/* * 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.PhysicsModules.SharedBase; using Nini.Config; using log4net; using OpenMetaverse; namespace OpenSim.Region.PhysicsModule.BulletS { // The physical implementation of the terrain is wrapped in this class. public abstract class BSTerrainPhys : IDisposable { public enum TerrainImplementation { Heightmap = 0, Mesh = 1 } protected BSScene m_physicsScene { get; private set; } // Base of the region in world coordinates. Coordinates inside the region are relative to this. public Vector3 TerrainBase { get; private set; } public uint ID { get; private set; } public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) { m_physicsScene = physicsScene; TerrainBase = regionBase; ID = id; } public abstract void Dispose(); public abstract float GetTerrainHeightAtXYZ(Vector3 pos); public abstract float GetWaterLevelAtXYZ(Vector3 pos); } // ========================================================================================== public sealed class BSTerrainManager : IDisposable { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; // These height values are fractional so the odd values will be // noticable when debugging. public const float HEIGHT_INITIALIZATION = 24.987f; public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; public const float HEIGHT_GETHEIGHT_RET = 24.765f; public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; // If the min and max height are equal, we reduce the min by this // amount to make sure that a bounding box is built for the terrain. public const float HEIGHT_EQUAL_FUDGE = 0.2f; // Until the whole simulator is changed to pass us the region size, we rely on constants. public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // The scene that I am part of private BSScene m_physicsScene { get; set; } // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; // If doing mega-regions, if we're region zero we will be managing multiple // region terrains since region zero does the physics for the whole mega-region. private Dictionary m_terrains; // Flags used to know when to recalculate the height. private bool m_terrainModified = false; // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. // This is incremented before assigning to new region so it is the last ID allocated. private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; public uint HighestTerrainID { get {return m_terrainCount; } } // If doing mega-regions, this holds our offset from region zero of // the mega-regions. "parentScene" points to the PhysicsScene of region zero. private Vector3 m_worldOffset; // If the parent region (region 0), this is the extent of the combined regions // relative to the origin of region zero private Vector3 m_worldMax; private PhysicsScene MegaRegionParentPhysicsScene { get; set; } public BSTerrainManager(BSScene physicsScene, Vector3 regionSize) { m_physicsScene = physicsScene; DefaultRegionSize = regionSize; m_terrains = new Dictionary(); // Assume one region of default size m_worldOffset = Vector3.Zero; m_worldMax = new Vector3(DefaultRegionSize); MegaRegionParentPhysicsScene = null; } public void Dispose() { ReleaseGroundPlaneAndTerrain(); } // Create the initial instance of terrain and the underlying ground plane. // This is called from the initialization routine so we presume it is // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() { DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); Vector3 groundPlaneAltitude = new Vector3(0f, 0f, BSParam.TerrainGroundPlane); m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, groundPlaneAltitude, Quaternion.Identity); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane); // Ground plane does not move m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); lock (m_terrains) { // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. m_terrains.Add(Vector3.Zero, initialTerrain); } } // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); if (m_groundPlane.HasPhysicalBody) { if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane)) { m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane); } m_groundPlane.Clear(); } ReleaseTerrain(); } // Release all the terrain we have allocated public void ReleaseTerrain() { lock (m_terrains) { foreach (KeyValuePair kvp in m_terrains) { kvp.Value.Dispose(); } m_terrains.Clear(); } } // The simulator wants to set a new heightmap for the terrain. public void SetTerrain(float[] heightMap) { float[] localHeightMap = heightMap; // If there are multiple requests for changes to the same terrain between ticks, // only do that last one. m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() { if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) { // If a child of a mega-region, we shouldn't have any terrain allocated for us ReleaseGroundPlaneAndTerrain(); // If doing the mega-prim stuff and we are the child of the zero region, // the terrain is added to our parent if (MegaRegionParentPhysicsScene is BSScene) { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.AddMegaRegionChildTerrain( BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } } else { // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } }); } // Another region is calling this region and passing a terrain. // A region that is not the mega-region root will pass its terrain to the root region so the root region // physics engine will have all the terrains. private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() { UpdateTerrain(id, heightMap, minCoords, maxCoords); }); } // If called for terrain has has not been previously allocated, a new terrain will be built // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. // The latter feature is for creating child terrains for mega-regions. // If there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) // Called during taint-time. private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum // object height, for instance). The terrain wants the bounding box for the // terrain so replace passed min and max Z with the actual terrain min/max Z. float minZ = float.MaxValue; float maxZ = float.MinValue; foreach (float height in heightMap) { if (height < minZ) minZ = height; if (height > maxZ) maxZ = height; } if (minZ == maxZ) { // If min and max are the same, reduce min a little bit so a good bounding box is created. minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; } minCoords.Z = minZ; maxCoords.Z = maxZ; DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}", BSScene.DetailLogZero, id, minCoords, maxCoords); Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); lock (m_terrains) { BSTerrainPhys terrainPhys; if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { // There is already a terrain in this spot. Free the old and build the new. DetailLog("{0},BSTerrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords); // Remove old terrain from the collection m_terrains.Remove(terrainRegionBase); // Release any physical memory it may be using. terrainPhys.Dispose(); if (MegaRegionParentPhysicsScene == null) { // This terrain is not part of the mega-region scheme. Create vanilla terrain. BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; } else { // It's possible that Combine() was called after this code was queued. // If we are a child of combined regions, we don't create any terrain for us. DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); // Get rid of any terrain that may have been allocated for us. ReleaseGroundPlaneAndTerrain(); // I hate doing this, but just bail return; } } else { // We don't know about this terrain so either we are creating a new terrain or // our mega-prim child is giving us a new terrain to add to the phys world // if this is a child terrain, calculate a unique terrain id uint newTerrainID = id; if (newTerrainID >= BSScene.CHILDTERRAIN_ID) newTerrainID = ++m_terrainCount; DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords); BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; } } } // TODO: redo terrain implementation selection to allow other base types than heightMap. private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", LogHeader, m_physicsScene.RegionName, terrainRegionBase, (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)BSParam.TerrainImplementation) { case (int)BSTerrainPhys.TerrainImplementation.Heightmap: newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; case (int)BSTerrainPhys.TerrainImplementation.Mesh: newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; default: m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", LogHeader, (int)BSParam.TerrainImplementation, BSParam.TerrainImplementation, m_physicsScene.RegionName, terrainRegionBase); break; } return newTerrainPhys; } // Return 'true' of this position is somewhere in known physical terrain space public bool IsWithinKnownTerrain(Vector3 pos) { Vector3 terrainBaseXYZ; BSTerrainPhys physTerrain; return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); } // Return a new position that is over known terrain if the position is outside our terrain. public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos) { float edgeEpsilon = 0.1f; Vector3 ret = pPos; // First, base addresses are never negative so correct for that possible problem. if (ret.X < 0f || ret.Y < 0f) { ret.X = Util.Clamp(ret.X, 0f, 1000000f); ret.Y = Util.Clamp(ret.Y, 0f, 1000000f); DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}", BSScene.DetailLogZero, pPos, ret); } // Can't do this function if we don't know about any terrain. if (m_terrains.Count == 0) return ret; int loopPrevention = 10; Vector3 terrainBaseXYZ; BSTerrainPhys physTerrain; while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ)) { // The passed position is not within a known terrain area. // NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region. // Must be off the top of a region. Find an adjacent region to move into. // The returned terrain is always 'lower'. That is, closer to <0,0>. Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ); if (adjacentTerrainBase.X < terrainBaseXYZ.X) { // moving down into a new region in the X dimension. New position will be the max in the new base. ret.X = adjacentTerrainBase.X + DefaultRegionSize.X - edgeEpsilon; } if (adjacentTerrainBase.Y < terrainBaseXYZ.Y) { // moving down into a new region in the X dimension. New position will be the max in the new base. ret.Y = adjacentTerrainBase.Y + DefaultRegionSize.Y - edgeEpsilon; } DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}", BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret); if (loopPrevention-- < 0f) { // The 'while' is a little dangerous so this prevents looping forever if the // mapping of the terrains ever gets messed up (like nothing at <0,0>) or // the list of terrains is in transition. DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,suppressingFindAdjacentRegionLoop", BSScene.DetailLogZero); break; } } return ret; } // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, // the base of the region is calcuated assuming all regions are // the same size and that is the default. // Once the heightMapInfo is found, we have all the information to // compute the offset into the array. private float lastHeightTX = 999999f; private float lastHeightTY = 999999f; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; public float GetTerrainHeightAtXYZ(Vector3 pos) { float tX = pos.X; float tY = pos.Y; // You'd be surprized at the number of times this routine is called // with the same parameters as last time. if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY)) return lastHeight; m_terrainModified = false; lastHeightTX = tX; lastHeightTY = tY; float ret = HEIGHT_GETHEIGHT_RET; Vector3 terrainBaseXYZ; BSTerrainPhys physTerrain; if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) { ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ); } else { m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", LogHeader, m_physicsScene.RegionName, tX, tY); DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", BSScene.DetailLogZero, pos, terrainBaseXYZ); } lastHeight = ret; return ret; } public float GetWaterLevelAtXYZ(Vector3 pos) { float ret = WATER_HEIGHT_GETHEIGHT_RET; Vector3 terrainBaseXYZ; BSTerrainPhys physTerrain; if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) { ret = physTerrain.GetWaterLevelAtXYZ(pos); } else { m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret); } return ret; } // Given an address, return 'true' of there is a description of that terrain and output // the descriptor class and the 'base' fo the addresses therein. private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) { bool ret = false; Vector3 terrainBaseXYZ = Vector3.Zero; if (pos.X < 0f || pos.Y < 0f) { // We don't handle negative addresses so just make up a base that will not be found. terrainBaseXYZ = new Vector3(-DefaultRegionSize.X, -DefaultRegionSize.Y, 0f); } else { int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); } BSTerrainPhys physTerrain = null; lock (m_terrains) { ret = m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); } outTerrainBase = terrainBaseXYZ; outPhysTerrain = physTerrain; return ret; } // Given a terrain base, return a terrain base for a terrain that is closer to <0,0> than // this one. Usually used to return an out of bounds object to a known place. private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase) { Vector3 ret = pTerrainBase; // Can't do this function if we don't know about any terrain. if (m_terrains.Count == 0) return ret; // Just some sanity ret.X = Util.Clamp(ret.X, 0f, 1000000f); ret.Y = Util.Clamp(ret.Y, 0f, 1000000f); ret.Z = 0f; lock (m_terrains) { // Once down to the <0,0> region, we have to be done. while (ret.X > 0f || ret.Y > 0f) { if (ret.X > 0f) { ret.X = Math.Max(0f, ret.X - DefaultRegionSize.X); DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingX,terrainBase={1}", BSScene.DetailLogZero, ret); if (m_terrains.ContainsKey(ret)) break; } if (ret.Y > 0f) { ret.Y = Math.Max(0f, ret.Y - DefaultRegionSize.Y); DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingY,terrainBase={1}", BSScene.DetailLogZero, ret); if (m_terrains.ContainsKey(ret)) break; } } } return ret; } // Although no one seems to check this, I do support combining. public bool SupportsCombining() { return true; } // This routine is called two ways: // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum // extent of the combined regions. This is to inform the parent of the size // of the combined regions. // and one with 'offset' as the offset of the child region to the base region, // 'pScene' pointing to the parent and 'extents' of zero. This informs the // child of its relative base and new parent. public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) { m_worldOffset = offset; m_worldMax = extents; MegaRegionParentPhysicsScene = pScene; if (pScene != null) { // We are a child. // We want m_worldMax to be the highest coordinate of our piece of terrain. m_worldMax = offset + DefaultRegionSize; } DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); } // Unhook all the combining that I know about. public void UnCombine(PhysicsScene pScene) { // Just like ODE, we don't do anything yet. DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); } private void DetailLog(string msg, params Object[] args) { m_physicsScene.PhysicsLogging.Write(msg, args); } } }