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
{
public sealed class BSTerrainMesh : BSTerrainPhys
{
static string LogHeader = "[BULLETSIM TERRAIN MESH]";
private float[] m_savedHeightMap;
int m_sizeX;
int m_sizeY;
BulletShape m_terrainShape;
BulletBody m_terrainBody;
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
: base(physicsScene, regionBase, id)
{
}
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
: base(physicsScene, regionBase, id)
{
}
// Create terrain mesh from a heightmap.
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene, regionBase, id)
{
int indicesCount;
int[] indices;
int verticesCount;
float[] vertices;
m_savedHeightMap = initialMap;
m_sizeX = (int)(maxCoords.X - minCoords.X);
m_sizeY = (int)(maxCoords.Y - minCoords.Y);
bool meshCreationSuccess = false;
if (BSParam.TerrainMeshMagnification == 1)
{
// If a magnification of one, use the old routine that is tried and true.
meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(m_physicsScene,
initialMap, m_sizeX, m_sizeY, // input size
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
else
{
// Other magnifications use the newer routine
meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(m_physicsScene,
initialMap, m_sizeX, m_sizeY, // input size
BSParam.TerrainMeshMagnification,
physicsScene.TerrainManager.DefaultRegionSize,
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
if (!meshCreationSuccess)
{
// DISASTER!!
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID);
m_physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID);
m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
Vector3 pos = regionBase;
Quaternion rot = Quaternion.Identity;
m_terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin);
// Set current terrain attributes
m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
// Put the new terrain to the world of physical objects
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(m_physicsScene);
if (BSParam.UseSingleSidedMeshes)
{
m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
}
// Make it so the terrain will not move or be considered for movement.
m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
public override void Dispose()
{
if (m_terrainBody.HasPhysicalBody)
{
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_terrainBody);
// Frees both the body and the shape.
m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_terrainBody);
m_terrainBody.Clear();
m_terrainShape.Clear();
}
}
public override float GetTerrainHeightAtXYZ(Vector3 pos)
{
// For the moment use the saved heightmap to get the terrain height.
// TODO: raycast downward to find the true terrain below the position.
float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
try
{
ret = m_savedHeightMap[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, TerrainBase, 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;
}
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
// Return 'true' if successfully created.
public static bool ConvertHeightmapToMesh( BSScene physicsScene,
float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
Vector3 extentBase, // base to be added to all vertices
out int indicesCountO, out int[] indicesO,
out int verticesCountO, out float[] verticesO)
{
bool ret = false;
int indicesCount = 0;
int verticesCount = 0;
int[] indices = new int[0];
float[] vertices = new float[0];
// Simple mesh creation which assumes magnification == 1.
// TODO: do a more general solution that scales, adds new vertices and smoothes the result.
// Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
// from zero to <= sizeX). The triangle indices are then generated as two triangles
// per heightmap point. There are sizeX by sizeY of these squares. The extra row and
// column of vertices are used to complete the triangles of the last row and column
// of the heightmap.
try
{
// One vertice per heightmap value plus the vertices off the side and bottom edge.
int totalVertices = (sizeX + 1) * (sizeY + 1);
vertices = new float[totalVertices * 3];
int totalIndices = sizeX * sizeY * 6;
indices = new int[totalIndices];
if (physicsScene != null)
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3}",
BSScene.DetailLogZero, totalVertices, totalIndices, extentBase);
float minHeight = float.MaxValue;
// Note that sizeX+1 vertices are created since there is land between this and the next region.
for (int yy = 0; yy <= sizeY; yy++)
{
for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
{
int offset = yy * sizeX + xx;
// Extend the height with the height from the last row or column
if (yy == sizeY) offset -= sizeX;
if (xx == sizeX) offset -= 1;
float height = heightMap[offset];
minHeight = Math.Min(minHeight, height);
vertices[verticesCount + 0] = (float)xx + extentBase.X;
vertices[verticesCount + 1] = (float)yy + extentBase.Y;
vertices[verticesCount + 2] = height + extentBase.Z;
verticesCount += 3;
}
}
verticesCount = verticesCount / 3;
for (int yy = 0; yy < sizeY; yy++)
{
for (int xx = 0; xx < sizeX; xx++)
{
int offset = yy * (sizeX + 1) + xx;
// Each vertices is presumed to be the upper left corner of a box of two triangles
indices[indicesCount + 0] = offset;
indices[indicesCount + 1] = offset + 1;
indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
indices[indicesCount + 3] = offset + 1;
indices[indicesCount + 4] = offset + sizeX + 2;
indices[indicesCount + 5] = offset + sizeX + 1;
indicesCount += 6;
}
}
ret = true;
}
catch (Exception e)
{
if (physicsScene != null)
physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
LogHeader, physicsScene.RegionName, extentBase, e);
}
indicesCountO = indicesCount;
indicesO = indices;
verticesCountO = verticesCount;
verticesO = vertices;
return ret;
}
private class HeightMapGetter
{
private float[] m_heightMap;
private int m_sizeX;
private int m_sizeY;
public HeightMapGetter(float[] pHeightMap, int pSizeX, int pSizeY)
{
m_heightMap = pHeightMap;
m_sizeX = pSizeX;
m_sizeY = pSizeY;
}
// The heightmap is extended as an infinite plane at the last height
public float GetHeight(int xx, int yy)
{
int offset = 0;
// Extend the height with the height from the last row or column
if (yy >= m_sizeY)
if (xx >= m_sizeX)
offset = (m_sizeY - 1) * m_sizeX + (m_sizeX - 1);
else
offset = (m_sizeY - 1) * m_sizeX + xx;
else
if (xx >= m_sizeX)
offset = yy * m_sizeX + (m_sizeX - 1);
else
offset = yy * m_sizeX + xx;
return m_heightMap[offset];
}
}
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
// Version that handles magnification.
// Return 'true' if successfully created.
public static bool ConvertHeightmapToMesh2( BSScene physicsScene,
float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
int magnification, // number of vertices per heighmap step
Vector3 extent, // dimensions of the output mesh
Vector3 extentBase, // base to be added to all vertices
out int indicesCountO, out int[] indicesO,
out int verticesCountO, out float[] verticesO)
{
bool ret = false;
int indicesCount = 0;
int verticesCount = 0;
int[] indices = new int[0];
float[] vertices = new float[0];
HeightMapGetter hmap = new HeightMapGetter(heightMap, sizeX, sizeY);
// The vertices dimension of the output mesh
int meshX = sizeX * magnification;
int meshY = sizeY * magnification;
// The output size of one mesh step
float meshXStep = extent.X / meshX;
float meshYStep = extent.Y / meshY;
// Create an array of vertices that is meshX+1 by meshY+1 (note the loop
// from zero to <= meshX). The triangle indices are then generated as two triangles
// per heightmap point. There are meshX by meshY of these squares. The extra row and
// column of vertices are used to complete the triangles of the last row and column
// of the heightmap.
try
{
// Vertices for the output heightmap plus one on the side and bottom to complete triangles
int totalVertices = (meshX + 1) * (meshY + 1);
vertices = new float[totalVertices * 3];
int totalIndices = meshX * meshY * 6;
indices = new int[totalIndices];
if (physicsScene != null)
physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,inSize={1},outSize={2},totVert={3},totInd={4},extentBase={5}",
BSScene.DetailLogZero, new Vector2(sizeX, sizeY), new Vector2(meshX, meshY),
totalVertices, totalIndices, extentBase);
float minHeight = float.MaxValue;
// Note that sizeX+1 vertices are created since there is land between this and the next region.
// Loop through the output vertices and compute the mediun height in between the input vertices
for (int yy = 0; yy <= meshY; yy++)
{
for (int xx = 0; xx <= meshX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
{
float offsetY = (float)yy * (float)sizeY / (float)meshY; // The Y that is closest to the mesh point
int stepY = (int)offsetY;
float fractionalY = offsetY - (float)stepY;
float offsetX = (float)xx * (float)sizeX / (float)meshX; // The X that is closest to the mesh point
int stepX = (int)offsetX;
float fractionalX = offsetX - (float)stepX;
// physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,xx={1},yy={2},offX={3},stepX={4},fractX={5},offY={6},stepY={7},fractY={8}",
// BSScene.DetailLogZero, xx, yy, offsetX, stepX, fractionalX, offsetY, stepY, fractionalY);
// get the four corners of the heightmap square the mesh point is in
float heightUL = hmap.GetHeight(stepX , stepY );
float heightUR = hmap.GetHeight(stepX + 1, stepY );
float heightLL = hmap.GetHeight(stepX , stepY + 1);
float heightLR = hmap.GetHeight(stepX + 1, stepY + 1);
// bilinear interplolation
float height = heightUL * (1 - fractionalX) * (1 - fractionalY)
+ heightUR * fractionalX * (1 - fractionalY)
+ heightLL * (1 - fractionalX) * fractionalY
+ heightLR * fractionalX * fractionalY;
// physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,heightUL={1},heightUR={2},heightLL={3},heightLR={4},heightMap={5}",
// BSScene.DetailLogZero, heightUL, heightUR, heightLL, heightLR, height);
minHeight = Math.Min(minHeight, height);
vertices[verticesCount + 0] = (float)xx * meshXStep + extentBase.X;
vertices[verticesCount + 1] = (float)yy * meshYStep + extentBase.Y;
vertices[verticesCount + 2] = height + extentBase.Z;
verticesCount += 3;
}
}
// The number of vertices generated
verticesCount /= 3;
// Loop through all the heightmap squares and create indices for the two triangles for that square
for (int yy = 0; yy < meshY; yy++)
{
for (int xx = 0; xx < meshX; xx++)
{
int offset = yy * (meshX + 1) + xx;
// Each vertices is presumed to be the upper left corner of a box of two triangles
indices[indicesCount + 0] = offset;
indices[indicesCount + 1] = offset + 1;
indices[indicesCount + 2] = offset + meshX + 1; // accounting for the extra column
indices[indicesCount + 3] = offset + 1;
indices[indicesCount + 4] = offset + meshX + 2;
indices[indicesCount + 5] = offset + meshX + 1;
indicesCount += 6;
}
}
ret = true;
}
catch (Exception e)
{
if (physicsScene != null)
physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
LogHeader, physicsScene.RegionName, extentBase, e);
}
indicesCountO = indicesCount;
indicesO = indices;
verticesCountO = verticesCount;
verticesO = vertices;
return ret;
}
}
}