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author | Justin Clark-Casey (justincc) | 2012-11-22 03:01:26 +0000 |
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committer | Justin Clark-Casey (justincc) | 2012-11-22 03:01:26 +0000 |
commit | 33a4f07c4e4e071abe64694ac0e95681807dc57f (patch) | |
tree | 376c5038385b21164955bf1331646bd47db552df /OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | |
parent | Add regression test for a good request made to the asset service post handler. (diff) | |
parent | BulletSim: update DLLs and SOs. No functional changes. Only the parameter blo... (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 256 |
1 files changed, 256 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs new file mode 100755 index 0000000..3279b6f --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/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 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | |||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Framework; | ||
33 | using OpenSim.Region.CoreModules; | ||
34 | using OpenSim.Region.Physics.Manager; | ||
35 | |||
36 | using Nini.Config; | ||
37 | using log4net; | ||
38 | |||
39 | using OpenMetaverse; | ||
40 | |||
41 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
42 | { | ||
43 | public 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 | |||
92 | m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, | ||
93 | indicesCount, indices, verticesCount, vertices), | ||
94 | PhysicsShapeType.SHAPE_MESH); | ||
95 | if (m_terrainShape.ptr == IntPtr.Zero) | ||
96 | { | ||
97 | // DISASTER!! | ||
98 | PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); | ||
99 | physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); | ||
100 | // Something is very messed up and a crash is in our future. | ||
101 | return; | ||
102 | } | ||
103 | |||
104 | Vector3 pos = regionBase; | ||
105 | Quaternion rot = Quaternion.Identity; | ||
106 | |||
107 | m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); | ||
108 | if (m_terrainBody.ptr == IntPtr.Zero) | ||
109 | { | ||
110 | // DISASTER!! | ||
111 | physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); | ||
112 | // Something is very messed up and a crash is in our future. | ||
113 | return; | ||
114 | } | ||
115 | |||
116 | // Set current terrain attributes | ||
117 | BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); | ||
118 | BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | ||
119 | BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); | ||
120 | BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
121 | |||
122 | // Static objects are not very massive. | ||
123 | BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); | ||
124 | |||
125 | // Return the new terrain to the world of physical objects | ||
126 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
127 | |||
128 | // redo its bounding box now that it is in the world | ||
129 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
130 | |||
131 | BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, | ||
132 | (uint)CollisionFilterGroups.TerrainFilter, | ||
133 | (uint)CollisionFilterGroups.TerrainMask); | ||
134 | |||
135 | // Make it so the terrain will not move or be considered for movement. | ||
136 | BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
137 | } | ||
138 | |||
139 | public override void Dispose() | ||
140 | { | ||
141 | if (m_terrainBody.ptr != IntPtr.Zero) | ||
142 | { | ||
143 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
144 | // Frees both the body and the shape. | ||
145 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); | ||
146 | } | ||
147 | } | ||
148 | |||
149 | public override float GetHeightAtXYZ(Vector3 pos) | ||
150 | { | ||
151 | // For the moment use the saved heightmap to get the terrain height. | ||
152 | // TODO: raycast downward to find the true terrain below the position. | ||
153 | float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
154 | |||
155 | int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; | ||
156 | try | ||
157 | { | ||
158 | ret = m_savedHeightMap[mapIndex]; | ||
159 | } | ||
160 | catch | ||
161 | { | ||
162 | // Sometimes they give us wonky values of X and Y. Give a warning and return something. | ||
163 | PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", | ||
164 | LogHeader, TerrainBase, pos); | ||
165 | ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; | ||
166 | } | ||
167 | return ret; | ||
168 | } | ||
169 | |||
170 | // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). | ||
171 | // Return 'true' if successfully created. | ||
172 | public static bool ConvertHeightmapToMesh( | ||
173 | BSScene physicsScene, | ||
174 | float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap | ||
175 | float extentX, float extentY, // zero based range for output vertices | ||
176 | Vector3 extentBase, // base to be added to all vertices | ||
177 | float magnification, // number of vertices to create between heightMap coords | ||
178 | out int indicesCountO, out int[] indicesO, | ||
179 | out int verticesCountO, out float[] verticesO) | ||
180 | { | ||
181 | bool ret = false; | ||
182 | |||
183 | int indicesCount = 0; | ||
184 | int verticesCount = 0; | ||
185 | int[] indices = new int[0]; | ||
186 | float[] vertices = new float[0]; | ||
187 | |||
188 | // Simple mesh creation which assumes magnification == 1. | ||
189 | // TODO: do a more general solution that scales, adds new vertices and smoothes the result. | ||
190 | |||
191 | try | ||
192 | { | ||
193 | // One vertice per heightmap value plus the vertices off the top and bottom edge. | ||
194 | int totalVertices = (sizeX + 1) * (sizeY + 1); | ||
195 | vertices = new float[totalVertices * 3]; | ||
196 | int totalIndices = sizeX * sizeY * 6; | ||
197 | indices = new int[totalIndices]; | ||
198 | |||
199 | float magX = (float)sizeX / extentX; | ||
200 | float magY = (float)sizeY / extentY; | ||
201 | physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", | ||
202 | BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); | ||
203 | // Note that sizeX+1 vertices are created since there is land between this and the next region. | ||
204 | for (int yy = 0; yy <= sizeY; yy++) | ||
205 | { | ||
206 | for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times | ||
207 | { | ||
208 | int offset = yy * sizeX + xx; | ||
209 | // Extend the height from the height from the last row or column | ||
210 | if (yy == sizeY) offset -= sizeX; | ||
211 | if (xx == sizeX) offset -= 1; | ||
212 | float height = heightMap[offset]; | ||
213 | vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; | ||
214 | vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; | ||
215 | vertices[verticesCount + 2] = height + extentBase.Z; | ||
216 | verticesCount += 3; | ||
217 | } | ||
218 | } | ||
219 | verticesCount = verticesCount / 3; | ||
220 | physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", | ||
221 | BSScene.DetailLogZero, verticesCount); | ||
222 | |||
223 | for (int yy = 0; yy < sizeY; yy++) | ||
224 | { | ||
225 | for (int xx = 0; xx < sizeX; xx++) | ||
226 | { | ||
227 | int offset = yy * sizeX + xx; | ||
228 | // Each vertices is presumed to be the upper left corner of a box of two triangles | ||
229 | indices[indicesCount + 0] = offset; | ||
230 | indices[indicesCount + 1] = offset + 1; | ||
231 | indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column | ||
232 | indices[indicesCount + 3] = offset + 1; | ||
233 | indices[indicesCount + 4] = offset + sizeX + 2; | ||
234 | indices[indicesCount + 5] = offset + sizeX + 1; | ||
235 | indicesCount += 6; | ||
236 | } | ||
237 | } | ||
238 | physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG | ||
239 | LogHeader, indicesCount); // DEBUG | ||
240 | ret = true; | ||
241 | } | ||
242 | catch (Exception e) | ||
243 | { | ||
244 | physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", | ||
245 | LogHeader, physicsScene.RegionName, extentBase, e); | ||
246 | } | ||
247 | |||
248 | indicesCountO = indicesCount; | ||
249 | indicesO = indices; | ||
250 | verticesCountO = verticesCount; | ||
251 | verticesO = vertices; | ||
252 | |||
253 | return ret; | ||
254 | } | ||
255 | } | ||
256 | } | ||