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some ubOde CO2

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UbitUmarov
2021-11-28 19:16:52 +00:00
parent c16b9cbb6a
commit 6007f97a41
1 changed files with 83 additions and 88 deletions
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171
OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
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@@ -193,6 +193,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private int m_regionWidth = (int)Constants.RegionSize;
private int m_regionHeight = (int)Constants.RegionSize;
private int m_heightmapWidthSamples = (int)Constants.RegionSize + 3;
private int m_heightmapHeightSamples = (int)Constants.RegionSize + 3;
public float ODE_STEPSIZE = 0.020f;
public float HalfOdeStep = 0.01f;
public int odetimestepMS = 20; // rounded
@@ -1787,7 +1790,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
return fps;
}
public float GetTerrainHeightAtXY(float x, float y)
public unsafe float GetTerrainHeightAtXY(float x, float y)
{
if (m_terrainGeom == IntPtr.Zero)
return 0f;
@@ -1812,28 +1815,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float dx;
float dy;
int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples
int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples
int regsize = regsizeX;
if (x < regsizeX - 1)
if (x < m_heightmapWidthSamples - 1)
{
ix = (int)x;
dx = x - (float)ix;
dx = x - ix;
}
else // out world use external height
{
ix = regsizeX - 2;
ix = m_heightmapWidthSamples - 2;
dx = 0;
}
if (y < regsizeY - 1)
if (y < m_heightmapHeightSamples - 1)
{
iy = (int)y;
dy = y - (float)iy;
dy = y - iy;
}
else
{
iy = regsizeY - 2;
iy = m_heightmapHeightSamples - 2;
dy = 0;
}
@@ -1841,45 +1840,49 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float h1;
float h2;
iy *= regsize;
iy *= m_heightmapWidthSamples;
iy += ix; // all indexes have iy + ix
float[] heights = m_terrainHeights;
/*
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
}
*/
h0 = ((float)heights[iy]); // 0,0 vertice
if (dy>dx)
fixed(float* heightsb = &m_terrainHeights[iy])
{
iy += regsize;
h2 = (float)heights[iy]; // 0,1 vertice
h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
h2 = ((float)heights[iy + 1] - h2) * dx; // 1,1 vertice minus 0,1
}
else
{
iy++;
h2 = (float)heights[iy]; // vertice 1,0
h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
h2 = (((float)heights[iy + regsize]) - h2) * dy; // 1,1 vertice minus 1,0
}
float* heights = heightsb;
/*
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
}
*/
h0 = *heights; // 0,0 vertice
if (dy>dx)
{
heights += m_heightmapWidthSamples;
h2 = *heights; // 0,1 vertice
h1 = (h2 - h0) * dy; // 0,1 vertice minus 0,0
++heights;
h2 = (*heights - h2) * dx; // 1,1 vertice minus 0,1
}
else
{
++heights;
h2 = *heights; // vertice 1,0
h1 = (h2 - h0) * dx; // 1,0 vertice minus 0,0
heights += m_heightmapWidthSamples;
h2 = (*heights - h2) * dy; // 1,1 vertice minus 1,0
}
}
return h0 + h1 + h2;
}
public Vector3 GetTerrainNormalAtXY(float x, float y)
public unsafe Vector3 GetTerrainNormalAtXY(float x, float y)
{
Vector3 norm = new Vector3(0, 0, 1);
@@ -1906,64 +1909,56 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float dx;
float dy;
int regsizeX = (int)m_regionWidth + 3; // map size see setterrain number of samples
int regsizeY = (int)m_regionHeight + 3; // map size see setterrain number of samples
int regsize = regsizeX;
int xstep = 1;
int ystep = regsizeX;
bool firstTri = false;
if (x < regsizeX - 1)
if (x < m_heightmapWidthSamples - 1)
{
ix = (int)x;
dx = x - (float)ix;
dx = x - ix;
}
else // out world use external height
{
ix = regsizeX - 2;
ix = m_heightmapWidthSamples - 2;
dx = 0;
}
if (y < regsizeY - 1)
if (y < m_heightmapHeightSamples - 1)
{
iy = (int)y;
dy = y - (float)iy;
dy = y - iy;
}
else
{
iy = regsizeY - 2;
iy = m_heightmapHeightSamples - 2;
dy = 0;
}
firstTri = dy > dx;
float h0;
float h1;
float h2;
iy *= regsize;
iy *= m_heightmapWidthSamples;
iy += ix; // all indexes have iy + ix
float[] heights = m_terrainHeights;
if (firstTri)
fixed(float* heightsB = &m_terrainHeights[iy])
{
h1 = ((float)heights[iy]); // 0,0 vertice
iy += ystep;
h0 = (float)heights[iy]; // 0,1
h2 = (float)heights[iy+xstep]; // 1,1 vertice
norm.X = h0 - h2;
norm.Y = h1 - h0;
float* heights = heightsB;
if (dy > dx)
{
h1 = *heights; // 0,0 vertice
heights += m_heightmapWidthSamples;
h0 = *heights; // 0,1
h2 = *(heights + 1); // 1,1 vertice
norm.X = h0 - h2;
norm.Y = h1 - h0;
}
else
{
h2 = *heights; // 0,0 vertice
heights++;
h0 = *heights; // 1,0 vertice
h1 = *(heights + m_heightmapWidthSamples); // vertice 1,1
norm.X = h2 - h0;
norm.Y = h0 - h1;
}
}
else
{
h2 = ((float)heights[iy]); // 0,0 vertice
iy += xstep;
h0 = ((float)heights[iy]); // 1,0 vertice
h1 = (float)heights[iy+ystep]; // vertice 1,1
norm.X = h2 - h0;
norm.Y = h0 - h1;
}
norm.Z = 1;
norm.Normalize();
return norm;
}
@@ -1985,17 +1980,17 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_terrainHeightsHandler.Free();
m_terrainHeights = null;
int heightmapWidthSamples = m_regionWidth + 3;
int heightmapHeightSamples = m_regionHeight + 3;
m_heightmapWidthSamples = m_regionWidth + 3;
m_heightmapHeightSamples = m_regionHeight + 3;
m_terrainHeights = new float[heightmapWidthSamples * heightmapHeightSamples];
m_terrainHeights = new float[m_heightmapWidthSamples * m_heightmapHeightSamples];
m_terrainHeightsHandler = GCHandle.Alloc(m_terrainHeights, GCHandleType.Pinned);
m_lastRegionWidth = m_regionWidth;
HeightmapData = SafeNativeMethods.GeomOSTerrainDataCreate();
SafeNativeMethods.GeomOSTerrainDataBuild(HeightmapData, m_terrainHeightsHandler.AddrOfPinnedObject(), 0, 1.0f,
heightmapWidthSamples, heightmapHeightSamples,
m_heightmapWidthSamples, m_heightmapHeightSamples,
1, 0);
m_terrainGeom = SafeNativeMethods.CreateOSTerrain(GroundSpace, HeightmapData, 1);
@@ -2035,8 +2030,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
int heightmapWidth = regionsizeX + 2;
int heightmapHeight = regionsizeY + 2;
int heightmapWidthSamples = heightmapWidth + 1;
int heightmapHeightSamples = heightmapHeight + 1;
m_heightmapWidthSamples = heightmapWidth + 1;
m_heightmapHeightSamples = heightmapHeight + 1;
float val;
@@ -2050,7 +2045,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float minH = float.MaxValue;
float maxH = float.MinValue;
for (int y = 0; y < heightmapHeightSamples; y++)
for (int y = 0; y < m_heightmapHeightSamples; y++)
{
if (y > 1 && y < maxYY)
yy += regionsizeX;
@@ -2058,12 +2053,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
lock(OdeLock)
{
for (int x = 0; x < heightmapWidthSamples; x++)
for (int x = 0; x < m_heightmapWidthSamples; x++)
{
if (x > 1 && x < maxXX)
xx++;
val = Util.Clamp(heightMap[yy + xx], Constants.MinTerrainHeightmap, Constants.MaxTerrainHeightmap);
val = Utils.Clamp(heightMap[yy + xx], Constants.MinTerrainHeightmap, Constants.MaxTerrainHeightmap);
if(val > maxH)
maxH = val;
if(val < minH)
@@ -2071,7 +2066,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_terrainHeights[yt + x] = val;
}
}
yt += heightmapWidthSamples;
yt += m_heightmapWidthSamples;
}
lock(SimulationLock)