
3535 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle); 3515 d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
3536 d.GeomSetRotation(GroundGeom, ref R); 3516 d.GeomSetRotation(GroundGeom, ref R);
3537 d.GeomSetPosition(GroundGeom, (pOffset.X + ((int)Constants.RegionSize * 0.5f)) - 1, (pOffset.Y + ((int)Constants.RegionSize * 0.5f)) - 1, 0); 3517 d.GeomSetPosition(GroundGeom, (pOffset.X + (regionsize * 0.5f)) - 0.5f, (pOffset.Y + (regionsize * 0.5f)) - 0.5f, 0);
3538 IntPtr testGround = IntPtr.Zero; 3518 IntPtr testGround = IntPtr.Zero;
3539 if (RegionTerrain.TryGetValue(pOffset, out testGround)) 3519 if (RegionTerrain.TryGetValue(pOffset, out testGround))
3540 { 3520 {
@@ -3542,7 +3522,6 @@ namespace OpenSim.Region.Physics.OdePlugin
3542 } 3522 }
3543 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom); 3523 RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
3544 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap); 3524 TerrainHeightFieldHeights.Add(GroundGeom,_heightmap);
3545
3546 } 3525 }
3547 } 3526 }
3548 3527
generated by cgit v1.1 at 2024-11-17 06:27:42 +0000