From 0d51c42f59c1d539a47f9c057469e852a5ff3868 Mon Sep 17 00:00:00 2001
From: UbitUmarov
Date: Mon, 27 Feb 2012 02:10:03 +0000
Subject: update ubitODE to my current working state
---
.../Region/Physics/UbitOdePlugin/ODEDynamics.cs | 110 ++++-
OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs | 321 ++++++-------
OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs | 1 -
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs | 514 +++++----------------
4 files changed, 378 insertions(+), 568 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
index 80218e7..c9d0909 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
@@ -83,7 +83,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
private float m_linearMotorDecayTimescale = 120;
private float m_linearMotorTimescale = 1000;
- private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private Vector3 m_linearMotorOffset = Vector3.Zero;
//Angular properties
@@ -91,7 +90,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_angularMotorTimescale = 1000; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 120; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); // body angular velocity decay rate
- private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
//Deflection properties
private float m_angularDeflectionEfficiency = 0;
@@ -102,7 +100,7 @@ namespace OpenSim.Region.Physics.OdePlugin
//Banking properties
private float m_bankingEfficiency = 0;
private float m_bankingMix = 0;
- private float m_bankingTimescale = 0;
+ private float m_bankingTimescale = 1000;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
@@ -117,9 +115,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
- // auxiliar
- private Vector3 m_dir = Vector3.Zero; // velocity applied to body
+ // auxiliar
private float m_lmEfect = 0; // current linear motor eficiency
private float m_amEfect = 0; // current angular motor eficiency
@@ -130,6 +127,82 @@ namespace OpenSim.Region.Physics.OdePlugin
_pParentScene = rootPrim._parent_scene;
}
+
+ public void DoSetVehicle(VehicleData vd)
+ {
+
+ float timestep = _pParentScene.ODE_STEPSIZE;
+ float invtimestep = 1.0f / timestep;
+
+ m_type = vd.m_type;
+ m_flags = vd.m_flags;
+
+ // Linear properties
+ m_linearMotorDirection = vd.m_linearMotorDirection;
+
+ m_linearFrictionTimescale = vd.m_linearFrictionTimescale;
+ if (m_linearFrictionTimescale.X < timestep) m_linearFrictionTimescale.X = timestep;
+ if (m_linearFrictionTimescale.Y < timestep) m_linearFrictionTimescale.Y = timestep;
+ if (m_linearFrictionTimescale.Z < timestep) m_linearFrictionTimescale.Z = timestep;
+
+ m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
+ if (m_linearMotorDecayTimescale < 0.5f) m_linearMotorDecayTimescale = 0.5f;
+ m_linearMotorDecayTimescale *= invtimestep;
+
+ m_linearMotorTimescale = vd.m_linearMotorTimescale;
+ if (m_linearMotorTimescale < timestep) m_linearMotorTimescale = timestep;
+
+ m_linearMotorOffset = vd.m_linearMotorOffset;
+
+ //Angular properties
+ m_angularMotorDirection = vd.m_angularMotorDirection;
+ m_angularMotorTimescale = vd.m_angularMotorTimescale;
+ if (m_angularMotorTimescale < timestep) m_angularMotorTimescale = timestep;
+
+ m_angularMotorDecayTimescale = vd.m_angularMotorDecayTimescale;
+ if (m_angularMotorDecayTimescale < 0.5f) m_angularMotorDecayTimescale = 0.5f;
+ m_angularMotorDecayTimescale *= invtimestep;
+
+ m_angularFrictionTimescale = vd.m_angularFrictionTimescale;
+ if (m_angularFrictionTimescale.X < timestep) m_angularFrictionTimescale.X = timestep;
+ if (m_angularFrictionTimescale.Y < timestep) m_angularFrictionTimescale.Y = timestep;
+ if (m_angularFrictionTimescale.Z < timestep) m_angularFrictionTimescale.Z = timestep;
+
+ //Deflection properties
+ m_angularDeflectionEfficiency = vd.m_angularDeflectionEfficiency;
+ m_angularDeflectionTimescale = vd.m_angularDeflectionTimescale;
+ if (m_angularDeflectionTimescale < timestep) m_angularDeflectionTimescale = timestep;
+
+ m_linearDeflectionEfficiency = vd.m_linearDeflectionEfficiency;
+ m_linearDeflectionTimescale = vd.m_linearDeflectionTimescale;
+ if (m_linearDeflectionTimescale < timestep) m_linearDeflectionTimescale = timestep;
+
+ //Banking properties
+ m_bankingEfficiency = vd.m_bankingEfficiency;
+ m_bankingMix = vd.m_bankingMix;
+ m_bankingTimescale = vd.m_bankingTimescale;
+ if (m_bankingTimescale < timestep) m_bankingTimescale = timestep;
+
+ //Hover and Buoyancy properties
+ m_VhoverHeight = vd.m_VhoverHeight;
+ m_VhoverEfficiency = vd.m_VhoverEfficiency;
+ m_VhoverTimescale = vd.m_VhoverTimescale;
+ if (m_VhoverTimescale < timestep) m_VhoverTimescale = timestep;
+
+ m_VehicleBuoyancy = vd.m_VehicleBuoyancy;
+
+ //Attractor properties
+ m_verticalAttractionEfficiency = vd.m_verticalAttractionEfficiency;
+ m_verticalAttractionTimescale = vd.m_verticalAttractionTimescale;
+ if (m_verticalAttractionTimescale < timestep) m_verticalAttractionTimescale = timestep;
+
+ // Axis
+ m_referenceFrame = vd.m_referenceFrame;
+
+ m_lmEfect = 0;
+ m_amEfect = 0;
+ }
+
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
float len;
@@ -231,6 +304,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on
+ if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+ && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+ d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue < timestep) pValue = timestep;
@@ -242,6 +318,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on
+ if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+ && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+ d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@@ -273,6 +352,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f; // turn it on
+ if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+ && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+ d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep;
@@ -286,6 +368,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on
+ if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
+ && !rootPrim.m_isSelected && !rootPrim.m_disabled)
+ d.BodyEnable(rootPrim.Body);
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -347,12 +432,23 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(1000, 1000, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120 * invtimestep;
+ m_linearMotorDecayTimescale = 120;
m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 1000 * invtimestep;
+ m_angularMotorDecayTimescale = 1000;
m_VhoverHeight = 0;
+ m_VhoverEfficiency = 1;
m_VhoverTimescale = 1000;
m_VehicleBuoyancy = 0;
+ m_linearDeflectionEfficiency = 0;
+ m_linearDeflectionTimescale = 1000;
+ m_angularDeflectionEfficiency = 0;
+ m_angularDeflectionTimescale = 1000;
+ m_bankingEfficiency = 0;
+ m_bankingMix = 1;
+ m_bankingTimescale = 1000;
+ m_verticalAttractionEfficiency = 0;
+ m_verticalAttractionTimescale = 1000;
+
m_flags = (VehicleFlag)0;
break;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
index 3b7f562..0ccdbc0 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODEPrim.cs
@@ -111,7 +111,7 @@ namespace OpenSim.Region.Physics.OdePlugin
| CollisionCategories.Body
| CollisionCategories.Character
);
- private bool m_collidesLand = true;
+// private bool m_collidesLand = true;
private bool m_collidesWater;
public bool m_returnCollisions;
@@ -122,7 +122,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private CollisionCategories m_collisionFlags = m_default_collisionFlags;
public bool m_disabled;
- public bool m_taintselected;
+
public uint m_localID;
@@ -142,20 +142,19 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<OdePrim> childrenPrim = new List<OdePrim>();
private bool m_iscolliding;
- private bool m_wascolliding;
- private bool m_isSelected;
+
+ public bool m_isSelected;
+ private bool m_delaySelect;
+ private bool m_lastdoneSelected;
+ public bool m_outbounds;
internal bool m_isVolumeDetect; // If true, this prim only detects collisions but doesn't collide actively
private bool m_throttleUpdates;
private int throttleCounter;
- public int m_interpenetrationcount;
public float m_collisionscore;
int m_colliderfilter = 0;
- public int m_roundsUnderMotionThreshold;
- private int m_crossingfailures;
- public bool outofBounds;
private float m_density = 10.000006836f; // Aluminum g/cm3;
public bool _zeroFlag;
@@ -166,12 +165,11 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 _target_velocity;
public Vector3 primOOBsize; // prim real dimensions from mesh
- public Vector3 primOOBoffset; // is centroid out of mesh or rest aabb
+ public Vector3 primOOBoffset; // its centroid out of mesh or rest aabb
public float primOOBradiusSQ;
public d.Mass primdMass; // prim inertia information on it's own referencial
float primMass; // prim own mass
float _mass; // object mass acording to case
- public d.Mass objectpMass; // object last computed inertia
private bool hasOOBoffsetFromMesh = false; // if true we did compute it form mesh centroid, else from aabb
public int givefakepos = 0;
@@ -182,9 +180,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public int m_eventsubscription;
private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
- private IntPtr m_linkJoint = IntPtr.Zero;
- private IntPtr _linkJointGroup = IntPtr.Zero;
-
public volatile bool childPrim;
public ODEDynamics m_vehicle;
@@ -264,7 +259,7 @@ namespace OpenSim.Region.Physics.OdePlugin
set
{
if (value)
- m_isSelected = value;
+ m_isSelected = value; // if true set imediatly to stop moves etc
AddChange(changes.Selected, value);
}
}
@@ -298,13 +293,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_iscolliding = false;
else
m_iscolliding = true;
-
- if (m_wascolliding != m_iscolliding)
- {
- if (m_wascolliding && !m_isSelected && Body != IntPtr.Zero)
- d.BodyEnable(Body);
- m_wascolliding = m_iscolliding;
- }
}
}
@@ -665,19 +653,21 @@ namespace OpenSim.Region.Physics.OdePlugin
strVehicleQuatParam fp = new strVehicleQuatParam();
fp.param = param;
fp.value = value;
- AddChange(changes.VehicleVectorParam, fp);
+ AddChange(changes.VehicleRotationParam, fp);
}
public override void VehicleFlags(int param, bool value)
{
- if (m_vehicle == null)
- return;
strVehicleBoolParam bp = new strVehicleBoolParam();
bp.param = param;
bp.value = value;
AddChange(changes.VehicleFlags, bp);
}
+ public override void SetVehicle(object vdata)
+ {
+ AddChange(changes.SetVehicle, vdata);
+ }
public void SetAcceleration(Vector3 accel)
{
_acceleration = accel;
@@ -710,8 +700,30 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void CrossingFailure()
{
- m_crossingfailures++;
- changeDisable(false);
+ if (m_outbounds)
+ {
+ _position.X = Util.Clip(_position.X, 0.5f, _parent_scene.WorldExtents.X - 0.5f);
+ _position.Y = Util.Clip(_position.Y, 0.5f, _parent_scene.WorldExtents.Y - 0.5f);
+ _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
+
+ m_lastposition = _position;
+ _velocity.X = 0;
+ _velocity.Y = 0;
+ _velocity.Z = 0;
+
+ m_lastVelocity = _velocity;
+ if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
+ m_vehicle.Stop();
+
+ if(Body != IntPtr.Zero)
+ d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+ if (prim_geom != IntPtr.Zero)
+ d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+
+ m_outbounds = false;
+ changeDisable(false);
+ base.RequestPhysicsterseUpdate();
+ }
}
public override void SetMomentum(Vector3 momentum)
@@ -865,12 +877,14 @@ namespace OpenSim.Region.Physics.OdePlugin
m_force = Vector3.Zero;
m_iscolliding = false;
- m_wascolliding = false;
m_colliderfilter = 0;
hasOOBoffsetFromMesh = false;
_triMeshData = IntPtr.Zero;
+ m_lastdoneSelected = false;
+ m_isSelected = false;
+ m_delaySelect = false;
primContactData.mu = parent_scene.m_materialContactsData[(int)Material.Wood].mu;
primContactData.bounce = parent_scene.m_materialContactsData[(int)Material.Wood].bounce;
@@ -885,8 +899,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private void resetCollisionAccounting()
{
m_collisionscore = 0;
- m_interpenetrationcount = 0;
- m_disabled = false;
}
private void createAMotor(Vector3 axis)
@@ -926,9 +938,6 @@ namespace OpenSim.Region.Physics.OdePlugin
curr.W = dcur.W;
Vector3 ax;
- const int StopERP = 7;
- const int StopCFM = 8;
-
int i = 0;
int j = 0;
if (axis.X == 0)
@@ -943,10 +952,10 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, (int)d.JointParam.FMax, 5e8f);
- d.JointSetAMotorParam(Amotor, (int)StopCFM, 0f);
- d.JointSetAMotorParam(Amotor, (int)StopERP, 0.8f);
+ d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopCFM, 0f);
+ d.JointSetAMotorParam(Amotor, (int)d.JointParam.StopERP, 0.8f);
i++;
- j = 256; // odeplugin.cs doesn't have all parameters so this moves to next axis set
+ j = 256; // move to next axis set
}
if (axis.Y == 0)
@@ -960,8 +969,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
- d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f);
- d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f);
+ d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
+ d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
i++;
j += 256;
}
@@ -977,8 +986,8 @@ namespace OpenSim.Region.Physics.OdePlugin
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FudgeFactor, 0.0001f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.Bounce, 0f);
d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.FMax, 5e8f);
- d.JointSetAMotorParam(Amotor, j + (int)StopCFM, 0f);
- d.JointSetAMotorParam(Amotor, j + (int)StopERP, 0.8f);
+ d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopCFM, 0f);
+ d.JointSetAMotorParam(Amotor, j + (int)d.JointParam.StopERP, 0.8f);
}
}
@@ -1186,24 +1195,10 @@ namespace OpenSim.Region.Physics.OdePlugin
public void enableBodySoft()
{
- if (!childPrim)
+ if (!childPrim && !m_isSelected)
{
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
{
- if (m_targetSpace != _parent_scene.ActiveSpace)
- {
- m_targetSpace = _parent_scene.ActiveSpace;
-
- foreach (OdePrim prm in childrenPrim)
- {
- if (prm.prim_geom != IntPtr.Zero)
- {
- d.SpaceAdd(m_targetSpace, prm.prim_geom);
- prm.m_targetSpace = m_targetSpace;
- }
- }
- d.SpaceAdd(m_targetSpace, prim_geom);
- }
d.GeomEnable(prim_geom);
foreach (OdePrim prm in childrenPrim)
d.GeomEnable(prm.prim_geom);
@@ -1211,6 +1206,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodyEnable(Body);
}
}
+ m_disabled = false;
resetCollisionAccounting(); // this sets m_disable to false
}
@@ -1221,19 +1217,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (m_isphysical && Body != IntPtr.Zero && prim_geom != IntPtr.Zero)
{
- if (m_targetSpace == _parent_scene.ActiveSpace)
- {
- foreach (OdePrim prm in childrenPrim)
- {
- if (prm.m_targetSpace != IntPtr.Zero && prm.prim_geom != IntPtr.Zero)
- {
- d.SpaceRemove(prm.m_targetSpace, prm.prim_geom);
- prm.m_targetSpace = IntPtr.Zero;
- }
- }
- d.SpaceRemove(m_targetSpace, prim_geom);
- m_targetSpace = IntPtr.Zero;
- }
d.GeomDisable(prim_geom);
foreach (OdePrim prm in childrenPrim)
d.GeomDisable(prm.prim_geom);
@@ -1369,9 +1352,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
- m_collisionCategories |= CollisionCategories.Body;
- m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
-
// disconnect from world gravity so we can apply buoyancy
d.BodySetGravityMode(Body, false);
@@ -1379,16 +1359,14 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
// d.BodySetLinearDampingThreshold(Body, 0.01f);
// d.BodySetAngularDampingThreshold(Body, 0.001f);
- d.BodySetDamping(Body, .001f, .0002f);
+ d.BodySetDamping(Body, .002f, .002f);
+ m_collisionCategories |= CollisionCategories.Body;
+ m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
-
- m_interpenetrationcount = 0;
m_collisionscore = 0;
- m_disabled = false;
-
if (m_targetSpace != _parent_scene.ActiveSpace)
{
if (m_targetSpace != IntPtr.Zero)
@@ -1416,6 +1394,7 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_collisionFlags |= (CollisionCategories.Land | CollisionCategories.Wind);
d.GeomSetCategoryBits(prm.prim_geom, (int)prm.m_collisionCategories);
d.GeomSetCollideBits(prm.prim_geom, (int)prm.m_collisionFlags);
+ prm.m_collisionscore = 0;
if (prm.m_targetSpace != _parent_scene.ActiveSpace)
{
@@ -1428,10 +1407,11 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_targetSpace = _parent_scene.ActiveSpace;
d.SpaceAdd(m_targetSpace, prm.prim_geom);
}
- d.GeomEnable(prm.prim_geom);
+
+ if (m_isSelected || m_disabled)
+ d.GeomDisable(prm.prim_geom);
+
prm.m_disabled = false;
- prm.m_interpenetrationcount = 0;
- prm.m_collisionscore = 0;
_parent_scene.addActivePrim(prm);
}
}
@@ -1442,8 +1422,12 @@ namespace OpenSim.Region.Physics.OdePlugin
createAMotor(m_angularlock);
}
- d.GeomEnable(prim_geom);
- m_disabled = false;
+ if (m_isSelected || m_disabled)
+ {
+ d.GeomDisable(prim_geom);
+ d.BodyDisable(Body);
+ }
+
_parent_scene.addActivePrim(this);
}
@@ -1484,12 +1468,16 @@ namespace OpenSim.Region.Physics.OdePlugin
prm.m_collisionscore = 0;
}
}
+ if (Amotor != IntPtr.Zero)
+ {
+ d.JointDestroy(Amotor);
+ Amotor = IntPtr.Zero;
+ }
d.BodyDestroy(Body);
}
Body = IntPtr.Zero;
}
_mass = primMass;
- m_disabled = true;
m_collisionscore = 0;
}
@@ -2115,49 +2103,72 @@ namespace OpenSim.Region.Physics.OdePlugin
d.BodySetTorque(Body, 0f, 0f, 0f);
d.BodySetLinearVel(Body, 0f, 0f, 0f);
d.BodySetAngularVel(Body, 0f, 0f, 0f);
-
}
}
private void changeSelectedStatus(bool newval)
{
+ if (m_lastdoneSelected == newval)
+ return;
+
+ m_lastdoneSelected = newval;
+ DoSelectedStatus(newval);
+ }
+
+ private void CheckDelaySelect()
+ {
+ if (m_delaySelect)
+ {
+ DoSelectedStatus(m_isSelected);
+ }
+ }
+
+ private void DoSelectedStatus(bool newval)
+ {
m_isSelected = newval;
Stop();
if (newval)
{
- m_collisionCategories = CollisionCategories.Selected;
- m_collisionFlags = (CollisionCategories.Sensor | CollisionCategories.Space);
+ if (!childPrim && Body != IntPtr.Zero)
+ d.BodyDisable(Body);
- if (prim_geom != IntPtr.Zero)
+ if (m_delaySelect)
{
- d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
- d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+ if (!childPrim)
+ {
+ foreach (OdePrim prm in childrenPrim)
+ {
+ d.GeomDisable(prm.prim_geom);
+ prm.m_delaySelect = false;
+ }
+ }
+ d.GeomDisable(prim_geom);
+ m_delaySelect = false;
+ }
+ else
+ {
+ m_delaySelect = true;
}
-
- disableBodySoft();
}
else
{
- m_collisionCategories = CollisionCategories.Geom;
-
- if (m_isphysical)
- m_collisionCategories |= CollisionCategories.Body;
-
- m_collisionFlags = m_default_collisionFlags;
-
- if (m_collidesLand)
- m_collisionFlags |= CollisionCategories.Land;
- if (m_collidesWater)
- m_collisionFlags |= CollisionCategories.Water;
+ if (!childPrim && Body != IntPtr.Zero && !m_disabled)
+ d.BodyEnable(Body);
- if (prim_geom != IntPtr.Zero)
+ if (!childPrim)
{
- d.GeomSetCategoryBits(prim_geom, (int)m_collisionCategories);
- d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
+ foreach (OdePrim prm in childrenPrim)
+ {
+ if(!prm.m_disabled)
+ d.GeomEnable(prm.prim_geom);
+ prm.m_delaySelect = false;
+ }
}
+ if(!m_disabled)
+ d.GeomEnable(prim_geom);
- enableBodySoft();
+ m_delaySelect = false;
}
resetCollisionAccounting();
@@ -2165,6 +2176,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePosition(Vector3 newPos)
{
+ CheckDelaySelect();
if (m_isphysical)
{
if (childPrim) // inertia is messed, must rebuild
@@ -2207,6 +2219,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeOrientation(Quaternion newOri)
{
+ CheckDelaySelect();
if (m_isphysical)
{
if (childPrim) // inertia is messed, must rebuild
@@ -2258,6 +2271,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePositionAndOrientation(Vector3 newPos, Quaternion newOri)
{
+ CheckDelaySelect();
if (m_isphysical)
{
if (childPrim && m_building) // inertia is messed, must rebuild
@@ -2342,6 +2356,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changePhysicsStatus(bool NewStatus)
{
+ CheckDelaySelect();
+
m_isphysical = NewStatus;
if (!childPrim)
@@ -2384,6 +2400,8 @@ namespace OpenSim.Region.Physics.OdePlugin
private void changeprimsizeshape()
{
+ CheckDelaySelect();
+
OdePrim parent = (OdePrim)_parent;
bool chp = childPrim;
@@ -2508,7 +2526,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
m_collisionscore = 0;
- m_interpenetrationcount = 0;
}
}
@@ -2528,7 +2545,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
m_collisionscore = 0;
- m_interpenetrationcount = 0;
}
}
@@ -2565,6 +2581,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
{
m_building = false;
+ CheckDelaySelect();
if (!childPrim)
MakeBody();
}
@@ -2575,18 +2592,26 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
- private void changeVehicleType(int value)
+ public void changeSetVehicle(VehicleData vdata)
{
if (m_vehicle == null)
+ m_vehicle = new ODEDynamics(this);
+ m_vehicle.DoSetVehicle(vdata);
+ }
+ private void changeVehicleType(int value)
+ {
+ if (value == (int)Vehicle.TYPE_NONE)
{
- if (value != (int)Vehicle.TYPE_NONE)
- {
- m_vehicle = new ODEDynamics(this);
- m_vehicle.ProcessTypeChange((Vehicle)value);
- }
+ if (m_vehicle != null)
+ m_vehicle = null;
}
else
+ {
+ if (m_vehicle == null)
+ m_vehicle = new ODEDynamics(this);
+
m_vehicle.ProcessTypeChange((Vehicle)value);
+ }
}
private void changeVehicleFloatParam(strVehicleFloatParam fp)
@@ -2595,8 +2620,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
m_vehicle.ProcessFloatVehicleParam((Vehicle)fp.param, fp.value);
- if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
- d.BodyEnable(Body);
}
private void changeVehicleVectorParam(strVehicleVectorParam vp)
@@ -2604,8 +2627,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null)
return;
m_vehicle.ProcessVectorVehicleParam((Vehicle)vp.param, vp.value);
- if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
- d.BodyEnable(Body);
}
private void changeVehicleRotationParam(strVehicleQuatParam qp)
@@ -2613,8 +2634,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null)
return;
m_vehicle.ProcessRotationVehicleParam((Vehicle)qp.param, qp.value);
- if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
- d.BodyEnable(Body);
}
private void changeVehicleFlags(strVehicleBoolParam bp)
@@ -2622,8 +2641,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_vehicle == null)
return;
m_vehicle.ProcessVehicleFlags(bp.param, bp.value);
- if (Body != IntPtr.Zero && !d.BodyIsEnabled(Body))
- d.BodyEnable(Body);
}
#endregion
@@ -2849,41 +2866,6 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (Body != IntPtr.Zero)
{
- if (m_crossingfailures != 0 && m_crossingfailures < 5)
- {
- _position.X = Util.Clip(_position.X, 0.4f, _parent_scene.WorldExtents.X - 0.4f);
- _position.Y = Util.Clip(_position.Y, 0.4f, _parent_scene.WorldExtents.Y - 0.4f);
- _position.Z = Util.Clip(_position.Z + 0.2f, -100f, 50000f);
-
- float tmp = _parent_scene.GetTerrainHeightAtXY(_position.X, _position.Y);
- if (_position.Z < tmp)
- _position.Z = tmp + 0.2f;
-
- m_lastposition = _position;
- m_lastorientation = _orientation;
- _velocity.X = 0;
- _velocity.Y = 0;
- _velocity.Z = 0;
-
- m_lastVelocity = _velocity;
- m_rotationalVelocity = _velocity;
- if (m_vehicle != null && m_vehicle.Type != Vehicle.TYPE_NONE)
- m_vehicle.Stop();
-
- m_crossingfailures = 0; // do this only once
- d.BodySetLinearVel(Body, 0, 0, 0); // stop it
- d.BodySetAngularVel(Body, 0, 0, 0);
- d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
- enableBodySoft();
- base.RequestPhysicsterseUpdate();
- return;
- }
-
- else if (m_crossingfailures != 0)
- {
- return;
- }
-
Vector3 pv = Vector3.Zero;
bool lastZeroFlag = _zeroFlag;
@@ -2899,24 +2881,21 @@ namespace OpenSim.Region.Physics.OdePlugin
// we can't let it keeping moving and having colisions
// since it can be stucked between something like terrain and edge
// so lets stop and disable it until something else kicks it
- if (m_crossingfailures == 0)
- {
- _position.X = Util.Clip(lpos.X, -0.5f, _parent_scene.WorldExtents.X + 0.5f);
- _position.Y = Util.Clip(lpos.Y, -0.5f, _parent_scene.WorldExtents.Y + 0.5f);
- _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
+ _position.X = Util.Clip(lpos.X, -0.2f, _parent_scene.WorldExtents.X + 0.2f);
+ _position.Y = Util.Clip(lpos.Y, -0.2f, _parent_scene.WorldExtents.Y + 0.2f);
+ _position.Z = Util.Clip(lpos.Z, -100f, 50000f);
- m_lastposition = _position;
- m_lastorientation = _orientation;
+ m_lastposition = _position;
+// m_lastorientation = _orientation;
- d.BodySetLinearVel(Body, 0, 0, 0); // stop it
- d.BodySetAngularVel(Body, 0, 0, 0);
- d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
- disableBodySoft(); // stop collisions
- m_crossingfailures++; // do this only once
- base.RequestPhysicsterseUpdate();
+ d.BodySetLinearVel(Body, 0, 0, 0); // stop it
+// d.BodySetAngularVel(Body, 0, 0, 0);
+ d.GeomSetPosition(prim_geom, _position.X, _position.Y, _position.Z);
+ disableBodySoft(); // stop collisions
+ m_outbounds = true;
+ base.RequestPhysicsterseUpdate();
return;
- }
}
if (lpos.Z < -100 || lpos.Z > 100000f)
@@ -3159,6 +3138,7 @@ namespace OpenSim.Region.Physics.OdePlugin
else
ChildRemove(this, false);
+ m_vehicle = null;
RemoveGeom();
m_targetSpace = IntPtr.Zero;
if (m_eventsubscription > 0)
@@ -3273,6 +3253,9 @@ namespace OpenSim.Region.Physics.OdePlugin
changeVehicleRotationParam((strVehicleQuatParam) arg);
break;
+ case changes.SetVehicle:
+ changeSetVehicle((VehicleData) arg);
+ break;
case changes.Null:
donullchange();
break;
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
index e62746e..2b6bc59 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeApi.cs
@@ -1,4 +1,3 @@
-
/*
* based on:
* Ode.NET - .NET bindings for ODE
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 56f3786..6e4c373 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.OdePlugin
VehicleVectorParam,
VehicleRotationParam,
VehicleFlags,
+ SetVehicle,
Null //keep this last used do dim the methods array. does nothing but pulsing the prim
}
@@ -166,8 +167,8 @@ namespace OpenSim.Region.Physics.OdePlugin
float frictionMovementMult = 0.3f;
- float TerrainBounce = 0.3f;
- float TerrainFriction = 0.3f;
+ float TerrainBounce = 0.1f;
+ float TerrainFriction = 0.1f;
public float AvatarBounce = 0.3f;
public float AvatarFriction = 0;// 0.9f * 0.5f;
@@ -989,145 +990,62 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <param name="timeStep"></param>
private void collision_optimized()
{
-// _perloopContact.Clear();
-// clear characts IsColliding until we do it some other way
-
lock (_characters)
{
- foreach (OdeCharacter chr in _characters)
+ try
+ {
+ foreach (OdeCharacter chr in _characters)
{
- // this are odd checks if they are needed something is wrong elsewhere
- // keep for now
- if (chr == null)
- continue;
-
- if (chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
- continue;
-
- chr.IsColliding = false;
- // chr.CollidingGround = false; not done here
- chr.CollidingObj = false;
+ if (chr == null || chr.Shell == IntPtr.Zero || chr.Body == IntPtr.Zero)
+ continue;
+
+ chr.IsColliding = false;
+ // chr.CollidingGround = false; not done here
+ chr.CollidingObj = false;
+ // do colisions with static space
+ d.SpaceCollide2(StaticSpace, chr.Shell, IntPtr.Zero, nearCallback);
}
}
-
- // now let ode do its job
- // colide active things amoung them
-
- int st = Util.EnvironmentTickCount();
- int ta;
- int ts;
- try
- {
- d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
- }
- catch (AccessViolationException)
+ catch (AccessViolationException)
{
- m_log.Warn("[PHYSICS]: Unable to Active space collide");
+ m_log.Warn("[PHYSICS]: Unable to collide Character to static space");
}
- ta = Util.EnvironmentTickCountSubtract(st);
- // then active things with static enviroment
- try
+
+ }
+
+ // collide active prims with static enviroment
+ lock (_activeprims)
+ {
+ try
{
- d.SpaceCollide2(ActiveSpace,StaticSpace, IntPtr.Zero, nearCallback);
+ foreach (OdePrim prm in _activeprims)
+ {
+ if (d.BodyIsEnabled(prm.Body))
+ d.SpaceCollide2(StaticSpace, prm.prim_geom, IntPtr.Zero, nearCallback);
+ }
}
- catch (AccessViolationException)
+ catch (AccessViolationException)
{
- m_log.Warn("[PHYSICS]: Unable to Active to static space collide");
+ m_log.Warn("[PHYSICS]: Unable to collide Active prim to static space");
}
- ts = Util.EnvironmentTickCountSubtract(st);
-// _perloopContact.Clear();
- }
-
- #endregion
-
-
- public float GetTerrainHeightAtXY(float x, float y)
- {
- // assumes 1m size grid and constante size square regions
- // region offset in mega position
-
- int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
-
- IntPtr heightFieldGeom = IntPtr.Zero;
-
- // get region map
- if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
- return 0f;
-
- if (heightFieldGeom == IntPtr.Zero)
- return 0f;
-
- if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
- return 0f;
-
- // TerrainHeightField for ODE as offset 1m
- x += 1f - offsetX;
- y += 1f - offsetY;
-
- // make position fit into array
- if (x < 0)
- x = 0;
- if (y < 0)
- y = 0;
-
- // integer indexs
- int ix;
- int iy;
- // interpolators offset
- float dx;
- float dy;
-
- int regsize = (int)Constants.RegionSize + 2; // map size see setterrain
-
- // we still have square fixed size regions
- // also flip x and y because of how map is done for ODE fliped axis
- // so ix,iy,dx and dy are inter exchanged
- if (x < regsize - 1)
- {
- iy = (int)x;
- dy = x - (float)iy;
- }
- else // out world use external height
- {
- iy = regsize - 1;
- dy = 0;
}
- if (y < regsize - 1)
+
+ // finally colide active things amoung them
+ try
{
- ix = (int)y;
- dx = y - (float)ix;
+ d.SpaceCollide(ActiveSpace, IntPtr.Zero, nearCallback);
}
- else
+ catch (AccessViolationException)
{
- ix = regsize - 1;
- dx = 0;
+ m_log.Warn("[PHYSICS]: Unable to collide in Active space");
}
- float h0;
- float h1;
- float h2;
-
- iy *= regsize;
- iy += ix; // all indexes have iy + ix
+// _perloopContact.Clear();
+ }
- float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+ #endregion
- if ((dx + dy) <= 1.0f)
- {
- h0 = ((float)heights[iy]); // 0,0 vertice
- h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
- h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
- }
- else
- {
- h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
- h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
- h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
- }
- return h0 + h1 + h2;
- }
/// <summary>
/// Add actor to the list that should receive collision events in the simulate loop.
@@ -1835,273 +1753,94 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return (false); }
}
- #region ODE Specific Terrain Fixes
- public float[] ResizeTerrain512NearestNeighbour(float[] heightMap)
+ public float GetTerrainHeightAtXY(float x, float y)
{
- float[] returnarr = new float[262144];
- float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
+ // assumes 1m size grid and constante size square regions
+ // needs to know about sims around in future
+ // region offset in mega position
- // Filling out the array into its multi-dimensional components
- for (int y = 0; y < WorldExtents.Y; y++)
- {
- for (int x = 0; x < WorldExtents.X; x++)
- {
- resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
- }
- }
+ int offsetX = ((int)(x / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
+ int offsetY = ((int)(y / (int)Constants.RegionSize)) * (int)Constants.RegionSize;
- // Resize using Nearest Neighbour
-
- // This particular way is quick but it only works on a multiple of the original
-
- // The idea behind this method can be described with the following diagrams
- // second pass and third pass happen in the same loop really.. just separated
- // them to show what this does.
-
- // First Pass
- // ResultArr:
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
-
- // Second Pass
- // ResultArr2:
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
-
- // Third pass fills in the blanks
- // ResultArr2:
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
-
- // X,Y = .
- // X+1,y = ^
- // X,Y+1 = *
- // X+1,Y+1 = #
-
- // Filling in like this;
- // .*
- // ^#
- // 1st .
- // 2nd *
- // 3rd ^
- // 4th #
- // on single loop.
-
- float[,] resultarr2 = new float[512, 512];
- for (int y = 0; y < WorldExtents.Y; y++)
- {
- for (int x = 0; x < WorldExtents.X; x++)
- {
- resultarr2[y * 2, x * 2] = resultarr[y, x];
+ IntPtr heightFieldGeom = IntPtr.Zero;
- if (y < WorldExtents.Y)
- {
- resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
- }
- if (x < WorldExtents.X)
- {
- resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
- }
- if (x < WorldExtents.X && y < WorldExtents.Y)
- {
- resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
- }
- }
- }
+ // get region map
+ if (!RegionTerrain.TryGetValue(new Vector3(offsetX, offsetY, 0), out heightFieldGeom))
+ return 0f;
- //Flatten out the array
- int i = 0;
- for (int y = 0; y < 512; y++)
- {
- for (int x = 0; x < 512; x++)
- {
- if (resultarr2[y, x] <= 0)
- returnarr[i] = 0.0000001f;
- else
- returnarr[i] = resultarr2[y, x];
+ if (heightFieldGeom == IntPtr.Zero)
+ return 0f;
- i++;
- }
- }
+ if (!TerrainHeightFieldHeights.ContainsKey(heightFieldGeom))
+ return 0f;
- return returnarr;
- }
+ // TerrainHeightField for ODE as offset 1m
+ x += 1f - offsetX;
+ y += 1f - offsetY;
- public float[] ResizeTerrain512Interpolation(float[] heightMap)
- {
- float[] returnarr = new float[262144];
- float[,] resultarr = new float[512,512];
+ // make position fit into array
+ if (x < 0)
+ x = 0;
+ if (y < 0)
+ y = 0;
+
+ // integer indexs
+ int ix;
+ int iy;
+ // interpolators offset
+ float dx;
+ float dy;
+
+ int regsize = (int)Constants.RegionSize + 3; // map size see setterrain number of samples
- // Filling out the array into its multi-dimensional components
- for (int y = 0; y < 256; y++)
+ // we still have square fixed size regions
+ // also flip x and y because of how map is done for ODE fliped axis
+ // so ix,iy,dx and dy are inter exchanged
+ if (x < regsize - 1)
{
- for (int x = 0; x < 256; x++)
- {
- resultarr[y, x] = heightMap[y * 256 + x];
- }
+ iy = (int)x;
+ dy = x - (float)iy;
}
-
- // Resize using interpolation
-
- // This particular way is quick but it only works on a multiple of the original
-
- // The idea behind this method can be described with the following diagrams
- // second pass and third pass happen in the same loop really.. just separated
- // them to show what this does.
-
- // First Pass
- // ResultArr:
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
- // 1,1,1,1,1,1
-
- // Second Pass
- // ResultArr2:
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
- // ,,,,,,,,,,
- // 1,,1,,1,,1,,1,,1,
-
- // Third pass fills in the blanks
- // ResultArr2:
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
- // 1,1,1,1,1,1,1,1,1,1,1,1
-
- // X,Y = .
- // X+1,y = ^
- // X,Y+1 = *
- // X+1,Y+1 = #
-
- // Filling in like this;
- // .*
- // ^#
- // 1st .
- // 2nd *
- // 3rd ^
- // 4th #
- // on single loop.
-
- float[,] resultarr2 = new float[512,512];
- for (int y = 0; y < (int)Constants.RegionSize; y++)
+ else // out world use external height
{
- for (int x = 0; x < (int)Constants.RegionSize; x++)
- {
- resultarr2[y*2, x*2] = resultarr[y, x];
-
- if (y < (int)Constants.RegionSize)
- {
- if (y + 1 < (int)Constants.RegionSize)
- {
- if (x + 1 < (int)Constants.RegionSize)
- {
- resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[(y*2) + 1, x*2] = ((resultarr[y, x] + resultarr[y + 1, x])/2);
- }
- }
- else
- {
- resultarr2[(y*2) + 1, x*2] = resultarr[y, x];
- }
- }
- if (x < (int)Constants.RegionSize)
- {
- if (x + 1 < (int)Constants.RegionSize)
- {
- if (y + 1 < (int)Constants.RegionSize)
- {
- resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[y*2, (x*2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1])/2);
- }
- }
- else
- {
- resultarr2[y*2, (x*2) + 1] = resultarr[y, x];
- }
- }
- if (x < (int)Constants.RegionSize && y < (int)Constants.RegionSize)
- {
- if ((x + 1 < (int)Constants.RegionSize) && (y + 1 < (int)Constants.RegionSize))
- {
- resultarr2[(y*2) + 1, (x*2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
- resultarr[y, x + 1] + resultarr[y + 1, x + 1])/4);
- }
- else
- {
- resultarr2[(y*2) + 1, (x*2) + 1] = resultarr[y, x];
- }
- }
- }
+ iy = regsize - 1;
+ dy = 0;
}
- //Flatten out the array
- int i = 0;
- for (int y = 0; y < 512; y++)
+ if (y < regsize - 1)
{
- for (int x = 0; x < 512; x++)
- {
- if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
- {
- m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
- resultarr2[y, x] = 0;
- }
- returnarr[i] = resultarr2[y, x];
- i++;
- }
+ ix = (int)y;
+ dx = y - (float)ix;
+ }
+ else
+ {
+ ix = regsize - 1;
+ dx = 0;
}
- return returnarr;
- }
+ float h0;
+ float h1;
+ float h2;
- #endregion
+ iy *= regsize;
+ iy += ix; // all indexes have iy + ix
+ float[] heights = TerrainHeightFieldHeights[heightFieldGeom];
+
+ if ((dx + dy) <= 1.0f)
+ {
+ h0 = ((float)heights[iy]); // 0,0 vertice
+ h1 = (((float)heights[iy + 1]) - h0) * dx; // 1,0 vertice minus 0,0
+ h2 = (((float)heights[iy + regsize]) - h0) * dy; // 0,1 vertice minus 0,0
+ }
+ else
+ {
+ h0 = ((float)heights[iy + regsize + 1]); // 1,1 vertice
+ h1 = (((float)heights[iy + 1]) - h0) * (1 - dy); // 1,1 vertice minus 1,0
+ h2 = (((float)heights[iy + regsize]) - h0) * (1 - dx); // 1,1 vertice minus 0,1
+ }
+
+ return h0 + h1 + h2;
+ }
public override void SetTerrain(float[] heightMap)
{
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
@@ -2124,48 +1863,47 @@ namespace OpenSim.Region.Physics.OdePlugin
public void SetTerrain(float[] heightMap, Vector3 pOffset)
{
+ // assumes 1m size grid and constante size square regions
+ // needs to know about sims around in future
float[] _heightmap;
- _heightmap = new float[(((int)Constants.RegionSize + 2) * ((int)Constants.RegionSize + 2))];
uint heightmapWidth = Constants.RegionSize + 2;
uint heightmapHeight = Constants.RegionSize + 2;
- uint heightmapWidthSamples;
+ uint heightmapWidthSamples = heightmapWidth + 1;
+ uint heightmapHeightSamples = heightmapHeight + 1;
- uint heightmapHeightSamples;
-
- heightmapWidthSamples = (uint)Constants.RegionSize + 2;
- heightmapHeightSamples = (uint)Constants.RegionSize + 2;
+ _heightmap = new float[heightmapWidthSamples * heightmapHeightSamples];
const float scale = 1.0f;
const float offset = 0.0f;
const float thickness = 10f;
const int wrap = 0;
- int regionsize = (int) Constants.RegionSize + 2;
+ uint regionsize = Constants.RegionSize;
float hfmin = float.MaxValue;
float hfmax = float.MinValue;
float val;
- int xx;
- int yy;
+ uint xx;
+ uint yy;
- int maxXXYY = regionsize - 3;
+ uint maxXXYY = regionsize - 1;
// flipping map adding one margin all around so things don't fall in edges
- int xt = 0;
+ uint xt = 0;
xx = 0;
- for (int x = 0; x < heightmapWidthSamples; x++)
+ for (uint x = 0; x < heightmapWidthSamples; x++)
{
if (x > 1 && xx < maxXXYY)
xx++;
yy = 0;
- for (int y = 0; y < heightmapHeightSamples; y++)
+ for (uint y = 0; y < heightmapHeightSamples; y++)
{
if (y > 1 && y < maxXXYY)
- yy += (int)Constants.RegionSize;
+ yy += regionsize;
val = heightMap[yy + xx];
_heightmap[xt + y] = val;
@@ -2176,8 +1914,7 @@ namespace OpenSim.Region.Physics.OdePlugin
hfmax = val;
}
-
- xt += regionsize;
+ xt += heightmapHeightSamples;
}
lock (OdeLock)
{
@@ -2230,11 +1967,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(GroundGeom, ref R);
d.GeomSetPosition(GroundGeom, pOffset.X + (float)Constants.RegionSize * 0.5f - 0.5f, pOffset.Y + (float)Constants.RegionSize * 0.5f - 0.5f, 0);
- IntPtr testGround = IntPtr.Zero;
- if (RegionTerrain.TryGetValue(pOffset, out testGround))
- {
- RegionTerrain.Remove(pOffset);
- }
RegionTerrain.Add(pOffset, GroundGeom, GroundGeom);
// TerrainHeightFieldHeights.Add(GroundGeom, ODElandMap);
TerrainHeightFieldHeights.Add(GroundGeom, _heightmap);
--
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