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08819bcbea
* Test for prim obstructions between the avatar and camera. If there are obstructions, inform the client to move the camera closer. This makes it so that walls and objects don't obstruct your view while you're moving around. Try walking inside a hollowed tori. You'll see how much easier it is now because your camera automatically moves closer so you can still see. * Created a way to know if the user's camera is alt + cammed or just following the avatar. * Changes IClientAPI interface by adding SendCameraConstraint(Vector4 CameraConstraint)
708 lines
25 KiB
C#
708 lines
25 KiB
C#
/*
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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 copyright
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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.Reflection;
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using System.IO;
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using System.Diagnostics;
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using System.Threading;
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using log4net;
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using Nini.Config;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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using OpenMetaverse;
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using BulletDotNET;
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namespace OpenSim.Region.Physics.BulletDotNETPlugin
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{
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public class BulletDotNETScene : PhysicsScene
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{
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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// private string m_sceneIdentifier = string.Empty;
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private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
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private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
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private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
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private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
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private btDiscreteDynamicsWorld m_world;
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private btAxisSweep3 m_broadphase;
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private btCollisionConfiguration m_collisionConfiguration;
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private btConstraintSolver m_solver;
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private btCollisionDispatcher m_dispatcher;
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private btHeightfieldTerrainShape m_terrainShape;
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public btRigidBody TerrainBody;
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private btVector3 m_terrainPosition;
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private btVector3 m_gravity;
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public btMotionState m_terrainMotionState;
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public btTransform m_terrainTransform;
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public btVector3 VectorZero;
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public btQuaternion QuatIdentity;
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public btTransform TransZero;
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public float geomDefaultDensity = 10.000006836f;
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private float avPIDD = 65f;
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private float avPIDP = 21f;
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private float avCapRadius = 0.37f;
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private float avStandupTensor = 2000000f;
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private float avDensity = 80f;
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private float avHeightFudgeFactor = 0.52f;
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private float avMovementDivisorWalk = 1.8f;
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private float avMovementDivisorRun = 0.8f;
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// private float minimumGroundFlightOffset = 3f;
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public bool meshSculptedPrim = true;
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public float meshSculptLOD = 32;
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public float MeshSculptphysicalLOD = 16;
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public float bodyPIDD = 35f;
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public float bodyPIDG = 25;
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internal int geomCrossingFailuresBeforeOutofbounds = 4;
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public float bodyMotorJointMaxforceTensor = 2;
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public int bodyFramesAutoDisable = 20;
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public float WorldTimeStep = 10f/60f;
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public const float WorldTimeComp = 1/60f;
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public float gravityz = -9.8f;
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private float[] _origheightmap; // Used for Fly height. Kitto Flora
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private bool usingGImpactAlgorithm = false;
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// private IConfigSource m_config;
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private readonly btVector3 worldAabbMin = new btVector3(-10f, -10f, 0);
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private readonly btVector3 worldAabbMax = new btVector3((int)Constants.RegionSize + 10f, (int)Constants.RegionSize + 10f, 9000);
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public IMesher mesher;
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private ContactAddedCallbackHandler m_CollisionInterface;
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public BulletDotNETScene(string sceneIdentifier)
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{
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// m_sceneIdentifier = sceneIdentifier;
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VectorZero = new btVector3(0, 0, 0);
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QuatIdentity = new btQuaternion(0, 0, 0, 1);
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TransZero = new btTransform(QuatIdentity, VectorZero);
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m_gravity = new btVector3(0, 0, gravityz);
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_origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
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}
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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{
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mesher = meshmerizer;
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// m_config = config;
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/*
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if (Environment.OSVersion.Platform == PlatformID.Unix)
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{
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m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
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Thread.Sleep(5000);
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Environment.Exit(0);
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}
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*/
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m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_world.setGravity(m_gravity);
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//EnableCollisionInterface();
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}
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public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
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{
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BulletDotNETCharacter chr = new BulletDotNETCharacter(avName, this, position, size, avPIDD, avPIDP,
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avCapRadius, avStandupTensor, avDensity,
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avHeightFudgeFactor, avMovementDivisorWalk,
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avMovementDivisorRun);
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m_characters.Add(chr);
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AddPhysicsActorTaint(chr);
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return chr;
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}
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public override void RemoveAvatar(PhysicsActor actor)
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{
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BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;
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m_characters.Remove(chr);
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m_world.removeRigidBody(chr.Body);
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m_world.removeCollisionObject(chr.Body);
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chr.Remove();
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AddPhysicsActorTaint(chr);
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//chr = null;
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}
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public override void RemovePrim(PhysicsActor prim)
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{
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if (prim is BulletDotNETPrim)
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{
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BulletDotNETPrim p = (BulletDotNETPrim)prim;
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p.setPrimForRemoval();
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AddPhysicsActorTaint(prim);
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//RemovePrimThreadLocked(p);
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}
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}
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private PhysicsActor AddPrim(String name, PhysicsVector position, PhysicsVector size, Quaternion rotation,
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IMesh mesh, PrimitiveBaseShape pbs, bool isphysical)
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{
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PhysicsVector pos = new PhysicsVector(position.X, position.Y, position.Z);
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//pos.X = position.X;
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//pos.Y = position.Y;
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//pos.Z = position.Z;
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PhysicsVector siz = new PhysicsVector();
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siz.X = size.X;
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siz.Y = size.Y;
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siz.Z = size.Z;
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Quaternion rot = rotation;
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BulletDotNETPrim newPrim;
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newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
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//lock (m_prims)
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// m_prims.Add(newPrim);
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return newPrim;
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation)
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{
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return AddPrimShape(primName, pbs, position, size, rotation, false);
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}
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public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, PhysicsVector size, Quaternion rotation, bool isPhysical)
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{
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PhysicsActor result;
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IMesh mesh = null;
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//switch (pbs.ProfileShape)
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//{
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// case ProfileShape.Square:
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// //support simple box & hollow box now; later, more shapes
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// if (needsMeshing(pbs))
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// {
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// mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
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// }
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// break;
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//}
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if (needsMeshing(pbs))
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mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
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result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
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return result;
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}
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public override void AddPhysicsActorTaint(PhysicsActor prim)
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{
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lock (m_taintedActors)
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{
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if (!m_taintedActors.Contains(prim))
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{
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m_taintedActors.Add(prim);
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}
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}
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}
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internal void SetUsingGImpact()
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{
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if (!usingGImpactAlgorithm)
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btGImpactCollisionAlgorithm.registerAlgorithm(m_dispatcher);
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usingGImpactAlgorithm = true;
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}
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public override float Simulate(float timeStep)
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{
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lock (m_taintedActors)
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{
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foreach (PhysicsActor act in m_taintedActors)
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{
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if (act is BulletDotNETCharacter)
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((BulletDotNETCharacter) act).ProcessTaints(timeStep);
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if (act is BulletDotNETPrim)
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((BulletDotNETPrim)act).ProcessTaints(timeStep);
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}
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m_taintedActors.Clear();
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}
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lock (m_characters)
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{
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foreach (BulletDotNETCharacter chr in m_characters)
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{
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chr.Move(timeStep);
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}
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}
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lock (m_prims)
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{
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foreach (BulletDotNETPrim prim in m_prims)
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{
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if (prim != null)
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prim.Move(timeStep);
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}
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}
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float steps = m_world.stepSimulation(timeStep * 1000, 10, WorldTimeComp);
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foreach (BulletDotNETCharacter chr in m_characters)
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{
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chr.UpdatePositionAndVelocity();
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}
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foreach (BulletDotNETPrim prm in m_activePrims)
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{
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/*
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if (prm != null)
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if (prm.Body != null)
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*/
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prm.UpdatePositionAndVelocity();
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}
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if (m_CollisionInterface != null)
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{
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List<int> collisions = m_CollisionInterface.GetContactList();
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lock (collisions)
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{
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foreach (int pvalue in collisions)
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{
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System.Console.Write(string.Format("{0} ", pvalue));
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}
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}
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m_CollisionInterface.Clear();
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}
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return steps;
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}
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public override void GetResults()
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{
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}
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public override void SetTerrain(float[] heightMap)
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{
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if (m_terrainShape != null)
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DeleteTerrain();
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float hfmax = -9000;
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float hfmin = 90000;
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for (int i = 0; i <heightMap.Length;i++)
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{
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if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i]))
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{
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heightMap[i] = 0f;
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}
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hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin;
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hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax;
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}
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// store this for later reference.
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// Note, we're storing it after we check it for anomolies above
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_origheightmap = heightMap;
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hfmin = 0;
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hfmax = 256;
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m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap,
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1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
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(int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
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float AabbCenterX = Constants.RegionSize/2f;
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float AabbCenterY = Constants.RegionSize/2f;
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float AabbCenterZ = 0;
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float temphfmin, temphfmax;
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temphfmin = hfmin;
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temphfmax = hfmax;
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if (temphfmin < 0)
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{
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temphfmax = 0 - temphfmin;
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temphfmin = 0 - temphfmin;
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}
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else if (temphfmin > 0)
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{
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temphfmax = temphfmax + (0 - temphfmin);
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//temphfmin = temphfmin + (0 - temphfmin);
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}
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AabbCenterZ = temphfmax/2f;
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if (m_terrainPosition == null)
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{
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m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
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}
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else
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{
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try
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{
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m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
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}
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catch (ObjectDisposedException)
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{
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m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
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}
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}
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if (m_terrainMotionState != null)
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{
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m_terrainMotionState.Dispose();
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m_terrainMotionState = null;
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}
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m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
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m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
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TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
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m_world.addRigidBody(TerrainBody);
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}
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public override void SetWaterLevel(float baseheight)
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{
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}
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public override void DeleteTerrain()
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{
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if (TerrainBody != null)
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{
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m_world.removeRigidBody(TerrainBody);
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}
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if (m_terrainShape != null)
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{
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m_terrainShape.Dispose();
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m_terrainShape = null;
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}
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if (m_terrainMotionState != null)
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{
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m_terrainMotionState.Dispose();
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m_terrainMotionState = null;
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}
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if (m_terrainTransform != null)
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{
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m_terrainTransform.Dispose();
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m_terrainTransform = null;
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}
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if (m_terrainPosition != null)
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{
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m_terrainPosition.Dispose();
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m_terrainPosition = null;
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}
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}
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public override void Dispose()
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{
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disposeAllBodies();
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m_world.Dispose();
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m_broadphase.Dispose();
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((btDefaultCollisionConfiguration) m_collisionConfiguration).Dispose();
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((btSequentialImpulseConstraintSolver) m_solver).Dispose();
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worldAabbMax.Dispose();
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worldAabbMin.Dispose();
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VectorZero.Dispose();
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QuatIdentity.Dispose();
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m_gravity.Dispose();
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VectorZero = null;
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QuatIdentity = null;
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}
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public override Dictionary<uint, float> GetTopColliders()
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{
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return new Dictionary<uint, float>();
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}
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public btDiscreteDynamicsWorld getBulletWorld()
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{
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return m_world;
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}
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private void disposeAllBodies()
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{
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lock (m_prims)
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{
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foreach (BulletDotNETPrim prim in m_prims)
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{
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if (prim.Body != null)
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m_world.removeRigidBody(prim.Body);
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prim.Dispose();
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}
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m_prims.Clear();
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foreach (BulletDotNETCharacter chr in m_characters)
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{
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if (chr.Body != null)
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m_world.removeRigidBody(chr.Body);
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chr.Dispose();
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}
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m_characters.Clear();
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}
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}
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public override bool IsThreaded
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{
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get { return false; }
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}
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internal void addCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
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{
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//TODO: FIXME:
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}
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internal void remCollisionEventReporting(PhysicsActor bulletDotNETCharacter)
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{
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//TODO: FIXME:
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}
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internal void AddRigidBody(btRigidBody Body)
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{
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m_world.addRigidBody(Body);
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}
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[Obsolete("bad!")]
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internal void removeFromWorld(btRigidBody body)
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{
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m_world.removeRigidBody(body);
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}
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internal void removeFromWorld(BulletDotNETPrim prm ,btRigidBody body)
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{
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lock (m_prims)
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{
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if (m_prims.Contains(prm))
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{
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m_world.removeRigidBody(body);
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}
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remActivePrim(prm);
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m_prims.Remove(prm);
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}
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}
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internal float GetWaterLevel()
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{
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throw new NotImplementedException();
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}
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// Recovered for use by fly height. Kitto Flora
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public float GetTerrainHeightAtXY(float x, float y)
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{
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// Teravus: Kitto, this code causes recurring errors that stall physics permenantly unless
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// the values are checked, so checking below.
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// Is there any reason that we don't do this in ScenePresence?
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// The only physics engine that benefits from it in the physics plugin is this one
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if (x > (int)Constants.RegionSize || y > (int)Constants.RegionSize ||
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x < 0.001f || y < 0.001f)
|
|
return 0;
|
|
|
|
return _origheightmap[(int)y * Constants.RegionSize + (int)x];
|
|
}
|
|
// End recovered. Kitto Flora
|
|
|
|
/// <summary>
|
|
/// Routine to figure out if we need to mesh this prim with our mesher
|
|
/// </summary>
|
|
/// <param name="pbs"></param>
|
|
/// <returns></returns>
|
|
public bool needsMeshing(PrimitiveBaseShape pbs)
|
|
{
|
|
// most of this is redundant now as the mesher will return null if it cant mesh a prim
|
|
// but we still need to check for sculptie meshing being enabled so this is the most
|
|
// convenient place to do it for now...
|
|
|
|
// //if (pbs.PathCurve == (byte)Primitive.PathCurve.Circle && pbs.ProfileCurve == (byte)Primitive.ProfileCurve.Circle && pbs.PathScaleY <= 0.75f)
|
|
// //m_log.Debug("needsMeshing: " + " pathCurve: " + pbs.PathCurve.ToString() + " profileCurve: " + pbs.ProfileCurve.ToString() + " pathScaleY: " + Primitive.UnpackPathScale(pbs.PathScaleY).ToString());
|
|
int iPropertiesNotSupportedDefault = 0;
|
|
|
|
if (pbs.SculptEntry && !meshSculptedPrim)
|
|
{
|
|
#if SPAM
|
|
m_log.Warn("NonMesh");
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
// if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since ODE can use an internal representation for the prim
|
|
if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
|| (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
|
|
&& pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
|
|
{
|
|
|
|
if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
|
|
&& pbs.ProfileHollow == 0
|
|
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
|
|
&& pbs.PathBegin == 0 && pbs.PathEnd == 0
|
|
&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
|
|
&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
|
|
&& pbs.PathShearX == 0 && pbs.PathShearY == 0)
|
|
{
|
|
#if SPAM
|
|
m_log.Warn("NonMesh");
|
|
#endif
|
|
return false;
|
|
}
|
|
}
|
|
|
|
if (pbs.ProfileHollow != 0)
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
iPropertiesNotSupportedDefault++;
|
|
|
|
// test for torus
|
|
if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
|
|
{
|
|
if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
}
|
|
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
|
|
{
|
|
if (pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
|
|
// ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
|
|
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
}
|
|
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
|
|
{
|
|
if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
}
|
|
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
|
|
{
|
|
if (pbs.PathCurve == (byte)Extrusion.Straight)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
|
|
{
|
|
iPropertiesNotSupportedDefault++;
|
|
}
|
|
}
|
|
|
|
|
|
if (iPropertiesNotSupportedDefault == 0)
|
|
{
|
|
#if SPAM
|
|
m_log.Warn("NonMesh");
|
|
#endif
|
|
return false;
|
|
}
|
|
#if SPAM
|
|
m_log.Debug("Mesh");
|
|
#endif
|
|
return true;
|
|
}
|
|
|
|
internal void addActivePrim(BulletDotNETPrim pPrim)
|
|
{
|
|
lock (m_activePrims)
|
|
{
|
|
if (!m_activePrims.Contains(pPrim))
|
|
{
|
|
m_activePrims.Add(pPrim);
|
|
}
|
|
}
|
|
}
|
|
|
|
public void remActivePrim(BulletDotNETPrim pDeactivatePrim)
|
|
{
|
|
lock (m_activePrims)
|
|
{
|
|
m_activePrims.Remove(pDeactivatePrim);
|
|
}
|
|
}
|
|
|
|
internal void AddPrimToScene(BulletDotNETPrim pPrim)
|
|
{
|
|
lock (m_prims)
|
|
{
|
|
if (!m_prims.Contains(pPrim))
|
|
{
|
|
m_prims.Add(pPrim);
|
|
m_world.addRigidBody(pPrim.Body);
|
|
m_log.Debug("ADDED");
|
|
}
|
|
}
|
|
}
|
|
internal void EnableCollisionInterface()
|
|
{
|
|
if (m_CollisionInterface == null)
|
|
{
|
|
m_CollisionInterface = new ContactAddedCallbackHandler();
|
|
m_world.SetCollisionAddedCallback(m_CollisionInterface);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
}
|
|
}
|