Merge branch 'ubitwork'

5 files changed, 311 insertions, 129 deletions

diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs
index cc92484..c32cf38 100644
--- a/OpenSim/Region/Physics/Manager/IMesher.cs
+++ b/OpenSim/Region/Physics/Manager/IMesher.cs
@@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager
     {
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
         IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
+        IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical,bool convex);
     }
 
     // Values for level of detail to be passed to the mesher.
diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
index ba19db6..8a3b50b 100644
--- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs
+++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs
@@ -67,6 +67,11 @@ namespace OpenSim.Region.Physics.Manager
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+            return CreateMesh(primName, primShape, size, lod, false);
+        }
+
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
             // Remove the reference to the encoded JPEG2000 data so it can be GCed
diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
index 79e50d2..75fa1ef 100644
--- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs
@@ -717,6 +717,11 @@ namespace OpenSim.Region.Physics.Meshing
             return CreateMesh(primName, primShape, size, lod, false);
         }
 
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
+            return CreateMesh(primName, primShape, size, lod, false);
+        }
+
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
 #if SPAM
diff --git a/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
index 8cd8dcf..2938257 100644
--- a/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
+++ b/OpenSim/Region/Physics/UbitMeshing/HelperTypes.cs
@@ -270,116 +270,20 @@ public class Triangle
     public Vertex v2;
     public Vertex v3;
 
-    private float radius_square;
-    private float cx;
-    private float cy;
-
     public Triangle(Vertex _v1, Vertex _v2, Vertex _v3)
     {
         v1 = _v1;
         v2 = _v2;
         v3 = _v3;
-
-        CalcCircle();
-    }
-
-    public bool isInCircle(float x, float y)
-    {
-        float dx, dy;
-        float dd;
-
-        dx = x - cx;
-        dy = y - cy;
-
-        dd = dx*dx + dy*dy;
-        if (dd < radius_square)
-            return true;
-        else
-            return false;
     }
 
-    public bool isDegraded()
+    public Triangle(float _v1x,float _v1y,float _v1z,
+                    float _v2x,float _v2y,float _v2z,
+                    float _v3x,float _v3y,float _v3z)
     {
-        // This means, the vertices of this triangle are somewhat strange.
-        // They either line up or at least two of them are identical
-        return (radius_square == 0.0);
-    }
-
-    private void CalcCircle()
-    {
-        // Calculate the center and the radius of a circle given by three points p1, p2, p3
-        // It is assumed, that the triangles vertices are already set correctly
-        double p1x, p2x, p1y, p2y, p3x, p3y;
-
-        // Deviation of this routine:
-        // A circle has the general equation (M-p)^2=r^2, where M and p are vectors
-        // this gives us three equations f(p)=r^2, each for one point p1, p2, p3
-        // putting respectively two equations together gives two equations
-        // f(p1)=f(p2) and f(p1)=f(p3)
-        // bringing all constant terms to one side brings them to the form
-        // M*v1=c1 resp.M*v2=c2 where v1=(p1-p2) and v2=(p1-p3) (still vectors)
-        // and c1, c2 are scalars (Naming conventions like the variables below)
-        // Now using the equations that are formed by the components of the vectors
-        // and isolate Mx lets you make one equation that only holds My
-        // The rest is straight forward and eaasy :-)
-        //
-
-        /* helping variables for temporary results */
-        double c1, c2;
-        double v1x, v1y, v2x, v2y;
-
-        double z, n;
-
-        double rx, ry;
-
-        // Readout the three points, the triangle consists of
-        p1x = v1.X;
-        p1y = v1.Y;
-
-        p2x = v2.X;
-        p2y = v2.Y;
-
-        p3x = v3.X;
-        p3y = v3.Y;
-
-        /* calc helping values first */
-        c1 = (p1x*p1x + p1y*p1y - p2x*p2x - p2y*p2y)/2;
-        c2 = (p1x*p1x + p1y*p1y - p3x*p3x - p3y*p3y)/2;
-
-        v1x = p1x - p2x;
-        v1y = p1y - p2y;
-
-        v2x = p1x - p3x;
-        v2y = p1y - p3y;
-
-        z = (c1*v2x - c2*v1x);
-        n = (v1y*v2x - v2y*v1x);
-
-        if (n == 0.0) // This is no triangle, i.e there are (at least) two points at the same location
-        {
-            radius_square = 0.0f;
-            return;
-        }
-
-        cy = (float) (z/n);
-
-        if (v2x != 0.0)
-        {
-            cx = (float) ((c2 - v2y*cy)/v2x);
-        }
-        else if (v1x != 0.0)
-        {
-            cx = (float) ((c1 - v1y*cy)/v1x);
-        }
-        else
-        {
-            Debug.Assert(false, "Malformed triangle"); /* Both terms zero means nothing good */
-        }
-
-        rx = (p1x - cx);
-        ry = (p1y - cy);
-
-        radius_square = (float) (rx*rx + ry*ry);
+        v1 = new Vertex(_v1x, _v1y, _v1z);
+        v2 = new Vertex(_v2x, _v2y, _v2z);
+        v3 = new Vertex(_v3x, _v3y, _v3z);
     }
 
     public override String ToString()
diff --git a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
index c9c52c0..7667e91 100644
--- a/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
+++ b/OpenSim/Region/Physics/UbitMeshing/Meshmerizer.cs
@@ -41,6 +41,7 @@ using Nini.Config;
 using System.Reflection;
 using System.IO;
 using ComponentAce.Compression.Libs.zlib;
+using OpenSim.Region.Physics.ConvexDecompositionDotNet;
 
 namespace OpenSim.Region.Physics.Meshing
 {
@@ -256,7 +257,7 @@ namespace OpenSim.Region.Physics.Meshing
         /// <param name="size"></param>
         /// <param name="lod"></param>
         /// <returns></returns>
-        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
+        private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool convex)
         {
 //            m_log.DebugFormat(
 //                "[MESH]: Creating physics proxy for {0}, shape {1}",
@@ -272,7 +273,7 @@ namespace OpenSim.Region.Physics.Meshing
                     if (!useMeshiesPhysicsMesh)
                         return null;
 
-                    if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces))
+                    if (!GenerateCoordsAndFacesFromPrimMeshData(primName, primShape, size, out coords, out faces, convex))
                         return null;
                 }
                 else
@@ -296,22 +297,20 @@ namespace OpenSim.Region.Physics.Meshing
             int numCoords = coords.Count;
             int numFaces = faces.Count;
 
-            // Create the list of vertices
-            List<Vertex> vertices = new List<Vertex>();
-            for (int i = 0; i < numCoords; i++)
-            {
-                Coord c = coords[i];
-                vertices.Add(new Vertex(c.X, c.Y, c.Z));
-            }
-
             Mesh mesh = new Mesh();
             // Add the corresponding triangles to the mesh
             for (int i = 0; i < numFaces; i++)
             {
                 Face f = faces[i];
-                mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
+                mesh.Add(new Triangle(coords[f.v1].X, coords[f.v1].Y, coords[f.v1].Z,
+                                        coords[f.v2].X, coords[f.v2].Y, coords[f.v2].Z,
+                                        coords[f.v3].X, coords[f.v3].Y, coords[f.v3].Z));
             }
 
+
+//            mesh.DumpRaw("c:\\lixo", "lixo", "lixo");
+            mesh.DumpRaw(".", "lixo", "lixo");
+
             return mesh;
         }
 
@@ -325,10 +324,12 @@ namespace OpenSim.Region.Physics.Meshing
         /// <param name="faces">Faces are added to this list by the method.</param>
         /// <returns>true if coords and faces were successfully generated, false if not</returns>
         private bool GenerateCoordsAndFacesFromPrimMeshData(
-            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces)
+            string primName, PrimitiveBaseShape primShape, Vector3 size, out List<Coord> coords, out List<Face> faces, bool convex)
         {
 //            m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
 
+            bool usemesh = false;
+
             coords = new List<Coord>();
             faces = new List<Face>();
             OSD meshOsd = null;
@@ -365,14 +366,25 @@ namespace OpenSim.Region.Physics.Meshing
             {
                 OSDMap physicsParms = null;
                 OSDMap map = (OSDMap)meshOsd;
-                if (map.ContainsKey("physics_shape"))
-                    physicsParms = (OSDMap)map["physics_shape"]; // old asset format
-                else if (map.ContainsKey("physics_mesh"))
-                    physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
+                if (!convex)
+                {
+                    if (map.ContainsKey("physics_shape"))
+                        physicsParms = (OSDMap)map["physics_shape"]; // old asset format
+                    else if (map.ContainsKey("physics_mesh"))
+                        physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
+
+                    if (physicsParms != null)
+                        usemesh = true;
+                }
+                
+                if(!usemesh && (map.ContainsKey("physics_convex")))
+                        physicsParms = (OSDMap)map["physics_convex"];
+              
 
                 if (physicsParms == null)
                 {
-                    m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
+                    m_log.Warn("[MESH]: unknown mesh type");
                     return false;
                 }
 
@@ -416,19 +428,269 @@ namespace OpenSim.Region.Physics.Meshing
                     return false;
                 }
 
-                OSDArray decodedMeshOsdArray = null;
+                if (usemesh)
+                {
+                    OSDArray decodedMeshOsdArray = null;
 
-                // physics_shape is an array of OSDMaps, one for each submesh
-                if (decodedMeshOsd is OSDArray)
+                    // physics_shape is an array of OSDMaps, one for each submesh
+                    if (decodedMeshOsd is OSDArray)
+                    {
+                        //                            Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
+
+                        decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
+                        foreach (OSD subMeshOsd in decodedMeshOsdArray)
+                        {
+                            if (subMeshOsd is OSDMap)
+                                AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
+                        }
+                    }
+                }
+                else
                 {
-//                            Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
+                    OSDMap cmap = (OSDMap)decodedMeshOsd;
+                    if (cmap == null)
+                        return false;
+
+                    byte[] data;
+                    const float invMaxU16 = 1.0f / 65535f;
+                    int t1;
+                    int t2;
+                    int t3;
+                    int i;
+
+                    List<float3> vs = new List<float3>();
+
+                    float3 f3;
+                    PHullResult hullr = new PHullResult();
+
+                    Coord c;
+                    Face f;
+
+                    Vector3 range;
+                    Vector3 min;
+                    int nverts;
+                    int nindexs;
+
+                    if (cmap.ContainsKey("Max"))
+                        range = cmap["Max"].AsVector3();
+                    else
+                        range = new Vector3(0.5f, 0.5f, 0.5f);
+
+                    if (cmap.ContainsKey("Min"))
+                        min = cmap["Min"].AsVector3();
+                    else
+                        min = new Vector3(-0.5f, -0.5f, -0.5f);
+
+                    range = range - min;
+                    range *= invMaxU16;
+
+                    if (!convex && cmap.ContainsKey("HullList") && cmap.ContainsKey("Positions"))
+                    {
+                        List<int> hsizes = new List<int>();
+                        int totalpoints = 0;
+                        data = cmap["HullList"].AsBinary();
+                        for (i = 0; i < data.Length; i++)
+                        {
+                            t1 = data[i];
+                            if (t1 == 0)
+                                t1 = 256;
+                            totalpoints += t1;
+                            hsizes.Add(t1);
+                        }
+
+                        data = cmap["Positions"].AsBinary();
+                        int ptr = 0;
+                        int vertsoffset = 0;
+
+                        if (totalpoints == data.Length / 6) // 2 bytes per coord, 3 coords per point
+                        {
+                            foreach (int hullsize in hsizes)
+                            {
+                                for (i = 0; i < hullsize; i++ )
+                                {
+                                    t1 = data[ptr++];
+                                    t1 += data[ptr++] << 8;
+                                    t2 = data[ptr++];
+                                    t2 += data[ptr++] << 8;
+                                    t3 = data[ptr++];
+                                    t3 += data[ptr++] << 8;
+
+                                    f3 = new float3((t1 * range.X + min.X) * size.X,
+                                              (t2 * range.Y + min.Y) * size.Y,
+                                              (t3 * range.Z + min.Z) * size.Z);
+                                    vs.Add(f3);
+                                }
+
+                                if(hullsize <3)
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                if (hullsize <5)
+                                {
+                                    foreach (float3 point in vs)
+                                    {
+                                        c.X = point.x;
+                                        c.Y = point.y;
+                                        c.Z = point.z;
+                                        coords.Add(c);
+                                    }
+                                    f = new Face(vertsoffset, vertsoffset + 1, vertsoffset + 2);
+                                    faces.Add(f);
+
+                                    if (hullsize == 4)
+                                    {
+                                        // not sure about orientation..
+                                        f = new Face(vertsoffset, vertsoffset + 2, vertsoffset + 3);
+                                        faces.Add(f);
+                                        f = new Face(vertsoffset, vertsoffset + 3, vertsoffset + 1);
+                                        faces.Add(f);
+                                        f = new Face(vertsoffset + 3, vertsoffset + 2, vertsoffset + 1);
+                                        faces.Add(f);
+                                    }
+                                    vertsoffset += vs.Count;
+                                    vs.Clear(); 
+                                    continue;
+                                }
 
-                    decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
-                    foreach (OSD subMeshOsd in decodedMeshOsdArray)
+                                if (!HullUtils.ComputeHull(vs, ref hullr, 0, 0.0f))
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                nverts = hullr.Vertices.Count;
+                                nindexs = hullr.Indices.Count;
+
+                                if (nindexs % 3 != 0)
+                                {
+                                    vs.Clear();
+                                    continue;
+                                }
+
+                                for (i = 0; i < nverts; i++)
+                                {
+                                    c.X = hullr.Vertices[i].x;
+                                    c.Y = hullr.Vertices[i].y;
+                                    c.Z = hullr.Vertices[i].z;
+                                    coords.Add(c);
+                                }
+                                
+
+                                for (i = 0; i < nindexs; i += 3)
+                                {
+                                    t1 = hullr.Indices[i];
+                                    if (t1 > nverts)
+                                        break;
+                                    t2 = hullr.Indices[i + 1];
+                                    if (t2 > nverts)
+                                        break;
+                                    t3 = hullr.Indices[i + 2];
+                                    if (t3 > nverts)
+                                        break;
+                                    f = new Face(vertsoffset + t1, vertsoffset + t2, vertsoffset + t3);
+                                    faces.Add(f);
+                                }
+                                vertsoffset += nverts;
+                                vs.Clear();
+                            }
+                        }
+                        if (coords.Count > 0 && faces.Count > 0)
+                            return true;
+                       
+                    }
+
+                    vs.Clear();
+
+                    if (cmap.ContainsKey("BoundingVerts"))
                     {
-                        if (subMeshOsd is OSDMap)
-                            AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
+                        data = cmap["BoundingVerts"].AsBinary();
+
+                        for (i = 0; i < data.Length; )
+                        {
+                            t1 = data[i++];
+                            t1 += data[i++] << 8;
+                            t2 = data[i++];
+                            t2 += data[i++] << 8;
+                            t3 = data[i++];
+                            t3 += data[i++] << 8;
+
+                            f3 = new float3((t1 * range.X + min.X) * size.X,
+                                      (t2 * range.Y + min.Y) * size.Y,
+                                      (t3 * range.Z + min.Z) * size.Z);
+                            vs.Add(f3);
+                        }
+
+                        if (vs.Count < 3)
+                        {
+                            vs.Clear();
+                            return false;
+                        }
+
+                        if (vs.Count < 5)
+                        {
+                            foreach (float3 point in vs)
+                            {
+                                c.X = point.x;
+                                c.Y = point.y;
+                                c.Z = point.z;
+                                coords.Add(c);
+                            }
+                            f = new Face(0, 1, 2);
+                            faces.Add(f);
+
+                            if (vs.Count == 4)
+                            {
+                                // not sure about orientation..
+                                f = new Face(0, 2, 3);
+                                faces.Add(f);
+                                f = new Face(0, 3, 1);
+                                faces.Add(f);
+                                f = new Face( 3, 2, 1);
+                                faces.Add(f);
+                            }
+                            vs.Clear();
+                            return true;
+                        }
+
+                        if (!HullUtils.ComputeHull(vs, ref hullr, 0, 0.0f))
+                            return false;
+
+                        nverts = hullr.Vertices.Count;
+                        nindexs = hullr.Indices.Count;
+
+                        if (nindexs % 3 != 0)
+                            return false;
+
+                        for (i = 0; i < nverts; i++)
+                        {
+                            c.X = hullr.Vertices[i].x;
+                            c.Y = hullr.Vertices[i].y;
+                            c.Z = hullr.Vertices[i].z;
+                            coords.Add(c);
+                        }
+                        for (i = 0; i < nindexs; i += 3)
+                        {
+                            t1 = hullr.Indices[i];
+                            if (t1 > nverts)
+                                break;
+                            t2 = hullr.Indices[i + 1];
+                            if (t2 > nverts)
+                                break;
+                            t3 = hullr.Indices[i + 2];
+                            if (t3 > nverts)
+                                break;
+                            f = new Face(t1, t2, t3);
+                            faces.Add(f);
+                        }
+
+                        if (coords.Count > 0 && faces.Count > 0)
+                            return true;
                     }
+                    else
+                        return false;
+
                 }
             }
 
@@ -714,11 +976,16 @@ namespace OpenSim.Region.Physics.Meshing
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
         {
-            return CreateMesh(primName, primShape, size, lod, false);
+            return CreateMesh(primName, primShape, size, lod, false,false);
         }
 
         public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
         {
+            return CreateMesh(primName, primShape, size, lod, false,false);
+        }
+
+        public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool convex)
+        {
 #if SPAM
             m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
 #endif
@@ -736,7 +1003,7 @@ namespace OpenSim.Region.Physics.Meshing
             if (size.Y < 0.01f) size.Y = 0.01f;
             if (size.Z < 0.01f) size.Z = 0.01f;
 
-            mesh = CreateMeshFromPrimMesher(primName, primShape, size, lod);
+            mesh = CreateMeshFromPrimMesher(primName, primShape, size, lod,convex);
 
             if (mesh != null)
             {