From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../Physics/BulletSPlugin/BSTerrainManager.cs | 458 --------------------- 1 file changed, 458 deletions(-) delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs deleted file mode 100755 index 2e9db39..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ /dev/null @@ -1,458 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -// The physical implementation of the terrain is wrapped in this class. -public abstract class BSTerrainPhys : IDisposable -{ - public enum TerrainImplementation - { - Heightmap = 0, - Mesh = 1 - } - - public BSScene PhysicsScene { get; private set; } - // Base of the region in world coordinates. Coordinates inside the region are relative to this. - public Vector3 TerrainBase { get; private set; } - public uint ID { get; private set; } - - public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) - { - PhysicsScene = physicsScene; - TerrainBase = regionBase; - ID = id; - } - public abstract void Dispose(); - public abstract float GetTerrainHeightAtXYZ(Vector3 pos); - public abstract float GetWaterLevelAtXYZ(Vector3 pos); -} - -// ========================================================================================== -public sealed class BSTerrainManager : IDisposable -{ - static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; - - // These height values are fractional so the odd values will be - // noticable when debugging. - public const float HEIGHT_INITIALIZATION = 24.987f; - public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; - public const float HEIGHT_GETHEIGHT_RET = 24.765f; - public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; - - // If the min and max height are equal, we reduce the min by this - // amount to make sure that a bounding box is built for the terrain. - public const float HEIGHT_EQUAL_FUDGE = 0.2f; - - // Until the whole simulator is changed to pass us the region size, we rely on constants. - public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - - // The scene that I am part of - private BSScene PhysicsScene { get; set; } - - // The ground plane created to keep thing from falling to infinity. - private BulletBody m_groundPlane; - - // If doing mega-regions, if we're region zero we will be managing multiple - // region terrains since region zero does the physics for the whole mega-region. - private Dictionary m_terrains; - - // Flags used to know when to recalculate the height. - private bool m_terrainModified = false; - - // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. - // This is incremented before assigning to new region so it is the last ID allocated. - private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; - public uint HighestTerrainID { get {return m_terrainCount; } } - - // If doing mega-regions, this holds our offset from region zero of - // the mega-regions. "parentScene" points to the PhysicsScene of region zero. - private Vector3 m_worldOffset; - // If the parent region (region 0), this is the extent of the combined regions - // relative to the origin of region zero - private Vector3 m_worldMax; - private PhysicsScene MegaRegionParentPhysicsScene { get; set; } - - public BSTerrainManager(BSScene physicsScene) - { - PhysicsScene = physicsScene; - m_terrains = new Dictionary(); - - // Assume one region of default size - m_worldOffset = Vector3.Zero; - m_worldMax = new Vector3(DefaultRegionSize); - MegaRegionParentPhysicsScene = null; - } - - public void Dispose() - { - ReleaseGroundPlaneAndTerrain(); - } - - // Create the initial instance of terrain and the underlying ground plane. - // This is called from the initialization routine so we presume it is - // safe to call Bullet in real time. We hope no one is moving prims around yet. - public void CreateInitialGroundPlaneAndTerrain() - { - // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); - m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, - BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); - - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane); - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane); - // Ground plane does not move - PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); - // Everything collides with the ground plane. - m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(PhysicsScene); - - // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. - BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); - m_terrains.Add(Vector3.Zero, initialTerrain); - } - - // Release all the terrain structures we might have allocated - public void ReleaseGroundPlaneAndTerrain() - { - if (m_groundPlane.HasPhysicalBody) - { - if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) - { - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); - } - m_groundPlane.Clear(); - } - - ReleaseTerrain(); - } - - // Release all the terrain we have allocated - public void ReleaseTerrain() - { - lock (m_terrains) - { - foreach (KeyValuePair kvp in m_terrains) - { - kvp.Value.Dispose(); - } - m_terrains.Clear(); - } - } - - // The simulator wants to set a new heightmap for the terrain. - public void SetTerrain(float[] heightMap) { - float[] localHeightMap = heightMap; - // If there are multiple requests for changes to the same terrain between ticks, - // only do that last one. - PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() - { - if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) - { - // If a child of a mega-region, we shouldn't have any terrain allocated for us - ReleaseGroundPlaneAndTerrain(); - // If doing the mega-prim stuff and we are the child of the zero region, - // the terrain is added to our parent - if (MegaRegionParentPhysicsScene is BSScene) - { - DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", - BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( - BSScene.CHILDTERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); - } - } - else - { - // If not doing the mega-prim thing, just change the terrain - DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - - UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); - } - }); - } - - // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain - // based on the passed information. The 'id' should be either the terrain id or - // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. - // The latter feature is for creating child terrains for mega-regions. - // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new - // terrain shape is created and added to the body. - // This call is most often used to update the heightMap and parameters of the terrain. - // (The above does suggest that some simplification/refactoring is in order.) - // Called during taint-time. - private void UpdateTerrain(uint id, float[] heightMap, - Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) - { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", - BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); - - // Find high and low points of passed heightmap. - // The min and max passed in is usually the area objects can be in (maximum - // object height, for instance). The terrain wants the bounding box for the - // terrain so replace passed min and max Z with the actual terrain min/max Z. - float minZ = float.MaxValue; - float maxZ = float.MinValue; - foreach (float height in heightMap) - { - if (height < minZ) minZ = height; - if (height > maxZ) maxZ = height; - } - if (minZ == maxZ) - { - // If min and max are the same, reduce min a little bit so a good bounding box is created. - minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; - } - minCoords.Z = minZ; - maxCoords.Z = maxZ; - - Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); - - lock (m_terrains) - { - BSTerrainPhys terrainPhys; - if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) - { - // There is already a terrain in this spot. Free the old and build the new. - DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", - BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); - - // Remove old terrain from the collection - m_terrains.Remove(terrainRegionBase); - // Release any physical memory it may be using. - terrainPhys.Dispose(); - - if (MegaRegionParentPhysicsScene == null) - { - BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); - m_terrains.Add(terrainRegionBase, newTerrainPhys); - - m_terrainModified = true; - } - else - { - // It's possible that Combine() was called after this code was queued. - // If we are a child of combined regions, we don't create any terrain for us. - DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); - - // Get rid of any terrain that may have been allocated for us. - ReleaseGroundPlaneAndTerrain(); - - // I hate doing this, but just bail - return; - } - } - else - { - // We don't know about this terrain so either we are creating a new terrain or - // our mega-prim child is giving us a new terrain to add to the phys world - - // if this is a child terrain, calculate a unique terrain id - uint newTerrainID = id; - if (newTerrainID >= BSScene.CHILDTERRAIN_ID) - newTerrainID = ++m_terrainCount; - - DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", - BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); - BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); - m_terrains.Add(terrainRegionBase, newTerrainPhys); - - m_terrainModified = true; - } - } - } - - // TODO: redo terrain implementation selection to allow other base types than heightMap. - private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) - { - PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, PhysicsScene.RegionName, terrainRegionBase, - (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); - BSTerrainPhys newTerrainPhys = null; - switch ((int)BSParam.TerrainImplementation) - { - case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", - LogHeader, - (int)BSParam.TerrainImplementation, - BSParam.TerrainImplementation, - PhysicsScene.RegionName, terrainRegionBase); - break; - } - return newTerrainPhys; - } - - // Return 'true' of this position is somewhere in known physical terrain space - public bool IsWithinKnownTerrain(Vector3 pos) - { - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); - } - - // Given an X and Y, find the height of the terrain. - // Since we could be handling multiple terrains for a mega-region, - // the base of the region is calcuated assuming all regions are - // the same size and that is the default. - // Once the heightMapInfo is found, we have all the information to - // compute the offset into the array. - private float lastHeightTX = 999999f; - private float lastHeightTY = 999999f; - private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - public float GetTerrainHeightAtXYZ(Vector3 pos) - { - float tX = pos.X; - float tY = pos.Y; - // You'd be surprized at the number of times this routine is called - // with the same parameters as last time. - if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY)) - return lastHeight; - m_terrainModified = false; - - lastHeightTX = tX; - lastHeightTY = tY; - float ret = HEIGHT_GETHEIGHT_RET; - - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) - { - ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", - BSScene.DetailLogZero, pos, terrainBaseXYZ); - } - - lastHeight = ret; - return ret; - } - - public float GetWaterLevelAtXYZ(Vector3 pos) - { - float ret = WATER_HEIGHT_GETHEIGHT_RET; - - Vector3 terrainBaseXYZ; - BSTerrainPhys physTerrain; - if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) - { - ret = physTerrain.GetWaterLevelAtXYZ(pos); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", - LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); - } - return ret; - } - - // Given an address, return 'true' of there is a description of that terrain and output - // the descriptor class and the 'base' fo the addresses therein. - private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) - { - int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; - int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - - BSTerrainPhys physTerrain = null; - lock (m_terrains) - { - m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); - } - outTerrainBase = terrainBaseXYZ; - outPhysTerrain = physTerrain; - return (physTerrain != null); - } - - // Although no one seems to check this, I do support combining. - public bool SupportsCombining() - { - return true; - } - - // This routine is called two ways: - // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum - // extent of the combined regions. This is to inform the parent of the size - // of the combined regions. - // and one with 'offset' as the offset of the child region to the base region, - // 'pScene' pointing to the parent and 'extents' of zero. This informs the - // child of its relative base and new parent. - public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) - { - m_worldOffset = offset; - m_worldMax = extents; - MegaRegionParentPhysicsScene = pScene; - if (pScene != null) - { - // We are a child. - // We want m_worldMax to be the highest coordinate of our piece of terrain. - m_worldMax = offset + DefaultRegionSize; - } - DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", - BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); - } - - // Unhook all the combining that I know about. - public void UnCombine(PhysicsScene pScene) - { - // Just like ODE, we don't do anything yet. - DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); - } - - - private void DetailLog(string msg, params Object[] args) - { - PhysicsScene.PhysicsLogging.Write(msg, args); - } -} -} -- cgit v1.1