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BulletSim: Convert BSCharacter to use common BSPhysObject code and variables.

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Fix avatar height calculation to properly account for the capsule ends.
Rearrange some locking in TerrainManager to eliminate possible race conditions.
Move DetailLog() definition into common BSPhysObject class.
Some variable renaming to make usage clearer (refactor.rename makes this so easy).
This commit is contained in:
Robert Adams
2012-09-18 11:26:19 -07:00
parent ee7cda261c
commit 91efccabdc
5 changed files with 113 additions and 117 deletions
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67
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@@ -57,10 +57,10 @@ public class BSTerrainManager
public const float TERRAIN_COLLISION_MARGIN = 0.0f;
// 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, 0f);
public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
// The scene that I am part of
private BSScene m_physicsScene;
private BSScene PhysicsScene { get; set; }
// The ground plane created to keep thing from falling to infinity.
private BulletBody m_groundPlane;
@@ -84,18 +84,18 @@ public class BSTerrainManager
// 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 m_parentScene;
private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
public BSTerrainManager(BSScene physicsScene)
{
m_physicsScene = physicsScene;
PhysicsScene = physicsScene;
m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
m_terrainModified = false;
// Assume one region of default size
m_worldOffset = Vector3.Zero;
m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f);
m_parentScene = null;
m_worldMax = new Vector3(DefaultRegionSize);
MegaRegionParentPhysicsScene = null;
}
// Create the initial instance of terrain and the underlying ground plane.
@@ -110,7 +110,7 @@ public class BSTerrainManager
BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN));
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr);
Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
@@ -128,9 +128,9 @@ public class BSTerrainManager
{
if (m_groundPlane.Ptr != IntPtr.Zero)
{
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr))
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr))
{
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, m_groundPlane.Ptr);
}
m_groundPlane.Ptr = IntPtr.Zero;
}
@@ -143,9 +143,9 @@ public class BSTerrainManager
{
foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
{
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr))
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr))
{
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr);
BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
}
}
@@ -155,19 +155,19 @@ public class BSTerrainManager
// The simulator wants to set a new heightmap for the terrain.
public void SetTerrain(float[] heightMap) {
float[] localHeightMap = heightMap;
m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
{
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
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 (m_parentScene is BSScene)
if (MegaRegionParentPhysicsScene is BSScene)
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
}
@@ -176,7 +176,8 @@ public class BSTerrainManager
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
});
}
@@ -232,7 +233,7 @@ public class BSTerrainManager
BSScene.TaintCallback rebuildOperation = delegate()
{
if (m_parentScene != null)
if (MegaRegionParentPhysicsScene != null)
{
// 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.
@@ -252,10 +253,10 @@ public class BSTerrainManager
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
// Remove from the dynamics world because we're going to mangle this object
BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
// Get rid of the old terrain
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
mapInfo.Ptr = IntPtr.Zero;
@@ -286,7 +287,7 @@ public class BSTerrainManager
BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
mapInfo.ID = id;
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID,
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// The terrain object initial position is at the center of the object
@@ -307,19 +308,19 @@ public class BSTerrainManager
m_heightMaps[terrainRegionBase] = mapInfo;
// Set current terrain attributes
BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution);
BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
// Make sure the new shape is processed.
BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true);
@@ -332,7 +333,7 @@ public class BSTerrainManager
if (doNow)
rebuildOperation();
else
m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
}
else
{
@@ -357,7 +358,7 @@ public class BSTerrainManager
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
// Create a new mapInfo that will be filled with the new info
mapInfo = new BulletHeightMapInfo(id, heightMapX,
BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID,
BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, newTerrainID,
minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
// Put the unfilled heightmap info into the collection of same
m_heightMaps.Add(terrainRegionBase, mapInfo);
@@ -371,7 +372,7 @@ public class BSTerrainManager
if (doNow)
createOperation();
else
m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
}
}
@@ -419,7 +420,7 @@ public class BSTerrainManager
catch
{
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
LogHeader, terrainBaseXY, regionX, regionY);
ret = HEIGHT_GETHEIGHT_RET;
}
@@ -428,8 +429,8 @@ public class BSTerrainManager
}
else
{
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, m_physicsScene.RegionName, tX, tY);
PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, PhysicsScene.RegionName, tX, tY);
}
m_terrainModified = false;
lastHeight = ret;
@@ -453,7 +454,7 @@ public class BSTerrainManager
{
m_worldOffset = offset;
m_worldMax = extents;
m_parentScene = pScene;
MegaRegionParentPhysicsScene = pScene;
if (pScene != null)
{
// We are a child.
@@ -474,7 +475,7 @@ public class BSTerrainManager
private void DetailLog(string msg, params Object[] args)
{
m_physicsScene.PhysicsLogging.Write(msg, args);
PhysicsScene.PhysicsLogging.Write(msg, args);
}
}
}