/*
* 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:
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* notice, this list of conditions and the following disclaimer.
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* 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 OpenSim 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
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* 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 Axiom.Math;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Framework.Console;
using OpenSim.Region.Physics.Manager;
//using OpenSim.Region.Physics.OdePlugin.Meshing;
namespace OpenSim.Region.Physics.OdePlugin
{
/// <summary>
/// ODE plugin
/// </summary>
public class OdePlugin : IPhysicsPlugin
{
private OdeScene _mScene;
public OdePlugin()
{
}
public bool Init()
{
return true;
}
public PhysicsScene GetScene()
{
if (_mScene == null)
{
_mScene = new OdeScene();
}
return (_mScene);
}
public string GetName()
{
return ("OpenDynamicsEngine");
}
public void Dispose()
{
}
}
public class OdeScene : PhysicsScene
{
private static float ODE_STEPSIZE = 0.004f;
private static bool RENDER_FLAG = false;
private static float metersInSpace = 29.9f;
private IntPtr contactgroup;
private IntPtr LandGeom = (IntPtr) 0;
private double[] _heightmap;
private d.NearCallback nearCallback;
public d.TriCallback triCallback;
public d.TriArrayCallback triArrayCallback;
private List<OdeCharacter> _characters = new List<OdeCharacter>();
private List<OdePrim> _prims = new List<OdePrim>();
private List<OdePrim> _activeprims = new List<OdePrim>();
private List<OdePrim> _taintedPrim = new List<OdePrim>();
public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private d.ContactGeom[] contacts = new d.ContactGeom[30];
private d.Contact contact;
private d.Contact TerrainContact;
private d.Contact AvatarMovementprimContact;
private d.Contact AvatarMovementTerrainContact;
private int m_physicsiterations = 10;
private float m_SkipFramesAtms = 0.40f; // Drop frames gracefully at a 400 ms lag
private PhysicsActor PANull = new NullPhysicsActor();
private float step_time = 0.0f;
public IntPtr world;
public IntPtr space;
// split static geometry collision handling into spaces of 30 meters
public IntPtr[,] staticPrimspace = new IntPtr[(int)(300/metersInSpace),(int)(300/metersInSpace)];
public static Object OdeLock = new Object();
public IMesher mesher;
public OdeScene()
{
nearCallback = near;
triCallback = TriCallback;
triArrayCallback = TriArrayCallback;
/*
contact.surface.mode |= d.ContactFlags.Approx1 | d.ContactFlags.SoftCFM | d.ContactFlags.SoftERP;
contact.surface.mu = 10.0f;
contact.surface.bounce = 0.9f;
contact.surface.soft_erp = 0.005f;
contact.surface.soft_cfm = 0.00003f;
*/
contact.surface.mu = 250.0f;
contact.surface.bounce = 0.2f;
TerrainContact.surface.mode |= d.ContactFlags.SoftERP;
TerrainContact.surface.mu = 550.0f;
TerrainContact.surface.bounce = 0.1f;
TerrainContact.surface.soft_erp = 0.1025f;
AvatarMovementprimContact.surface.mu = 150.0f;
AvatarMovementprimContact.surface.bounce = 0.2f;
AvatarMovementTerrainContact.surface.mode |= d.ContactFlags.SoftERP;
AvatarMovementTerrainContact.surface.mu = 150.0f;
AvatarMovementTerrainContact.surface.bounce = 0.1f;
AvatarMovementTerrainContact.surface.soft_erp = 0.1025f;
lock (OdeLock)
{
world = d.WorldCreate();
space = d.HashSpaceCreate(IntPtr.Zero);
d.HashSpaceSetLevels(space, -4, 128);
contactgroup = d.JointGroupCreate(0);
//contactgroup
d.WorldSetGravity(world, 0.0f, 0.0f, -10.0f);
d.WorldSetAutoDisableFlag(world, false);
d.WorldSetContactSurfaceLayer(world, 0.001f);
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
d.WorldSetContactMaxCorrectingVel(world, 1000.0f);
}
_heightmap = new double[514*514];
for (int i = 0; i < staticPrimspace.GetLength(0); i++)
{
for (int j = 0; j < staticPrimspace.GetLength(1); j++)
{
staticPrimspace[i,j] = IntPtr.Zero;
}
}
}
public override void Initialise(IMesher meshmerizer)
{
mesher = meshmerizer;
}
public string whichspaceamIin(PhysicsVector pos)
{
return calculateSpaceForGeom(pos).ToString();
}
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
// no lock here! It's invoked from within Simulate(), which is thread-locked
if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2) )
{
// Separating static prim geometry spaces.
// We'll be calling near recursivly if one
// of them is a space to find all of the
// contact points in the space
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
//Colliding a space or a geom with a space or a geom.
//Collide all geoms in each space..
//if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
//if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
}
else
{
// Colliding Geom To Geom
// This portion of the function 'was' blatantly ripped off from BoxStack.cs
IntPtr b1 = d.GeomGetBody(g1);
IntPtr b2 = d.GeomGetBody(g2);
if (g1 == g2)
return; // Can't collide with yourself
if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
return;
d.GeomClassID id = d.GeomGetClass(g1);
String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(g1, out name1))
{
name1 = "null";
}
if (!geom_name_map.TryGetValue(g2, out name2))
{
name2 = "null";
}
if (id == d.GeomClassID.TriMeshClass)
{
// MainLog.Instance.Verbose("near: A collision was detected between {1} and {2}", 0, name1, name2);
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
}
int count = 0;
try
{
count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
}
catch (System.Runtime.InteropServices.SEHException)
{
MainLog.Instance.Error("PHYSICS", "The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
base.TriggerPhysicsBasedRestart();
}
for (int i = 0; i < count; i++)
{
IntPtr joint;
// If we're colliding with terrain, use 'TerrainContact' instead of contact.
// allows us to have different settings
PhysicsActor p1;
PhysicsActor p2;
if (!actor_name_map.TryGetValue(g1, out p1))
{
p1 = PANull;
}
if (!actor_name_map.TryGetValue(g2, out p2))
{
p2 = PANull;
}
// We only need to test p2 for 'jump crouch purposes'
p2.IsColliding = true;
switch(p1.PhysicsActorType) {
case (int)ActorTypes.Agent:
p2.CollidingObj = true;
break;
case (int)ActorTypes.Prim:
if (p2.Velocity.X >0 || p2.Velocity.Y > 0 || p2.Velocity.Z > 0)
p2.CollidingObj = true;
break;
case (int)ActorTypes.Unknown:
p2.CollidingGround = true;
break;
default:
p2.CollidingGround = true;
break;
}
if (name1 == "Terrain" || name2 == "Terrain")
{
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
AvatarMovementTerrainContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementTerrainContact);
}
else
{
TerrainContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref TerrainContact);
}
}
else
{
if ((p2.PhysicsActorType == (int)ActorTypes.Agent) && (Math.Abs(p2.Velocity.X) > 0.01f || Math.Abs(p2.Velocity.Y) > 0.01f))
{
AvatarMovementprimContact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref AvatarMovementprimContact);
}
else
{
contact.geom = contacts[i];
joint = d.JointCreateContact(world, contactgroup, ref contact);
}
}
d.JointAttach(joint, b1, b2);
if (count > 3)
{
p2.ThrottleUpdates = true;
}
//System.Console.WriteLine(count.ToString());
//System.Console.WriteLine("near: A collision was detected between {1} and {2}", 0, name1, name2);
}
}
}
private void collision_optimized(float timeStep)
{
foreach (OdeCharacter chr in _characters)
{
chr.IsColliding = false;
chr.CollidingGround = false;
chr.CollidingObj = false;
d.SpaceCollide2(space, chr.Shell, IntPtr.Zero, nearCallback);
}
// If the sim is running slow this frame,
// don't process collision for prim!
if (timeStep < (m_SkipFramesAtms / 2))
{
foreach (OdePrim chr in _activeprims)
{
// This if may not need to be there.. it might be skipped anyway.
if (d.BodyIsEnabled(chr.Body))
{
d.SpaceCollide2(space, chr.prim_geom, IntPtr.Zero, nearCallback);
//foreach (OdePrim ch2 in _prims)
/// should be a separate space -- lots of avatars will be N**2 slow
//{
//if (ch2.IsPhysical && d.BodyIsEnabled(ch2.Body))
//{
// Only test prim that are 0.03 meters away in one direction.
// This should be Optimized!
//if ((Math.Abs(ch2.Position.X - chr.Position.X) < 0.03) || (Math.Abs(ch2.Position.Y - chr.Position.Y) < 0.03) || (Math.Abs(ch2.Position.X - chr.Position.X) < 0.03))
//{
//d.SpaceCollide2(chr.prim_geom, ch2.prim_geom, IntPtr.Zero, nearCallback);
//}
//}
//}
}
}
}
else
{
// Everything is going slow, so we're skipping object to object collisions
// At least collide test against the ground.
foreach (OdePrim chr in _activeprims)
{
// This if may not need to be there.. it might be skipped anyway.
if (d.BodyIsEnabled(chr.Body))
{
d.SpaceCollide2(LandGeom, chr.prim_geom, IntPtr.Zero, nearCallback);
}
}
}
}
public override PhysicsActor AddAvatar(string avName, PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
OdeCharacter newAv = new OdeCharacter(avName, this, pos);
_characters.Add(newAv);
return newAv;
}
public override void RemoveAvatar(PhysicsActor actor)
{
lock (OdeLock)
{
((OdeCharacter) actor).Destroy();
_characters.Remove((OdeCharacter) actor);
}
}
public override void RemovePrim(PhysicsActor prim)
{
if (prim is OdePrim)
{
lock (OdeLock)
{
OdePrim p = (OdePrim) prim;
p.setPrimForRemoval();
AddPhysicsActorTaint(prim);
}
}
}
public void RemovePrimThreadLocked(OdePrim prim)
{
lock (OdeLock)
{
if (prim.IsPhysical)
{
prim.disableBody();
}
// we don't want to remove the main space
if (prim.m_targetSpace != space && prim.IsPhysical == false)
{
// If the geometry is in the targetspace, remove it from the target space
if (d.SpaceQuery(prim.m_targetSpace, prim.prim_geom))
{
if (!(prim.m_targetSpace.Equals(null)))
{
if (d.GeomIsSpace(prim.m_targetSpace))
{
d.SpaceRemove(prim.m_targetSpace, prim.prim_geom);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'removeprim from scene':" + ((OdePrim)prim).m_targetSpace.ToString());
}
}
}
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
if (d.SpaceGetNumGeoms(prim.m_targetSpace) == 0)
{
if (!(prim.m_targetSpace.Equals(null)))
{
if (d.GeomIsSpace(prim.m_targetSpace))
{
d.SpaceRemove(space, prim.m_targetSpace);
// free up memory used by the space.
d.SpaceDestroy(prim.m_targetSpace);
int[] xyspace = calculateSpaceArrayItemFromPos(prim.Position);
resetSpaceArrayItemToZero(xyspace[0], xyspace[1]);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'removeprim from scene':" + ((OdePrim)prim).m_targetSpace.ToString());
}
}
}
}
d.GeomDestroy(prim.prim_geom);
_prims.Remove(prim);
}
}
public void resetSpaceArrayItemToZero(IntPtr space)
{
for (int x = 0; x < staticPrimspace.GetLength(0); x++)
{
for (int y = 0; y < staticPrimspace.GetLength(1); y++)
{
if (staticPrimspace[x, y] == space)
staticPrimspace[x, y] = IntPtr.Zero;
}
}
}
public void resetSpaceArrayItemToZero(int arrayitemX,int arrayitemY)
{
staticPrimspace[arrayitemX, arrayitemY] = IntPtr.Zero;
}
public IntPtr recalculateSpaceForGeom(IntPtr geom, PhysicsVector pos, IntPtr currentspace)
{
//Todo recalculate space the prim is in.
// Called from setting the Position and Size of an ODEPrim so
// it's already in locked space.
// we don't want to remove the main space
// we don't need to test physical here because this function should
// never be called if the prim is physical(active)
if (currentspace != space)
{
if (d.SpaceQuery(currentspace, geom) && currentspace != (IntPtr)0)
{
if (d.GeomIsSpace(currentspace))
{
d.SpaceRemove(currentspace, geom);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());
}
}
else
{
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
if (!(sGeomIsIn.Equals(null)))
{
if (sGeomIsIn != (IntPtr)0)
if (d.GeomIsSpace(currentspace))
{
d.SpaceRemove(sGeomIsIn, geom);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + sGeomIsIn.ToString() + " Geom:" + geom.ToString());
}
}
}
//If there are no more geometries in the sub-space, we don't need it in the main space anymore
if (d.SpaceGetNumGeoms(currentspace) == 0)
{
if (currentspace != (IntPtr)0)
{
if (d.GeomIsSpace(currentspace))
{
d.SpaceRemove(space, currentspace);
// free up memory used by the space.
d.SpaceDestroy(currentspace);
resetSpaceArrayItemToZero(currentspace);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());
}
}
}
}
else
{
// this is a physical object that got disabled. ;.;
if (d.SpaceQuery(currentspace, geom))
{
if (currentspace != (IntPtr)0)
if (d.GeomIsSpace(currentspace))
{
d.SpaceRemove(currentspace, geom);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + currentspace.ToString() + " Geom:" + geom.ToString());
}
}
else
{
IntPtr sGeomIsIn = d.GeomGetSpace(geom);
if (!(sGeomIsIn.Equals(null)))
{
if (sGeomIsIn != (IntPtr)0)
{
if (d.GeomIsSpace(sGeomIsIn))
{
d.SpaceRemove(sGeomIsIn, geom);
}
else
{
MainLog.Instance.Verbose("Physics", "Invalid Scene passed to 'recalculatespace':" + sGeomIsIn.ToString() + " Geom:" + geom.ToString());
}
}
}
}
}
// The routines in the Position and Size sections do the 'inserting' into the space,
// so all we have to do is make sure that the space that we're putting the prim into
// is in the 'main' space.
int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
IntPtr newspace = calculateSpaceForGeom(pos);
if (newspace == IntPtr.Zero)
{
newspace = createprimspace(iprimspaceArrItem[0],iprimspaceArrItem[1]);
d.HashSpaceSetLevels(newspace, -4, 66);
}
return newspace;
}
public IntPtr createprimspace(int iprimspaceArrItemX, int iprimspaceArrItemY) {
// creating a new space for prim and inserting it into main space.
staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY] = d.HashSpaceCreate(IntPtr.Zero);
d.SpaceAdd(space, staticPrimspace[iprimspaceArrItemX,iprimspaceArrItemY]);
return staticPrimspace[iprimspaceArrItemX, iprimspaceArrItemY];
}
public IntPtr calculateSpaceForGeom(PhysicsVector pos)
{
int[] xyspace = calculateSpaceArrayItemFromPos(pos);
//MainLog.Instance.Verbose("Physics", "Attempting to use arrayItem: " + xyspace[0].ToString() + "," + xyspace[1].ToString());
IntPtr locationbasedspace = staticPrimspace[xyspace[0],xyspace[1]];
//locationbasedspace = space;
return locationbasedspace;
}
public int[] calculateSpaceArrayItemFromPos(PhysicsVector pos)
{
int[] returnint = new int[2];
returnint[0] = (int)(pos.X / metersInSpace);
if (returnint[0] > ((int)(259f / metersInSpace)))
returnint[0] = ((int)(259f / metersInSpace));
if (returnint[0] < 0)
returnint[0] = 0;
returnint[1] = (int)(pos.Y / metersInSpace);
if (returnint[0] > ((int)(259f / metersInSpace)))
returnint[0] = ((int)(259f / metersInSpace));
if (returnint[0] < 0)
returnint[0] = 0;
return returnint;
}
private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
Quaternion rot = new Quaternion();
rot.w = rotation.w;
rot.x = rotation.x;
rot.y = rotation.y;
rot.z = rotation.z;
int[] iprimspaceArrItem = calculateSpaceArrayItemFromPos(pos);
IntPtr targetspace = calculateSpaceForGeom(pos);
if (targetspace == IntPtr.Zero)
targetspace = createprimspace(iprimspaceArrItem[0],iprimspaceArrItem[1]);
OdePrim newPrim;
lock (OdeLock)
{
newPrim = new OdePrim(name, this, targetspace, pos, siz, rot, mesh, pbs, isphysical);
_prims.Add(newPrim);
}
return newPrim;
}
public void addActivePrim(OdePrim activatePrim)
{
// adds active prim.. (ones that should be iterated over in collisions_optimized
_activeprims.Add(activatePrim);
}
public void remActivePrim(OdePrim deactivatePrim)
{
_activeprims.Remove(deactivatePrim);
}
public int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount)
{
/* String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(trimesh, out name1))
{
name1 = "null";
}
if (!geom_name_map.TryGetValue(refObject, out name2))
{
name2 = "null";
}
MainLog.Instance.Verbose("TriArrayCallback: A collision was detected between {1} and {2}", 0, name1, name2);
*/
return 1;
}
public int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex)
{
String name1 = null;
String name2 = null;
if (!geom_name_map.TryGetValue(trimesh, out name1))
{
name1 = "null";
}
if (!geom_name_map.TryGetValue(refObject, out name2))
{
name2 = "null";
}
// MainLog.Instance.Verbose("TriCallback: A collision was detected between {1} and {2}. Index was {3}", 0, name1, name2, triangleIndex);
d.Vector3 v0 = new d.Vector3();
d.Vector3 v1 = new d.Vector3();
d.Vector3 v2 = new d.Vector3();
d.GeomTriMeshGetTriangle(trimesh, 0, ref v0, ref v1, ref v2);
// MainLog.Instance.Debug("Triangle {0} is <{1},{2},{3}>, <{4},{5},{6}>, <{7},{8},{9}>", triangleIndex, v0.X, v0.Y, v0.Z, v1.X, v1.Y, v1.Z, v2.X, v2.Y, v2.Z);
return 1;
}
public bool needsMeshing(PrimitiveBaseShape pbs)
{
if (pbs.ProfileHollow != 0)
return true;
if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
return true;
return false;
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation) //To be removed
{
return this.AddPrimShape(primName, pbs, position, size, rotation, false);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation, bool isPhysical)
{
PhysicsActor result;
IMesh mesh = null;
switch (pbs.ProfileShape)
{
case ProfileShape.Square:
/// support simple box & hollow box now; later, more shapes
if (needsMeshing(pbs))
{
mesh = mesher.CreateMesh(primName, pbs, size);
}
break;
}
result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
return result;
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
if (prim is OdePrim)
{
OdePrim taintedprim = ((OdePrim)prim);
if (!(_taintedPrim.Contains(taintedprim)))
_taintedPrim.Add(taintedprim);
}
}
public override float Simulate(float timeStep)
{
float fps = 0;
step_time += timeStep;
// If We're loaded down by something else,
// or debugging with the Visual Studio project on pause
// skip a few frames to catch up gracefully.
// without shooting the physicsactors all over the place
if (step_time >= m_SkipFramesAtms)
{
// Instead of trying to catch up, it'll do one physics frame only
step_time = ODE_STEPSIZE;
this.m_physicsiterations = 5;
}
else
{
m_physicsiterations = 10;
}
lock (OdeLock)
{
// Process 10 frames if the sim is running normal..
// process 5 frames if the sim is running slow
try{
d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
}
catch (System.StackOverflowException)
{
MainLog.Instance.Error("PHYSICS", "The operating system wasn't able to allocate enough memory for the simulation. Restarting the sim.");
base.TriggerPhysicsBasedRestart();
}
int i = 0;
// Figure out the Frames Per Second we're going at.
fps = (((step_time / ODE_STEPSIZE * m_physicsiterations)*2)* 10);
while (step_time > 0.0f)
{
foreach (OdeCharacter actor in _characters)
{
actor.Move(timeStep);
actor.collidelock = true;
}
collision_optimized(timeStep);
d.WorldQuickStep(world, ODE_STEPSIZE);
d.JointGroupEmpty(contactgroup);
foreach (OdeCharacter actor in _characters)
{
actor.collidelock = false;
}
step_time -= ODE_STEPSIZE;
i++;
}
foreach (OdeCharacter actor in _characters)
{
actor.UpdatePositionAndVelocity();
}
bool processedtaints = false;
foreach (OdePrim prim in _taintedPrim)
{
prim.ProcessTaints(timeStep);
if (prim.m_taintremove)
{
RemovePrimThreadLocked(prim);
}
processedtaints = true;
}
if (processedtaints)
_taintedPrim = new List<OdePrim>();
if (timeStep < 0.2f)
{
foreach (OdePrim actor in _activeprims)
{
if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
{
actor.UpdatePositionAndVelocity();
}
}
}
}
return fps;
}
public override void GetResults()
{
}
public override bool IsThreaded
{
get { return (false); // for now we won't be multithreaded
}
}
public float[] ResizeTerrain512(float[] heightMap)
{
float[] returnarr = new float[262144];
float[,] resultarr = new float[256, 256];
// Filling out the array into it's multi-dimentional components
for (int y = 0; y < 256; y++)
{
for (int x = 0; x < 256; x++)
{
resultarr[y,x] = heightMap[y * 256 + x];
}
}
// 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 < 256; y++)
{
for (int x = 0; x < 256; x++)
{
resultarr2[y*2,x*2] = resultarr[y,x];
if (y < 256)
{
if (y + 1 < 256)
{
if (x + 1 < 256)
{
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 < 256)
{
if (x + 1 < 256)
{
if (y + 1 < 256)
{
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 < 256 && y < 256)
{
if ((x + 1 < 256) && (y + 1 < 256))
{
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];
}
}
}
}
//Flatten out the array
int i = 0;
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
returnarr[i] = resultarr2[y, x];
i++;
}
}
return returnarr;
}
public override void SetTerrain(float[] heightMap)
{
// this._heightmap[i] = (double)heightMap[i];
// dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
// also, creating a buffer zone of one extra sample all around
//Double resolution
heightMap = ResizeTerrain512(heightMap);
for (int x = 0; x < 514; x++)
{
for (int y = 0; y < 514; y++)
{
int xx = x - 1;
if (xx < 0) xx = 0;
if (xx > 511) xx = 511;
int yy = y - 1;
if (yy < 0) yy = 0;
if (yy > 511) yy = 511;
double val = (double) heightMap[yy*512 + xx];
_heightmap[x*514 + y] = val;
}
}
lock (OdeLock)
{
if (!(LandGeom == (IntPtr) 0))
{
d.SpaceRemove(space, LandGeom);
}
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 258, 258, 514, 514, 1.0f, 0.0f, 2.0f, 0);
d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
geom_name_map[LandGeom] = "Terrain";
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.FromAngleAxis(1.5707f, new Vector3(1, 0, 0));
Quaternion q2 = Quaternion.FromAngleAxis(1.5707f, new Vector3(0, 1, 0));
//Axiom.Math.Quaternion q3 = Axiom.Math.Quaternion.FromAngleAxis(3.14f, new Axiom.Math.Vector3(0, 0, 1));
q1 = q1*q2;
//q1 = q1 * q3;
Vector3 v3 = new Vector3();
float angle = 0;
q1.ToAngleAxis(ref angle, ref v3);
d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
d.GeomSetRotation(LandGeom, ref R);
d.GeomSetPosition(LandGeom, 128, 128, 0);
}
}
public override void DeleteTerrain()
{
}
}
}