opensim/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs

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using System;
using System.Collections.Generic;
using System.Text;

using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.CoreModules;
using OpenSim.Region.Physics.Manager;

using Nini.Config;
using log4net;

using OpenMetaverse;

namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSTerrainHeightmap : BSTerrainPhys
{
    static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";

    BulletHeightMapInfo m_mapInfo = null;

    // Constructor to build a default, flat heightmap terrain.
    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
        : base(physicsScene, regionBase, id)
    {
        Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
        Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
        int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
        float[] initialMap = new float[totalHeights];
        for (int ii = 0; ii < totalHeights; ii++)
        {
            initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
        }
        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
        m_mapInfo.minCoords = minTerrainCoords;
        m_mapInfo.maxCoords = maxTerrainCoords;
        m_mapInfo.terrainRegionBase = TerrainBase;
        // Don't have to free any previous since we just got here.
        BuildHeightmapTerrain();
    }

    // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
    //         are the high and low points of the heightmap).
    public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, 
                                                    Vector3 minCoords, Vector3 maxCoords)
        : base(physicsScene, regionBase, id)
    {
        m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero);
        m_mapInfo.minCoords = minCoords;
        m_mapInfo.maxCoords = maxCoords;
        m_mapInfo.minZ = minCoords.Z;
        m_mapInfo.maxZ = maxCoords.Z;
        m_mapInfo.terrainRegionBase = TerrainBase;

        // Don't have to free any previous since we just got here.
        BuildHeightmapTerrain();
    }

    public override void Dispose()
    {
        ReleaseHeightMapTerrain();
    }

    // Using the information in m_mapInfo, create the physical representation of the heightmap.
    private void BuildHeightmapTerrain()
    {
        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
                                m_mapInfo.minCoords, m_mapInfo.maxCoords, 
                                m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin);

        // Create the terrain shape from the mapInfo
        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
                                                    BSPhysicsShapeType.SHAPE_TERRAIN);

        // The terrain object initial position is at the center of the object
        Vector3 centerPos;
        centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
        centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
        centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f);

        m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
                BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
                                            m_mapInfo.ID, centerPos, Quaternion.Identity));

        // Set current terrain attributes
        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);

        // Return the new terrain to the world of physical objects
        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);

        // redo its bounding box now that it is in the world
        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);

        BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr,
                            (uint)CollisionFilterGroups.TerrainGroup,
                            (uint)CollisionFilterGroups.TerrainMask);

        // Make it so the terrain will not move or be considered for movement.
        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);

        return;
    }

    // If there is information in m_mapInfo pointing to physical structures, release same.
    private void ReleaseHeightMapTerrain()
    {
        if (m_mapInfo != null)
        {
            if (m_mapInfo.terrainBody.HasPhysicalBody)
            {
                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
                // Frees both the body and the shape.
                BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
            }
        }
        m_mapInfo = null;
    }

    // The passed position is relative to the base of the region.
    public override float GetTerrainHeightAtXYZ(Vector3 pos)
    {
        float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;

        int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
        try
        {
            ret = m_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}, pos={2}",
                                LogHeader, m_mapInfo.terrainRegionBase, pos);
            ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
        }
        return ret;
    }

    // The passed position is relative to the base of the region.
    public override float GetWaterLevelAtXYZ(Vector3 pos)
    {
        return PhysicsScene.SimpleWaterLevel;
    }
}
}