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authorRobert Adams2013-03-18 23:58:21 -0700
committerRobert Adams2013-03-19 00:00:03 -0700
commit8360223fedc5a5521878806f40bdb0c3244241cc (patch)
treef06d6440a780a93f6269b7761c52b0a3b951588e /OpenSim
parentBulletSim: add terrain contact processing threshold parameter. Initialize con... (diff)
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BulletSim: code to generate a higher resolution terrain mesh. Parameter
TerrainMeshMagnification controls number of vertices generated per heightmap point. Default is 3.
Diffstat (limited to 'OpenSim')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs193
4 files changed, 189 insertions, 18 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 3a27d2c..77ea3ed 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -286,7 +286,7 @@ public override void SetShapeCollisionMargin(BulletShape shape, float margin)
286{ 286{
287 BulletShapeUnman shapeu = shape as BulletShapeUnman; 287 BulletShapeUnman shapeu = shape as BulletShapeUnman;
288 if (shapeu != null && shapeu.HasPhysicalShape) 288 if (shapeu != null && shapeu.HasPhysicalShape)
289 BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin); 289 BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
290} 290}
291 291
292public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) 292public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
@@ -1420,7 +1420,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
1420public static extern bool IsNativeShape2(IntPtr shape); 1420public static extern bool IsNativeShape2(IntPtr shape);
1421 1421
1422[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1422[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1423public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); 1423public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
1424 1424
1425[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1425[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1426public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); 1426public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 38596fa..5549984 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1201,8 +1201,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1201 1201
1202 VehicleAddForce(appliedGravity); 1202 VehicleAddForce(appliedGravity);
1203 1203
1204 VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", 1204 VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}",
1205 Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity); 1205 Prim.LocalID, m_VehicleGravity,
1206 Prim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
1206 } 1207 }
1207 1208
1208 // ======================================================================= 1209 // =======================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index cb0d929..4d89a88 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -88,6 +88,7 @@ public static class BSParam
88 public static bool ShouldRemoveZeroWidthTriangles { get; private set; } 88 public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
89 89
90 public static float TerrainImplementation { get; private set; } 90 public static float TerrainImplementation { get; private set; }
91 public static int TerrainMeshMagnification { get; private set; }
91 public static float TerrainFriction { get; private set; } 92 public static float TerrainFriction { get; private set; }
92 public static float TerrainHitFraction { get; private set; } 93 public static float TerrainHitFraction { get; private set; }
93 public static float TerrainRestitution { get; private set; } 94 public static float TerrainRestitution { get; private set; }
@@ -461,6 +462,10 @@ public static class BSParam
461 (float)BSTerrainPhys.TerrainImplementation.Mesh, 462 (float)BSTerrainPhys.TerrainImplementation.Mesh,
462 (s) => { return TerrainImplementation; }, 463 (s) => { return TerrainImplementation; },
463 (s,v) => { TerrainImplementation = v; } ), 464 (s,v) => { TerrainImplementation = v; } ),
465 new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
466 3,
467 (s) => { return TerrainMeshMagnification; },
468 (s,v) => { TerrainMeshMagnification = v; } ),
464 new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" , 469 new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
465 0.3f, 470 0.3f,
466 (s) => { return TerrainFriction; }, 471 (s) => { return TerrainFriction; },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index c9a75ae..a9cd8a1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -76,11 +76,26 @@ public sealed class BSTerrainMesh : BSTerrainPhys
76 m_sizeX = (int)(maxCoords.X - minCoords.X); 76 m_sizeX = (int)(maxCoords.X - minCoords.X);
77 m_sizeY = (int)(maxCoords.Y - minCoords.Y); 77 m_sizeY = (int)(maxCoords.Y - minCoords.Y);
78 78
79 if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, 79 bool meshCreationSuccess = false;
80 m_sizeX, m_sizeY, 80 if (BSParam.TerrainMeshMagnification == 1)
81 (float)m_sizeX, (float)m_sizeY, 81 {
82 Vector3.Zero, 1.0f, 82 // If a magnification of one, use the old routine that is tried and true.
83 out indicesCount, out indices, out verticesCount, out vertices)) 83 meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene,
84 initialMap, m_sizeX, m_sizeY, // input size
85 Vector3.Zero, // base for mesh
86 out indicesCount, out indices, out verticesCount, out vertices);
87 }
88 else
89 {
90 // Other magnifications use the newer routine
91 meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene,
92 initialMap, m_sizeX, m_sizeY, // input size
93 BSParam.TerrainMeshMagnification,
94 physicsScene.TerrainManager.DefaultRegionSize,
95 Vector3.Zero, // base for mesh
96 out indicesCount, out indices, out verticesCount, out vertices);
97 }
98 if (!meshCreationSuccess)
84 { 99 {
85 // DISASTER!! 100 // DISASTER!!
86 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); 101 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
@@ -88,6 +103,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
88 // Something is very messed up and a crash is in our future. 103 // Something is very messed up and a crash is in our future.
89 return; 104 return;
90 } 105 }
106
91 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", 107 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
92 ID, indicesCount, indices.Length, verticesCount, vertices.Length); 108 ID, indicesCount, indices.Length, verticesCount, vertices.Length);
93 109
@@ -186,9 +202,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
186 // Return 'true' if successfully created. 202 // Return 'true' if successfully created.
187 public static bool ConvertHeightmapToMesh( BSScene physicsScene, 203 public static bool ConvertHeightmapToMesh( BSScene physicsScene,
188 float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap 204 float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
189 float extentX, float extentY, // zero based range for output vertices
190 Vector3 extentBase, // base to be added to all vertices 205 Vector3 extentBase, // base to be added to all vertices
191 float magnification, // number of vertices to create between heightMap coords
192 out int indicesCountO, out int[] indicesO, 206 out int indicesCountO, out int[] indicesO,
193 out int verticesCountO, out float[] verticesO) 207 out int verticesCountO, out float[] verticesO)
194 { 208 {
@@ -209,17 +223,15 @@ public sealed class BSTerrainMesh : BSTerrainPhys
209 // of the heightmap. 223 // of the heightmap.
210 try 224 try
211 { 225 {
212 // One vertice per heightmap value plus the vertices off the top and bottom edge. 226 // One vertice per heightmap value plus the vertices off the side and bottom edge.
213 int totalVertices = (sizeX + 1) * (sizeY + 1); 227 int totalVertices = (sizeX + 1) * (sizeY + 1);
214 vertices = new float[totalVertices * 3]; 228 vertices = new float[totalVertices * 3];
215 int totalIndices = sizeX * sizeY * 6; 229 int totalIndices = sizeX * sizeY * 6;
216 indices = new int[totalIndices]; 230 indices = new int[totalIndices];
217 231
218 float magX = (float)sizeX / extentX;
219 float magY = (float)sizeY / extentY;
220 if (physicsScene != null) 232 if (physicsScene != null)
221 physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", 233 physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3}",
222 BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); 234 BSScene.DetailLogZero, totalVertices, totalIndices, extentBase);
223 float minHeight = float.MaxValue; 235 float minHeight = float.MaxValue;
224 // Note that sizeX+1 vertices are created since there is land between this and the next region. 236 // Note that sizeX+1 vertices are created since there is land between this and the next region.
225 for (int yy = 0; yy <= sizeY; yy++) 237 for (int yy = 0; yy <= sizeY; yy++)
@@ -232,8 +244,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
232 if (xx == sizeX) offset -= 1; 244 if (xx == sizeX) offset -= 1;
233 float height = heightMap[offset]; 245 float height = heightMap[offset];
234 minHeight = Math.Min(minHeight, height); 246 minHeight = Math.Min(minHeight, height);
235 vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; 247 vertices[verticesCount + 0] = (float)xx + extentBase.X;
236 vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; 248 vertices[verticesCount + 1] = (float)yy + extentBase.Y;
237 vertices[verticesCount + 2] = height + extentBase.Z; 249 vertices[verticesCount + 2] = height + extentBase.Z;
238 verticesCount += 3; 250 verticesCount += 3;
239 } 251 }
@@ -272,5 +284,158 @@ public sealed class BSTerrainMesh : BSTerrainPhys
272 284
273 return ret; 285 return ret;
274 } 286 }
287
288 private class HeightMapGetter
289 {
290 private float[] m_heightMap;
291 private int m_sizeX;
292 private int m_sizeY;
293 public HeightMapGetter(float[] pHeightMap, int pSizeX, int pSizeY)
294 {
295 m_heightMap = pHeightMap;
296 m_sizeX = pSizeX;
297 m_sizeY = pSizeY;
298 }
299 // The heightmap is extended as an infinite plane at the last height
300 public float GetHeight(int xx, int yy)
301 {
302 int offset = 0;
303 // Extend the height with the height from the last row or column
304 if (yy >= m_sizeY)
305 if (xx >= m_sizeX)
306 offset = (m_sizeY - 1) * m_sizeX + (m_sizeX - 1);
307 else
308 offset = (m_sizeY - 1) * m_sizeX + xx;
309 else
310 if (xx >= m_sizeX)
311 offset = yy * m_sizeX + (m_sizeX - 1);
312 else
313 offset = yy * m_sizeX + xx;
314
315 return m_heightMap[offset];
316 }
317 }
318
319 // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
320 // Version that handles magnification.
321 // Return 'true' if successfully created.
322 public static bool ConvertHeightmapToMesh2( BSScene physicsScene,
323 float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
324 int magnification, // number of vertices per heighmap step
325 Vector3 extent, // dimensions of the output mesh
326 Vector3 extentBase, // base to be added to all vertices
327 out int indicesCountO, out int[] indicesO,
328 out int verticesCountO, out float[] verticesO)
329 {
330 bool ret = false;
331
332 int indicesCount = 0;
333 int verticesCount = 0;
334 int[] indices = new int[0];
335 float[] vertices = new float[0];
336
337 HeightMapGetter hmap = new HeightMapGetter(heightMap, sizeX, sizeY);
338
339 // The vertices dimension of the output mesh
340 int meshX = sizeX * magnification;
341 int meshY = sizeY * magnification;
342 // The output size of one mesh step
343 float meshXStep = extent.X / meshX;
344 float meshYStep = extent.Y / meshY;
345
346 // Create an array of vertices that is meshX+1 by meshY+1 (note the loop
347 // from zero to <= meshX). The triangle indices are then generated as two triangles
348 // per heightmap point. There are meshX by meshY of these squares. The extra row and
349 // column of vertices are used to complete the triangles of the last row and column
350 // of the heightmap.
351 try
352 {
353 // Vertices for the output heightmap plus one on the side and bottom to complete triangles
354 int totalVertices = (meshX + 1) * (meshY + 1);
355 vertices = new float[totalVertices * 3];
356 int totalIndices = meshX * meshY * 6;
357 indices = new int[totalIndices];
358
359 if (physicsScene != null)
360 physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,inSize={1},outSize={2},totVert={3},totInd={4},extentBase={5}",
361 BSScene.DetailLogZero, new Vector2(sizeX, sizeY), new Vector2(meshX, meshY),
362 totalVertices, totalIndices, extentBase);
363
364 float minHeight = float.MaxValue;
365 // Note that sizeX+1 vertices are created since there is land between this and the next region.
366 // Loop through the output vertices and compute the mediun height in between the input vertices
367 for (int yy = 0; yy <= meshY; yy++)
368 {
369 for (int xx = 0; xx <= meshX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
370 {
371 float offsetY = (float)yy * (float)sizeY / (float)meshY; // The Y that is closest to the mesh point
372 int stepY = (int)offsetY;
373 float fractionalY = offsetY - (float)stepY;
374 float offsetX = (float)xx * (float)sizeX / (float)meshX; // The X that is closest to the mesh point
375 int stepX = (int)offsetX;
376 float fractionalX = offsetX - (float)stepX;
377
378 // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,xx={1},yy={2},offX={3},stepX={4},fractX={5},offY={6},stepY={7},fractY={8}",
379 // BSScene.DetailLogZero, xx, yy, offsetX, stepX, fractionalX, offsetY, stepY, fractionalY);
380
381 // get the four corners of the heightmap square the mesh point is in
382 float heightUL = hmap.GetHeight(stepX , stepY );
383 float heightUR = hmap.GetHeight(stepX + 1, stepY );
384 float heightLL = hmap.GetHeight(stepX , stepY + 1);
385 float heightLR = hmap.GetHeight(stepX + 1, stepY + 1);
386
387 // bilinear interplolation
388 float height = heightUL * (1 - fractionalX) * (1 - fractionalY)
389 + heightUR * fractionalX * (1 - fractionalY)
390 + heightLL * (1 - fractionalX) * fractionalY
391 + heightLR * fractionalX * fractionalY;
392
393 // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,heightUL={1},heightUR={2},heightLL={3},heightLR={4},heightMap={5}",
394 // BSScene.DetailLogZero, heightUL, heightUR, heightLL, heightLR, height);
395
396 minHeight = Math.Min(minHeight, height);
397
398 vertices[verticesCount + 0] = (float)xx * meshXStep + extentBase.X;
399 vertices[verticesCount + 1] = (float)yy * meshYStep + extentBase.Y;
400 vertices[verticesCount + 2] = height + extentBase.Z;
401 verticesCount += 3;
402 }
403 }
404 // The number of vertices generated
405 verticesCount /= 3;
406
407 // Loop through all the heightmap squares and create indices for the two triangles for that square
408 for (int yy = 0; yy < meshY; yy++)
409 {
410 for (int xx = 0; xx < meshX; xx++)
411 {
412 int offset = yy * (meshX + 1) + xx;
413 // Each vertices is presumed to be the upper left corner of a box of two triangles
414 indices[indicesCount + 0] = offset;
415 indices[indicesCount + 1] = offset + 1;
416 indices[indicesCount + 2] = offset + meshX + 1; // accounting for the extra column
417 indices[indicesCount + 3] = offset + 1;
418 indices[indicesCount + 4] = offset + meshX + 2;
419 indices[indicesCount + 5] = offset + meshX + 1;
420 indicesCount += 6;
421 }
422 }
423
424 ret = true;
425 }
426 catch (Exception e)
427 {
428 if (physicsScene != null)
429 physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
430 LogHeader, physicsScene.RegionName, extentBase, e);
431 }
432
433 indicesCountO = indicesCount;
434 indicesO = indices;
435 verticesCountO = verticesCount;
436 verticesO = vertices;
437
438 return ret;
439 }
275} 440}
276} 441}