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-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs267
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diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
deleted file mode 100644
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--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager;
35
36using Nini.Config;
37using log4net;
38
39using OpenMetaverse;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin
42{
43public sealed class BSTerrainMesh : BSTerrainPhys
44{
45 static string LogHeader = "[BULLETSIM TERRAIN MESH]";
46
47 private float[] m_savedHeightMap;
48 int m_sizeX;
49 int m_sizeY;
50
51 BulletShape m_terrainShape;
52 BulletBody m_terrainBody;
53
54 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
55 : base(physicsScene, regionBase, id)
56 {
57 }
58
59 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
60 : base(physicsScene, regionBase, id)
61 {
62 }
63
64 // Create terrain mesh from a heightmap.
65 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
66 Vector3 minCoords, Vector3 maxCoords)
67 : base(physicsScene, regionBase, id)
68 {
69 int indicesCount;
70 int[] indices;
71 int verticesCount;
72 float[] vertices;
73
74 m_savedHeightMap = initialMap;
75
76 m_sizeX = (int)(maxCoords.X - minCoords.X);
77 m_sizeY = (int)(maxCoords.Y - minCoords.Y);
78
79 if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
80 m_sizeX, m_sizeY,
81 (float)m_sizeX, (float)m_sizeY,
82 Vector3.Zero, 1.0f,
83 out indicesCount, out indices, out verticesCount, out vertices))
84 {
85 // DISASTER!!
86 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
87 PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
88 // Something is very messed up and a crash is in our future.
89 return;
90 }
91 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
92 ID, indicesCount, indices.Length, verticesCount, vertices.Length);
93
94 m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
95 indicesCount, indices, verticesCount, vertices),
96 BSPhysicsShapeType.SHAPE_MESH);
97 if (!m_terrainShape.HasPhysicalShape)
98 {
99 // DISASTER!!
100 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
101 physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
102 // Something is very messed up and a crash is in our future.
103 return;
104 }
105
106 Vector3 pos = regionBase;
107 Quaternion rot = Quaternion.Identity;
108
109 m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
110 if (!m_terrainBody.HasPhysicalBody)
111 {
112 // DISASTER!!
113 physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
114 // Something is very messed up and a crash is in our future.
115 return;
116 }
117
118 // Set current terrain attributes
119 BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
120 BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
121 BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
122 BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
123
124 // Static objects are not very massive.
125 BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
126
127 // Put the new terrain to the world of physical objects
128 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
129
130 // Redo its bounding box now that it is in the world
131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
132
133 m_terrainBody.collisionType = CollisionType.Terrain;
134 m_terrainBody.ApplyCollisionMask();
135
136 // Make it so the terrain will not move or be considered for movement.
137 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
138 }
139
140 public override void Dispose()
141 {
142 if (m_terrainBody.HasPhysicalBody)
143 {
144 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
145 // Frees both the body and the shape.
146 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
147 }
148 }
149
150 public override float GetTerrainHeightAtXYZ(Vector3 pos)
151 {
152 // For the moment use the saved heightmap to get the terrain height.
153 // TODO: raycast downward to find the true terrain below the position.
154 float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
155
156 int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
157 try
158 {
159 ret = m_savedHeightMap[mapIndex];
160 }
161 catch
162 {
163 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
164 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
165 LogHeader, TerrainBase, pos);
166 ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
167 }
168 return ret;
169 }
170
171 // The passed position is relative to the base of the region.
172 public override float GetWaterLevelAtXYZ(Vector3 pos)
173 {
174 return PhysicsScene.SimpleWaterLevel;
175 }
176
177 // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
178 // Return 'true' if successfully created.
179 public static bool ConvertHeightmapToMesh(
180 BSScene physicsScene,
181 float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
182 float extentX, float extentY, // zero based range for output vertices
183 Vector3 extentBase, // base to be added to all vertices
184 float magnification, // number of vertices to create between heightMap coords
185 out int indicesCountO, out int[] indicesO,
186 out int verticesCountO, out float[] verticesO)
187 {
188 bool ret = false;
189
190 int indicesCount = 0;
191 int verticesCount = 0;
192 int[] indices = new int[0];
193 float[] vertices = new float[0];
194
195 // Simple mesh creation which assumes magnification == 1.
196 // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
197
198 // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
199 // from zero to <= sizeX). The triangle indices are then generated as two triangles
200 // per heightmap point. There are sizeX by sizeY of these squares. The extra row and
201 // column of vertices are used to complete the triangles of the last row and column
202 // of the heightmap.
203 try
204 {
205 // One vertice per heightmap value plus the vertices off the top and bottom edge.
206 int totalVertices = (sizeX + 1) * (sizeY + 1);
207 vertices = new float[totalVertices * 3];
208 int totalIndices = sizeX * sizeY * 6;
209 indices = new int[totalIndices];
210
211 float magX = (float)sizeX / extentX;
212 float magY = (float)sizeY / extentY;
213 physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
214 BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
215 float minHeight = float.MaxValue;
216 // Note that sizeX+1 vertices are created since there is land between this and the next region.
217 for (int yy = 0; yy <= sizeY; yy++)
218 {
219 for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
220 {
221 int offset = yy * sizeX + xx;
222 // Extend the height with the height from the last row or column
223 if (yy == sizeY) offset -= sizeX;
224 if (xx == sizeX) offset -= 1;
225 float height = heightMap[offset];
226 minHeight = Math.Min(minHeight, height);
227 vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
228 vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
229 vertices[verticesCount + 2] = height + extentBase.Z;
230 verticesCount += 3;
231 }
232 }
233 verticesCount = verticesCount / 3;
234
235 for (int yy = 0; yy < sizeY; yy++)
236 {
237 for (int xx = 0; xx < sizeX; xx++)
238 {
239 int offset = yy * (sizeX + 1) + xx;
240 // Each vertices is presumed to be the upper left corner of a box of two triangles
241 indices[indicesCount + 0] = offset;
242 indices[indicesCount + 1] = offset + 1;
243 indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
244 indices[indicesCount + 3] = offset + 1;
245 indices[indicesCount + 4] = offset + sizeX + 2;
246 indices[indicesCount + 5] = offset + sizeX + 1;
247 indicesCount += 6;
248 }
249 }
250
251 ret = true;
252 }
253 catch (Exception e)
254 {
255 physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
256 LogHeader, physicsScene.RegionName, extentBase, e);
257 }
258
259 indicesCountO = indicesCount;
260 indicesO = indices;
261 verticesCountO = verticesCount;
262 verticesO = vertices;
263
264 return ret;
265 }
266}
267}
generated by cgit v1.1 at 2024-12-20 19:29:39 +0000