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BulletSim: pull heightmap implementation out of the terrain manager so a mesh terrain can be implemented.
This commit is contained in:
Robert Adams
174
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
Executable file
174
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
Executable file
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenSim.Framework;
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using OpenSim.Region.Framework;
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using OpenSim.Region.CoreModules;
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using OpenSim.Region.Physics.Manager;
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using Nini.Config;
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using log4net;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSTerrainHeightmap : BSTerrainPhys
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{
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static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
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BulletHeightMapInfo m_mapInfo;
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public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize)
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: base(physicsScene)
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{
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Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
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Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
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int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
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float[] initialMap = new float[totalHeights];
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for (int ii = 0; ii < totalHeights; ii++)
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{
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initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
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}
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minTerrainCoords;
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m_mapInfo.maxCoords = maxTerrainCoords;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
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// are the high and low points of the heightmap).
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public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap,
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Vector3 minCoords, Vector3 maxCoords)
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: base(physicsScene)
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{
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m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
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m_mapInfo.minCoords = minCoords;
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m_mapInfo.maxCoords = maxCoords;
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m_mapInfo.minZ = minCoords.Z;
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m_mapInfo.maxZ = maxCoords.Z;
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// Don't have to free any previous since we just got here.
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BuildHeightmapTerrain();
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}
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public override void Dispose()
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{
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ReleaseHeightMapTerrain();
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}
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// Using the information in m_mapInfo, create the physical representation of the heightmap.
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private void BuildHeightmapTerrain()
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{
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m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
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m_mapInfo.minCoords, m_mapInfo.maxCoords,
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m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN);
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// Create the terrain shape from the mapInfo
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m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
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PhysicsShapeType.SHAPE_TERRAIN);
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// The terrain object initial position is at the center of the object
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Vector3 centerPos;
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centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
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centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
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centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);
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m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
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m_mapInfo.ID, centerPos, Quaternion.Identity));
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// Set current terrain attributes
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BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
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BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
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BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
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BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
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// Return the new terrain to the world of physical objects
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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// redo its bounding box now that it is in the world
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
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(uint)CollisionFilterGroups.TerrainFilter,
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(uint)CollisionFilterGroups.TerrainMask);
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// Make it so the terrain will not move or be considered for movement.
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BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
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return;
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}
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// If there is information in m_mapInfo pointing to physical structures, release same.
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private void ReleaseHeightMapTerrain()
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{
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if (m_mapInfo != null)
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{
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if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
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{
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if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr))
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{
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// Frees both the body and the shape.
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
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}
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}
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}
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m_mapInfo = null;
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}
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// The passed position is relative to the base of the region.
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public override float GetHeightAtXYZ(Vector3 pos)
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{
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float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
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try
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{
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ret = m_mapInfo.heightMap[mapIndex];
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}
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catch
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{
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// Sometimes they give us wonky values of X and Y. Give a warning and return something.
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PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
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LogHeader, m_mapInfo.terrainRegionBase, pos);
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ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
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}
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return ret;
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}
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public override Vector3 TerrainBase
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{
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get { return m_mapInfo.terrainRegionBase; }
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}
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}
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}
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