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https://github.com/opensim/opensim.git
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b0eccd5044
Add compound shape creation and freeing in shape manager.
Add optional taint-time execution method and update code to use it.
Add API2 linkage for more compound shape methods (get num, get/remove by index, ...)
Modify perferred shape return so linkset children can have differet shapes than root.
Add Position and Orientation calls to linksets so children can be moved around by
the linkset by its own calculation. Allows for very general linkset implementations.
480 lines
23 KiB
C#
Executable File
480 lines
23 KiB
C#
Executable File
/*
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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 BSTerrainManager
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{
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static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
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// These height values are fractional so the odd values will be
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// noticable when debugging.
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public const float HEIGHT_INITIALIZATION = 24.987f;
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public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
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public const float HEIGHT_GETHEIGHT_RET = 24.765f;
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// If the min and max height are equal, we reduce the min by this
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// amount to make sure that a bounding box is built for the terrain.
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public const float HEIGHT_EQUAL_FUDGE = 0.2f;
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public const float TERRAIN_COLLISION_MARGIN = 0.0f;
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// Until the whole simulator is changed to pass us the region size, we rely on constants.
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public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
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// The scene that I am part of
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private BSScene PhysicsScene { get; set; }
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// The ground plane created to keep thing from falling to infinity.
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private BulletBody m_groundPlane;
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// If doing mega-regions, if we're region zero we will be managing multiple
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// region terrains since region zero does the physics for the whole mega-region.
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private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
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// True of the terrain has been modified.
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// Used to force recalculation of terrain height after terrain has been modified
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private bool m_terrainModified;
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// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
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// This is incremented before assigning to new region so it is the last ID allocated.
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private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
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public uint HighestTerrainID { get {return m_terrainCount; } }
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// If doing mega-regions, this holds our offset from region zero of
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// the mega-regions. "parentScene" points to the PhysicsScene of region zero.
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private Vector3 m_worldOffset;
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// If the parent region (region 0), this is the extent of the combined regions
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// relative to the origin of region zero
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private Vector3 m_worldMax;
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private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
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public BSTerrainManager(BSScene physicsScene)
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{
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PhysicsScene = physicsScene;
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m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
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m_terrainModified = false;
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// Assume one region of default size
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m_worldOffset = Vector3.Zero;
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m_worldMax = new Vector3(DefaultRegionSize);
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MegaRegionParentPhysicsScene = null;
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}
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// Create the initial instance of terrain and the underlying ground plane.
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// The objects are allocated in the unmanaged space and the pointers are tracked
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// by the managed code.
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// The terrains and the groundPlane are not added to the list of PhysObjects.
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// This is called from the initialization routine so we presume it is
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// safe to call Bullet in real time. We hope no one is moving prims around yet.
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public void CreateInitialGroundPlaneAndTerrain()
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{
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// The ground plane is here to catch things that are trying to drop to negative infinity
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BulletShape groundPlaneShape = new BulletShape(
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BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
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ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
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m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
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Vector3.Zero, Quaternion.Identity));
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BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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// Ground plane does not move
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BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
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// Everything collides with the ground plane.
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BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
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(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
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Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
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Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 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] = HEIGHT_INITIALIZATION;
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}
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UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
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}
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// Release all the terrain structures we might have allocated
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public void ReleaseGroundPlaneAndTerrain()
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{
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if (m_groundPlane.ptr != IntPtr.Zero)
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{
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if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
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{
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
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}
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m_groundPlane.ptr = IntPtr.Zero;
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}
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ReleaseTerrain();
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}
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// Release all the terrain we have allocated
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public void ReleaseTerrain()
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{
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foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
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{
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if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
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{
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
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}
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}
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m_heightMaps.Clear();
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}
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// The simulator wants to set a new heightmap for the terrain.
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public void SetTerrain(float[] heightMap) {
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float[] localHeightMap = heightMap;
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PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
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{
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if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
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{
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// If a child of a mega-region, we shouldn't have any terrain allocated for us
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ReleaseGroundPlaneAndTerrain();
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// If doing the mega-prim stuff and we are the child of the zero region,
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// the terrain is added to our parent
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if (MegaRegionParentPhysicsScene is BSScene)
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{
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DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
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BSScene.DetailLogZero, m_worldOffset, m_worldMax);
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((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
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localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
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}
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}
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else
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{
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// If not doing the mega-prim thing, just change the terrain
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DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
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UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
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m_worldOffset, m_worldOffset + DefaultRegionSize, true);
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}
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});
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}
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// If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
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// based on the passed information. The 'id' should be either the terrain id or
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// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
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// The latter feature is for creating child terrains for mega-regions.
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// If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
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// then a new body and shape is created and the mapInfo is filled.
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// This call is used for doing the initial terrain creation.
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// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
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// terrain shape is created and added to the body.
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// This call is most often used to update the heightMap and parameters of the terrain.
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// (The above does suggest that some simplification/refactoring is in order.)
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private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
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{
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DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
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BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
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float minZ = float.MaxValue;
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float maxZ = float.MinValue;
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Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
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int heightMapSize = heightMap.Length;
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for (int ii = 0; ii < heightMapSize; ii++)
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{
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float height = heightMap[ii];
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if (height < minZ) minZ = height;
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if (height > maxZ) maxZ = height;
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}
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// The shape of the terrain is from its base to its extents.
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minCoords.Z = minZ;
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maxCoords.Z = maxZ;
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BulletHeightMapInfo mapInfo;
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if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
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{
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// If this is terrain we know about, it's easy to update
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mapInfo.heightMap = heightMap;
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mapInfo.minCoords = minCoords;
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mapInfo.maxCoords = maxCoords;
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mapInfo.minZ = minZ;
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mapInfo.maxZ = maxZ;
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mapInfo.sizeX = maxCoords.X - minCoords.X;
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mapInfo.sizeY = maxCoords.Y - minCoords.Y;
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DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
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BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
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PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate()
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{
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if (MegaRegionParentPhysicsScene != null)
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{
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// It's possible that Combine() was called after this code was queued.
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// If we are a child of combined regions, we don't create any terrain for us.
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DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
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// Get rid of any terrain that may have been allocated for us.
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ReleaseGroundPlaneAndTerrain();
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// I hate doing this, but just bail
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return;
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}
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if (mapInfo.terrainBody.ptr != IntPtr.Zero)
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{
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// Updating an existing terrain.
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DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
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BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
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// Remove from the dynamics world because we're going to mangle this object
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BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
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// Get rid of the old terrain
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BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
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BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
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mapInfo.Ptr = IntPtr.Zero;
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/*
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// NOTE: This routine is half here because I can't get the terrain shape replacement
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// to work. In the short term, the above three lines completely delete the old
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// terrain and the code below recreates one from scratch.
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// Hopefully the Bullet community will help me out on this one.
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// First, release the old collision shape (there is only one terrain)
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BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
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// Fill the existing height map info with the new location and size information
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BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
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mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
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// Create a terrain shape based on the new info
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mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
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// Stuff the shape into the existing terrain body
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BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
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*/
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}
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// else
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{
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// Creating a new terrain.
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DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
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BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
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mapInfo.ID = id;
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mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
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mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
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// Create the terrain shape from the mapInfo
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mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
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ShapeData.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 = minCoords.X + (mapInfo.sizeX / 2f);
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centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
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centerPos.Z = minZ + ((maxZ - minZ) / 2f);
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mapInfo.terrainBody = new BulletBody(mapInfo.ID,
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BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
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id, centerPos, Quaternion.Identity));
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}
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// Make sure the entry is in the heightmap table
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m_heightMaps[terrainRegionBase] = mapInfo;
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// Set current terrain attributes
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BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
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BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
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BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
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BulletSimAPI.SetCollisionFlags2(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, 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, mapInfo.terrainBody.ptr);
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BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
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(uint)CollisionFilterGroups.TerrainFilter,
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(uint)CollisionFilterGroups.TerrainMask);
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// Make sure the new shape is processed.
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// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
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// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
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BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
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m_terrainModified = true;
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});
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}
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else
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{
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// We don't know about this terrain so either we are creating a new terrain or
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// our mega-prim child is giving us a new terrain to add to the phys world
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// if this is a child terrain, calculate a unique terrain id
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uint newTerrainID = id;
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if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
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newTerrainID = ++m_terrainCount;
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float[] heightMapX = heightMap;
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Vector3 minCoordsX = minCoords;
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Vector3 maxCoordsX = maxCoords;
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DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
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BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
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// Code that must happen at taint-time
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PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate()
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{
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DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
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// Create a new mapInfo that will be filled with the new info
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mapInfo = new BulletHeightMapInfo(id, heightMapX,
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BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
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minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
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// Put the unfilled heightmap info into the collection of same
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m_heightMaps.Add(terrainRegionBase, mapInfo);
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// Build the terrain
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UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
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m_terrainModified = true;
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});
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}
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}
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// Someday we will have complex terrain with caves and tunnels
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public float GetTerrainHeightAtXYZ(Vector3 loc)
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{
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// For the moment, it's flat and convex
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return GetTerrainHeightAtXY(loc.X, loc.Y);
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}
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// Given an X and Y, find the height of the terrain.
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// Since we could be handling multiple terrains for a mega-region,
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// the base of the region is calcuated assuming all regions are
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// the same size and that is the default.
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// Once the heightMapInfo is found, we have all the information to
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// compute the offset into the array.
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private float lastHeightTX = 999999f;
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private float lastHeightTY = 999999f;
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private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
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private float GetTerrainHeightAtXY(float tX, float tY)
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{
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// You'd be surprized at the number of times this routine is called
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// with the same parameters as last time.
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if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
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return lastHeight;
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lastHeightTX = tX;
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lastHeightTY = tY;
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float ret = HEIGHT_GETHEIGHT_RET;
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int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
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int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
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Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
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BulletHeightMapInfo mapInfo;
|
|
if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
|
|
{
|
|
float regionX = tX - offsetX;
|
|
float regionY = tY - offsetY;
|
|
int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
|
|
try
|
|
{
|
|
ret = mapInfo.heightMap[mapIndex];
|
|
}
|
|
catch
|
|
{
|
|
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
|
|
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
|
|
LogHeader, terrainBaseXY, regionX, regionY);
|
|
ret = HEIGHT_GETHEIGHT_RET;
|
|
}
|
|
// DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
|
|
// BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
|
|
}
|
|
else
|
|
{
|
|
PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
|
|
LogHeader, PhysicsScene.RegionName, tX, tY);
|
|
}
|
|
m_terrainModified = false;
|
|
lastHeight = ret;
|
|
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, for the moment a NOP
|
|
DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
|
|
}
|
|
|
|
|
|
private void DetailLog(string msg, params Object[] args)
|
|
{
|
|
PhysicsScene.PhysicsLogging.Write(msg, args);
|
|
}
|
|
}
|
|
}
|