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 ++++++------ .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 568 ++++++++++----------- 2 files changed, 454 insertions(+), 454 deletions(-) (limited to 'OpenSim/Region/Physics') 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; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index bbb014a..a199078 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -1,284 +1,284 @@ -/* - * 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 BSTerrainMesh : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN MESH]"; - - private float[] m_savedHeightMap; - int m_sizeX; - int m_sizeY; - - BulletShape m_terrainShape; - BulletBody m_terrainBody; - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - } - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) - : base(physicsScene, regionBase, id) - { - } - - // Create terrain mesh from a heightmap. - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - int indicesCount; - int[] indices; - int verticesCount; - float[] vertices; - - m_savedHeightMap = initialMap; - - m_sizeX = (int)(maxCoords.X - minCoords.X); - m_sizeY = (int)(maxCoords.Y - minCoords.Y); - - if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, - (float)m_sizeX, (float)m_sizeY, - Vector3.Zero, 1.0f, - out indicesCount, out indices, out verticesCount, out vertices)) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", - ID, verticesCount, indicesCount); - - m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indicesCount, indices, verticesCount, vertices), - PhysicsShapeType.SHAPE_MESH); - if (m_terrainShape.ptr == IntPtr.Zero) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = minCoords.X + (m_sizeX / 2f); - centerPos.Y = minCoords.Y + (m_sizeY / 2f); - centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); - Quaternion rot = Quaternion.Identity; - - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); - m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( - m_terrainShape.ptr, ID, centerPos, rot)); - if (m_terrainBody.ptr == IntPtr.Zero) - { - // DISASTER!! - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Static objects are not very massive. - BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - } - - public override void Dispose() - { - if (m_terrainBody.ptr != IntPtr.Zero) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); - } - } - - public override float GetHeightAtXYZ(Vector3 pos) - { - // For the moment use the saved heightmap to get the terrain height. - // TODO: raycast downward to find the true terrain below the position. - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; - try - { - ret = m_savedHeightMap[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, TerrainBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } - - // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). - // Return 'true' if successfully created. - public static bool ConvertHeightmapToMesh( - BSScene physicsScene, - float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap - float extentX, float extentY, // zero based range for output vertices - Vector3 extentBase, // base to be added to all vertices - float magnification, // number of vertices to create between heightMap coords - out int indicesCountO, out int[] indicesO, - out int verticesCountO, out float[] verticesO) - { - bool ret = false; - - int indicesCount = 0; - int verticesCount = 0; - int[] indices = new int[0]; - float[] vertices = new float[0]; - - // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. - // TODO: do a more general solution that scales, adds new vertices and smoothes the result. - - try - { - // One vertice per heightmap value plus the vertices off the top and bottom edge. - int totalVertices = (sizeX + 1) * (sizeY + 1); - vertices = new float[totalVertices * 3]; - int totalIndices = sizeX * sizeY * 6; - indices = new int[totalIndices]; - - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", - BSScene.DetailLogZero, totalVertices, totalIndices); - float magX = (float)sizeX / extentX; - float magY = (float)sizeY / extentY; - // Note that sizeX+1 vertices are created since there is land between this and the next region. - for (int yy = 0; yy <= sizeY; yy++) - { - for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times - { - int offset = yy * sizeX + xx; - // Extend the height from the height from the last row or column - if (yy == sizeY) offset -= sizeX; - if (xx == sizeX) offset -= 1; - float height = heightMap[offset]; - vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; - vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; - vertices[verticesCount + 2] = height + extentBase.Z; - if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG - { - Vector3 genVertex = new Vector3( - vertices[verticesCount + 0], - vertices[verticesCount + 1], - vertices[verticesCount + 2]); - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", - BSScene.DetailLogZero, verticesCount/3, genVertex); - } - verticesCount += 3; - } - } - verticesCount = verticesCount / 3; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", - BSScene.DetailLogZero, verticesCount); - - for (int yy = 0; yy < sizeY; yy++) - { - for (int xx = 0; xx < sizeX; xx++) - { - int offset = yy * sizeX + xx; - // Each vertices is presumed to be the upper left corner of a box of two triangles - indices[indicesCount + 0] = offset; - indices[indicesCount + 1] = offset + 1; - indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column - indices[indicesCount + 3] = offset + 1; - indices[indicesCount + 4] = offset + sizeX + 2; - indices[indicesCount + 5] = offset + sizeX + 1; - if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG - BSScene.DetailLogZero, - indices[indicesCount + 0], - indices[indicesCount + 1], - indices[indicesCount + 2], - indices[indicesCount + 3], - indices[indicesCount + 4], - indices[indicesCount + 5] - ); - indicesCount += 6; - } - } - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG - LogHeader, indicesCount); // DEBUG - ret = true; - } - catch (Exception e) - { - physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", - LogHeader, extentBase, e); - } - - indicesCountO = indicesCount; - indicesO = indices; - verticesCountO = verticesCount; - verticesO = vertices; - - 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 BSTerrainMesh : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN MESH]"; + + private float[] m_savedHeightMap; + int m_sizeX; + int m_sizeY; + + BulletShape m_terrainShape; + BulletBody m_terrainBody; + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + } + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) + : base(physicsScene, regionBase, id) + { + } + + // Create terrain mesh from a heightmap. + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + int indicesCount; + int[] indices; + int verticesCount; + float[] vertices; + + m_savedHeightMap = initialMap; + + m_sizeX = (int)(maxCoords.X - minCoords.X); + m_sizeY = (int)(maxCoords.Y - minCoords.Y); + + if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, + (float)m_sizeX, (float)m_sizeY, + Vector3.Zero, 1.0f, + out indicesCount, out indices, out verticesCount, out vertices)) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); + PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", + ID, verticesCount, indicesCount); + + m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indicesCount, indices, verticesCount, vertices), + PhysicsShapeType.SHAPE_MESH); + if (m_terrainShape.ptr == IntPtr.Zero) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = minCoords.X + (m_sizeX / 2f); + centerPos.Y = minCoords.Y + (m_sizeY / 2f); + centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); + Quaternion rot = Quaternion.Identity; + + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); + m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( + m_terrainShape.ptr, ID, centerPos, rot)); + if (m_terrainBody.ptr == IntPtr.Zero) + { + // DISASTER!! + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Static objects are not very massive. + BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + } + + public override void Dispose() + { + if (m_terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); + } + } + + public override float GetHeightAtXYZ(Vector3 pos) + { + // For the moment use the saved heightmap to get the terrain height. + // TODO: raycast downward to find the true terrain below the position. + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; + try + { + ret = m_savedHeightMap[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, TerrainBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } + + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). + // Return 'true' if successfully created. + public static bool ConvertHeightmapToMesh( + BSScene physicsScene, + float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap + float extentX, float extentY, // zero based range for output vertices + Vector3 extentBase, // base to be added to all vertices + float magnification, // number of vertices to create between heightMap coords + out int indicesCountO, out int[] indicesO, + out int verticesCountO, out float[] verticesO) + { + bool ret = false; + + int indicesCount = 0; + int verticesCount = 0; + int[] indices = new int[0]; + float[] vertices = new float[0]; + + // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. + // TODO: do a more general solution that scales, adds new vertices and smoothes the result. + + try + { + // One vertice per heightmap value plus the vertices off the top and bottom edge. + int totalVertices = (sizeX + 1) * (sizeY + 1); + vertices = new float[totalVertices * 3]; + int totalIndices = sizeX * sizeY * 6; + indices = new int[totalIndices]; + + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", + BSScene.DetailLogZero, totalVertices, totalIndices); + float magX = (float)sizeX / extentX; + float magY = (float)sizeY / extentY; + // Note that sizeX+1 vertices are created since there is land between this and the next region. + for (int yy = 0; yy <= sizeY; yy++) + { + for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times + { + int offset = yy * sizeX + xx; + // Extend the height from the height from the last row or column + if (yy == sizeY) offset -= sizeX; + if (xx == sizeX) offset -= 1; + float height = heightMap[offset]; + vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; + vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; + vertices[verticesCount + 2] = height + extentBase.Z; + if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG + { + Vector3 genVertex = new Vector3( + vertices[verticesCount + 0], + vertices[verticesCount + 1], + vertices[verticesCount + 2]); + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", + BSScene.DetailLogZero, verticesCount/3, genVertex); + } + verticesCount += 3; + } + } + verticesCount = verticesCount / 3; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", + BSScene.DetailLogZero, verticesCount); + + for (int yy = 0; yy < sizeY; yy++) + { + for (int xx = 0; xx < sizeX; xx++) + { + int offset = yy * sizeX + xx; + // Each vertices is presumed to be the upper left corner of a box of two triangles + indices[indicesCount + 0] = offset; + indices[indicesCount + 1] = offset + 1; + indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column + indices[indicesCount + 3] = offset + 1; + indices[indicesCount + 4] = offset + sizeX + 2; + indices[indicesCount + 5] = offset + sizeX + 1; + if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG + BSScene.DetailLogZero, + indices[indicesCount + 0], + indices[indicesCount + 1], + indices[indicesCount + 2], + indices[indicesCount + 3], + indices[indicesCount + 4], + indices[indicesCount + 5] + ); + indicesCount += 6; + } + } + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG + LogHeader, indicesCount); // DEBUG + ret = true; + } + catch (Exception e) + { + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", + LogHeader, extentBase, e); + } + + indicesCountO = indicesCount; + indicesO = indices; + verticesCountO = verticesCount; + verticesO = vertices; + + return ret; + } +} +} -- cgit v1.1