opensim-development – Rev 1
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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
{
// The physical implementation of the terrain is wrapped in this class.
public abstract class BSTerrainPhys : IDisposable
{
public enum TerrainImplementation
{
Heightmap = 0,
Mesh = 1
}
protected BSScene m_physicsScene { get; private set; }
// Base of the region in world coordinates. Coordinates inside the region are relative to this.
public Vector3 TerrainBase { get; private set; }
public uint ID { get; private set; }
public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
{
m_physicsScene = physicsScene;
TerrainBase = regionBase;
ID = id;
}
public abstract void Dispose();
public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
public abstract float GetWaterLevelAtXYZ(Vector3 pos);
}
// ==========================================================================================
public sealed class BSTerrainManager : IDisposable
{
static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
// These height values are fractional so the odd values will be
// noticable when debugging.
public const float HEIGHT_INITIALIZATION = 24.987f;
public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
public const float HEIGHT_GETHEIGHT_RET = 24.765f;
public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
// If the min and max height are equal, we reduce the min by this
// amount to make sure that a bounding box is built for the terrain.
public const float HEIGHT_EQUAL_FUDGE = 0.2f;
// 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, Constants.RegionHeight);
// The scene that I am part of
private BSScene m_physicsScene { get; set; }
// The ground plane created to keep thing from falling to infinity.
private BulletBody m_groundPlane;
// If doing mega-regions, if we're region zero we will be managing multiple
// region terrains since region zero does the physics for the whole mega-region.
private Dictionary<Vector3, BSTerrainPhys> m_terrains;
// Flags used to know when to recalculate the height.
private bool m_terrainModified = false;
// If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
// This is incremented before assigning to new region so it is the last ID allocated.
private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
public uint HighestTerrainID { get {return m_terrainCount; } }
// If doing mega-regions, this holds our offset from region zero of
// the mega-regions. "parentScene" points to the PhysicsScene of region zero.
private Vector3 m_worldOffset;
// 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 MegaRegionParentPhysicsScene { get; set; }
public BSTerrainManager(BSScene physicsScene, Vector3 regionSize)
{
m_physicsScene = physicsScene;
DefaultRegionSize = regionSize;
m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
// Assume one region of default size
m_worldOffset = Vector3.Zero;
m_worldMax = new Vector3(DefaultRegionSize);
MegaRegionParentPhysicsScene = null;
}
public void Dispose()
{
ReleaseGroundPlaneAndTerrain();
}
// Create the initial instance of terrain and the underlying ground plane.
// This is called from the initialization routine so we presume it is
// safe to call Bullet in real time. We hope no one is moving prims around yet.
public void CreateInitialGroundPlaneAndTerrain()
{
DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
// The ground plane is here to catch things that are trying to drop to negative infinity
BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
// Everything collides with the ground plane.
m_groundPlane.collisionType = CollisionType.Groundplane;
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane);
// Ground plane does not move
m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
lock (m_terrains)
{
// Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
m_terrains.Add(Vector3.Zero, initialTerrain);
}
}
// Release all the terrain structures we might have allocated
public void ReleaseGroundPlaneAndTerrain()
{
DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
if (m_groundPlane.HasPhysicalBody)
{
if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane))
{
m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane);
}
m_groundPlane.Clear();
}
ReleaseTerrain();
}
// Release all the terrain we have allocated
public void ReleaseTerrain()
{
lock (m_terrains)
{
foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
{
kvp.Value.Dispose();
}
m_terrains.Clear();
}
}
// The simulator wants to set a new heightmap for the terrain.
public void SetTerrain(float[] heightMap) {
float[] localHeightMap = heightMap;
// If there are multiple requests for changes to the same terrain between ticks,
// only do that last one.
m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
{
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 (MegaRegionParentPhysicsScene is BSScene)
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.AddMegaRegionChildTerrain(
BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
}
}
else
{
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
}
});
}
// Another region is calling this region and passing a terrain.
// A region that is not the mega-region root will pass its terrain to the root region so the root region
// physics engine will have all the terrains.
private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
{
// Since we are called by another region's thread, the action must be rescheduled onto our processing thread.
m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
{
UpdateTerrain(id, heightMap, minCoords, maxCoords);
});
}
// If called for terrain has has not been previously allocated, a new terrain will be built
// based on the passed information. The 'id' should be either the terrain id or
// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
// The latter feature is for creating child terrains for mega-regions.
// If there is an existing terrain body, a new
// terrain shape is created and added to the body.
// This call is most often used to update the heightMap and parameters of the terrain.
// (The above does suggest that some simplification/refactoring is in order.)
// Called during taint-time.
private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
{
DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}",
BSScene.DetailLogZero, id, minCoords, maxCoords);
// Find high and low points of passed heightmap.
// The min and max passed in is usually the area objects can be in (maximum
// object height, for instance). The terrain wants the bounding box for the
// terrain so replace passed min and max Z with the actual terrain min/max Z.
float minZ = float.MaxValue;
float maxZ = float.MinValue;
foreach (float height in heightMap)
{
if (height < minZ) minZ = height;
if (height > maxZ) maxZ = height;
}
if (minZ == maxZ)
{
// If min and max are the same, reduce min a little bit so a good bounding box is created.
minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
}
minCoords.Z = minZ;
maxCoords.Z = maxZ;
Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
lock (m_terrains)
{
BSTerrainPhys terrainPhys;
if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
{
// There is already a terrain in this spot. Free the old and build the new.
DetailLog("{0},BSTErrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords);
// Remove old terrain from the collection
m_terrains.Remove(terrainRegionBase);
// Release any physical memory it may be using.
terrainPhys.Dispose();
if (MegaRegionParentPhysicsScene == null)
{
// This terrain is not part of the mega-region scheme. Create vanilla terrain.
BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
}
else
{
// 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.
DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
// Get rid of any terrain that may have been allocated for us.
ReleaseGroundPlaneAndTerrain();
// I hate doing this, but just bail
return;
}
}
else
{
// We don't know about this terrain so either we are creating a new terrain or
// our mega-prim child is giving us a new terrain to add to the phys world
// if this is a child terrain, calculate a unique terrain id
uint newTerrainID = id;
if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
newTerrainID = ++m_terrainCount;
DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords);
BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
m_terrainModified = true;
}
}
}
// TODO: redo terrain implementation selection to allow other base types than heightMap.
private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
{
m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
LogHeader, m_physicsScene.RegionName, terrainRegionBase,
(BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
BSTerrainPhys newTerrainPhys = null;
switch ((int)BSParam.TerrainImplementation)
{
case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id,
heightMap, minCoords, maxCoords);
break;
case (int)BSTerrainPhys.TerrainImplementation.Mesh:
newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id,
heightMap, minCoords, maxCoords);
break;
default:
m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
LogHeader,
(int)BSParam.TerrainImplementation,
BSParam.TerrainImplementation,
m_physicsScene.RegionName, terrainRegionBase);
break;
}
return newTerrainPhys;
}
// Return 'true' of this position is somewhere in known physical terrain space
public bool IsWithinKnownTerrain(Vector3 pos)
{
Vector3 terrainBaseXYZ;
BSTerrainPhys physTerrain;
return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
}
// Return a new position that is over known terrain if the position is outside our terrain.
public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos)
{
float edgeEpsilon = 0.1f;
Vector3 ret = pPos;
// First, base addresses are never negative so correct for that possible problem.
if (ret.X < 0f || ret.Y < 0f)
{
ret.X = Util.Clamp<float>(ret.X, 0f, 1000000f);
ret.Y = Util.Clamp<float>(ret.Y, 0f, 1000000f);
DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}",
BSScene.DetailLogZero, pPos, ret);
}
// Can't do this function if we don't know about any terrain.
if (m_terrains.Count == 0)
return ret;
int loopPrevention = 10;
Vector3 terrainBaseXYZ;
BSTerrainPhys physTerrain;
while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ))
{
// The passed position is not within a known terrain area.
// NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region.
// Must be off the top of a region. Find an adjacent region to move into.
// The returned terrain is always 'lower'. That is, closer to <0,0>.
Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ);
if (adjacentTerrainBase.X < terrainBaseXYZ.X)
{
// moving down into a new region in the X dimension. New position will be the max in the new base.
ret.X = adjacentTerrainBase.X + DefaultRegionSize.X - edgeEpsilon;
}
if (adjacentTerrainBase.Y < terrainBaseXYZ.Y)
{
// moving down into a new region in the X dimension. New position will be the max in the new base.
ret.Y = adjacentTerrainBase.Y + DefaultRegionSize.Y - edgeEpsilon;
}
DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}",
BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret);
if (loopPrevention-- < 0f)
{
// The 'while' is a little dangerous so this prevents looping forever if the
// mapping of the terrains ever gets messed up (like nothing at <0,0>) or
// the list of terrains is in transition.
DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,suppressingFindAdjacentRegionLoop", BSScene.DetailLogZero);
break;
}
}
return ret;
}
// Given an X and Y, find the height of the terrain.
// Since we could be handling multiple terrains for a mega-region,
// the base of the region is calcuated assuming all regions are
// the same size and that is the default.
// Once the heightMapInfo is found, we have all the information to
// compute the offset into the array.
private float lastHeightTX = 999999f;
private float lastHeightTY = 999999f;
private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
public float GetTerrainHeightAtXYZ(Vector3 pos)
{
float tX = pos.X;
float tY = pos.Y;
// You'd be surprized at the number of times this routine is called
// with the same parameters as last time.
if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
return lastHeight;
m_terrainModified = false;
lastHeightTX = tX;
lastHeightTY = tY;
float ret = HEIGHT_GETHEIGHT_RET;
Vector3 terrainBaseXYZ;
BSTerrainPhys physTerrain;
if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
{
ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
}
else
{
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, m_physicsScene.RegionName, tX, tY);
DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
BSScene.DetailLogZero, pos, terrainBaseXYZ);
}
lastHeight = ret;
return ret;
}
public float GetWaterLevelAtXYZ(Vector3 pos)
{
float ret = WATER_HEIGHT_GETHEIGHT_RET;
Vector3 terrainBaseXYZ;
BSTerrainPhys physTerrain;
if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
{
ret = physTerrain.GetWaterLevelAtXYZ(pos);
}
else
{
m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret);
}
return ret;
}
// Given an address, return 'true' of there is a description of that terrain and output
// the descriptor class and the 'base' fo the addresses therein.
private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
{
bool ret = false;
Vector3 terrainBaseXYZ = Vector3.Zero;
if (pos.X < 0f || pos.Y < 0f)
{
// We don't handle negative addresses so just make up a base that will not be found.
terrainBaseXYZ = new Vector3(-DefaultRegionSize.X, -DefaultRegionSize.Y, 0f);
}
else
{
int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
}
BSTerrainPhys physTerrain = null;
lock (m_terrains)
{
ret = m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
}
outTerrainBase = terrainBaseXYZ;
outPhysTerrain = physTerrain;
return ret;
}
// Given a terrain base, return a terrain base for a terrain that is closer to <0,0> than
// this one. Usually used to return an out of bounds object to a known place.
private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase)
{
Vector3 ret = pTerrainBase;
// Can't do this function if we don't know about any terrain.
if (m_terrains.Count == 0)
return ret;
// Just some sanity
ret.X = Util.Clamp<float>(ret.X, 0f, 1000000f);
ret.Y = Util.Clamp<float>(ret.Y, 0f, 1000000f);
ret.Z = 0f;
lock (m_terrains)
{
// Once down to the <0,0> region, we have to be done.
while (ret.X > 0f || ret.Y > 0f)
{
if (ret.X > 0f)
{
ret.X = Math.Max(0f, ret.X - DefaultRegionSize.X);
DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingX,terrainBase={1}", BSScene.DetailLogZero, ret);
if (m_terrains.ContainsKey(ret))
break;
}
if (ret.Y > 0f)
{
ret.Y = Math.Max(0f, ret.Y - DefaultRegionSize.Y);
DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingY,terrainBase={1}", BSScene.DetailLogZero, ret);
if (m_terrains.ContainsKey(ret))
break;
}
}
}
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, we don't do anything yet.
DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
}
private void DetailLog(string msg, params Object[] args)
{
m_physicsScene.PhysicsLogging.Write(msg, args);
}
}
}