From 71b9640dfa67e830769aad64ef208d767e102c92 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 14:51:50 -0800 Subject: BulletSim: pull heightmap implementation out of the terrain manager so a mesh terrain can be implemented. --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 174 +++++++++++++++++++++ 1 file changed, 174 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs new file mode 100755 index 0000000..3bb63cd --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -0,0 +1,174 @@ +/* + * 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 +{ +public sealed class BSTerrainHeightmap : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; + + BulletHeightMapInfo m_mapInfo; + + public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize) + : base(physicsScene) + { + Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; + } + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minTerrainCoords; + m_mapInfo.maxCoords = maxTerrainCoords; + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + // This minCoords and maxCoords passed in give the size of the terrain (min and max Z + // are the high and low points of the heightmap). + public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene) + { + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minCoords; + m_mapInfo.maxCoords = maxCoords; + m_mapInfo.minZ = minCoords.Z; + m_mapInfo.maxZ = maxCoords.Z; + + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + public override void Dispose() + { + ReleaseHeightMapTerrain(); + } + + // Using the information in m_mapInfo, create the physical representation of the heightmap. + private void BuildHeightmapTerrain() + { + m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.minCoords, m_mapInfo.maxCoords, + m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + + // Create the terrain shape from the mapInfo + m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), + PhysicsShapeType.SHAPE_TERRAIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); + centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); + + m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, + m_mapInfo.ID, centerPos, Quaternion.Identity)); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + + return; + } + + // If there is information in m_mapInfo pointing to physical structures, release same. + private void ReleaseHeightMapTerrain() + { + if (m_mapInfo != null) + { + if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + { + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr)) + { + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + } + } + } + m_mapInfo = null; + } + + // The passed position is relative to the base of the region. + public override float GetHeightAtXYZ(Vector3 pos) + { + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; + try + { + ret = m_mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, m_mapInfo.terrainRegionBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } + + public override Vector3 TerrainBase + { + get { return m_mapInfo.terrainRegionBase; } + } +} +} -- cgit v1.1 From 34cbc738a84b7946a87e8bfd3bb04869519b3dee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 20:36:49 -0800 Subject: BulletSim: enablement and debugging of mesh terrain. --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 28 ++++++++++------------ 1 file changed, 12 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 3bb63cd..e9fd0cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -44,10 +44,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - BulletHeightMapInfo m_mapInfo; + BulletHeightMapInfo m_mapInfo = null; - public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize) - : base(physicsScene) + // Constructor to build a default, flat heightmap terrain. + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) { Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); @@ -60,21 +61,23 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; + m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); } // This minCoords and maxCoords passed in give the size of the terrain (min and max Z // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap, + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene) + : base(physicsScene, regionBase, id) { m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; m_mapInfo.maxZ = maxCoords.Z; + m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); @@ -135,12 +138,10 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr)) - { - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); - } + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); } } m_mapInfo = null; @@ -165,10 +166,5 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } return ret; } - - public override Vector3 TerrainBase - { - get { return m_mapInfo.terrainRegionBase; } - } } } -- cgit v1.1 From 2dc7e9d3fa091418814af90565244a8c1972feec Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 20:38:51 -0800 Subject: BulletSim: fix line endings to be all Linux style (windows style keeps creeping in) --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 340 ++++++++++----------- 1 file changed, 170 insertions(+), 170 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index e9fd0cb..8fc36d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -1,170 +1,170 @@ -/* - * 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 -{ -public sealed class BSTerrainHeightmap : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - - BulletHeightMapInfo m_mapInfo = null; - - // Constructor to build a default, flat heightmap terrain. - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); - int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; - float[] initialMap = new float[totalHeights]; - for (int ii = 0; ii < totalHeights; ii++) - { - initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; - } - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); - m_mapInfo.minCoords = minTerrainCoords; - m_mapInfo.maxCoords = maxTerrainCoords; - m_mapInfo.terrainRegionBase = TerrainBase; - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - // This minCoords and maxCoords passed in give the size of the terrain (min and max Z - // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); - m_mapInfo.minCoords = minCoords; - m_mapInfo.maxCoords = maxCoords; - m_mapInfo.minZ = minCoords.Z; - m_mapInfo.maxZ = maxCoords.Z; - m_mapInfo.terrainRegionBase = TerrainBase; - - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - public override void Dispose() - { - ReleaseHeightMapTerrain(); - } - - // Using the information in m_mapInfo, create the physical representation of the heightmap. - private void BuildHeightmapTerrain() - { - m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, - m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); - - // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - PhysicsShapeType.SHAPE_TERRAIN); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); - centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); - centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - - m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, - m_mapInfo.ID, centerPos, Quaternion.Identity)); - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - - return; - } - - // If there is information in m_mapInfo pointing to physical structures, release same. - private void ReleaseHeightMapTerrain() - { - if (m_mapInfo != null) - { - if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); - } - } - m_mapInfo = null; - } - - // The passed position is relative to the base of the region. - public override float GetHeightAtXYZ(Vector3 pos) - { - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; - try - { - ret = m_mapInfo.heightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", - LogHeader, m_mapInfo.terrainRegionBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } -} -} +/* + * 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 +{ +public sealed class BSTerrainHeightmap : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; + + BulletHeightMapInfo m_mapInfo = null; + + // Constructor to build a default, flat heightmap terrain. + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; + } + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minTerrainCoords; + m_mapInfo.maxCoords = maxTerrainCoords; + m_mapInfo.terrainRegionBase = TerrainBase; + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + // This minCoords and maxCoords passed in give the size of the terrain (min and max Z + // are the high and low points of the heightmap). + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minCoords; + m_mapInfo.maxCoords = maxCoords; + m_mapInfo.minZ = minCoords.Z; + m_mapInfo.maxZ = maxCoords.Z; + m_mapInfo.terrainRegionBase = TerrainBase; + + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + public override void Dispose() + { + ReleaseHeightMapTerrain(); + } + + // Using the information in m_mapInfo, create the physical representation of the heightmap. + private void BuildHeightmapTerrain() + { + m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.minCoords, m_mapInfo.maxCoords, + m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + + // Create the terrain shape from the mapInfo + m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), + PhysicsShapeType.SHAPE_TERRAIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); + centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); + + m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, + m_mapInfo.ID, centerPos, Quaternion.Identity)); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + + return; + } + + // If there is information in m_mapInfo pointing to physical structures, release same. + private void ReleaseHeightMapTerrain() + { + if (m_mapInfo != null) + { + if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + } + } + m_mapInfo = null; + } + + // The passed position is relative to the base of the region. + public override float GetHeightAtXYZ(Vector3 pos) + { + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; + try + { + ret = m_mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, m_mapInfo.terrainRegionBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } +} +} -- cgit v1.1 From 3b2caa63b0ba890555990a88821ee37daa2607b4 Mon Sep 17 00:00:00 2001 From: Melanie Date: Thu, 22 Nov 2012 14:45:41 +0000 Subject: Rename BulletSim's PhysicsShapeType to BSPhysicsShapeType because it conflicts with PhysicsShape type defined in later libOMV --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 8fc36d1..3ca756c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -97,7 +97,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Create the terrain shape from the mapInfo m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - PhysicsShapeType.SHAPE_TERRAIN); + BSPhysicsShapeType.SHAPE_TERRAIN); // The terrain object initial position is at the center of the object Vector3 centerPos; -- cgit v1.1 From c3f30fef96674e9f43a277399c987a85cec9a7d3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 19:57:11 -0800 Subject: BulletSim: add parameter for terrain collision margin. Add locking around unlikely but possible race conditions on terrain list. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 3ca756c..1450f66 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin); // Create the terrain shape from the mapInfo m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), -- cgit v1.1