1 files changed, 41 insertions, 30 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index dca7150..8244f02 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -88,11 +88,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             // Something is very messed up and a crash is in our future.
             return;
         }
+        PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 
+                                ID, indicesCount, indices.Length, verticesCount, vertices.Length);
 
-        m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
-                                        indicesCount, indices, verticesCount, vertices),
-                                        BSPhysicsShapeType.SHAPE_MESH);
-        if (m_terrainShape.ptr == IntPtr.Zero)
+        m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
+        if (!m_terrainShape.HasPhysicalShape)
         {
             // DISASTER!!
             PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
@@ -104,8 +104,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         Vector3 pos = regionBase;
         Quaternion rot = Quaternion.Identity;
 
-        m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
-        if (m_terrainBody.ptr == IntPtr.Zero)
+        m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
+        if (!m_terrainBody.HasPhysicalBody)
         {
             // DISASTER!!
             physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
@@ -114,39 +114,40 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         }
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
-        BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
+        PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
 
-        // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Put the new terrain to the world of physical objects
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
 
-        // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        // Redo its bounding box now that it is in the world
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
 
-        BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
-                            (uint)CollisionFilterGroups.TerrainFilter,
-                            (uint)CollisionFilterGroups.TerrainMask);
+        m_terrainBody.collisionType = CollisionType.Terrain;
+        m_terrainBody.ApplyCollisionMask(PhysicsScene);
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
-        if (m_terrainBody.ptr != IntPtr.Zero)
+        if (m_terrainBody.HasPhysicalBody)
         {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
-            BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
+            m_terrainBody.Clear();
+            m_terrainShape.Clear();
         }
     }
 
-    public override float GetHeightAtXYZ(Vector3 pos)
+    public override float GetTerrainHeightAtXYZ(Vector3 pos)
     {
         // For the moment use the saved heightmap to get the terrain height.
         // TODO: raycast downward to find the true terrain below the position.
@@ -167,6 +168,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         return ret;
     }
 
+    // The passed position is relative to the base of the region.
+    public override float GetWaterLevelAtXYZ(Vector3 pos)
+    {
+        return PhysicsScene.SimpleWaterLevel;
+    }
+
     // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
     // Return 'true' if successfully created.
     public static bool ConvertHeightmapToMesh(
@@ -188,6 +195,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         // Simple mesh creation which assumes magnification == 1.
         // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
 
+        // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
+        //    from zero to <= sizeX). The triangle indices are then generated as two triangles
+        //    per heightmap point. There are sizeX by sizeY of these squares. The extra row and
+        //    column of vertices are used to complete the triangles of the last row and column
+        //    of the heightmap.
         try
         {
             // One vertice per heightmap value plus the vertices off the top and bottom edge.
@@ -200,16 +212,18 @@ public sealed class BSTerrainMesh : BSTerrainPhys
             float magY = (float)sizeY / extentY;
             physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
                                     BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
+            float minHeight = float.MaxValue;
             // Note that sizeX+1 vertices are created since there is land between this and the next region.
             for (int yy = 0; yy <= sizeY; yy++)
             {
-                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we got through sizeX + 1 times
+                for (int xx = 0; xx <= sizeX; xx++)     // Hint: the "<=" means we go around sizeX + 1 times
                 {
                     int offset = yy * sizeX + xx;
-                    // Extend the height from the height from the last row or column
+                    // Extend the height with the height from the last row or column
                     if (yy == sizeY) offset -= sizeX;
                     if (xx == sizeX) offset -= 1;
                     float height = heightMap[offset];
+                    minHeight = Math.Min(minHeight, height);
                     vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
                     vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
                     vertices[verticesCount + 2] = height + extentBase.Z;
@@ -217,14 +231,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                 }
             }
             verticesCount = verticesCount / 3;
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", 
-                                            BSScene.DetailLogZero, verticesCount);
 
             for (int yy = 0; yy < sizeY; yy++)
             {
                 for (int xx = 0; xx < sizeX; xx++)
                 {
-                    int offset = yy * sizeX + xx;
+                    int offset = yy * (sizeX + 1) + xx;
                     // Each vertices is presumed to be the upper left corner of a box of two triangles
                     indices[indicesCount + 0] = offset;
                     indices[indicesCount + 1] = offset + 1;
@@ -235,8 +247,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
                     indicesCount += 6;
                 }
             }
-            physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}",   // DEEBUG DEBUG DEBUG
-                                                        LogHeader, indicesCount);                        // DEBUG
+
             ret = true;
         }
         catch (Exception e)