opensim – 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
{
public sealed class BSTerrainHeightmap : BSTerrainPhys
{
static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
BulletHMapInfo 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 BulletHMapInfo(id, initialMap, regionSize.X, regionSize.Y);
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 BulletHMapInfo(id, initialMap, maxCoords.X - minCoords.X, maxCoords.Y - minCoords.Y);
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()
{
// Create the terrain shape from the mapInfo
m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
// 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 = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape,
m_mapInfo.ID, centerPos, Quaternion.Identity);
// Set current terrain attributes
m_physicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
m_physicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
// Return the new terrain to the world of physical objects
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody);
// redo its bounding box now that it is in the world
m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody);
// Make it so the terrain will not move or be considered for movement.
m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, 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)
{
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_mapInfo.terrainBody);
// Frees both the body and the shape.
m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_mapInfo.terrainBody);
}
}
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.
m_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 m_physicsScene.SimpleWaterLevel;
}
}
}