public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
switch (parent.LinksetType)
{
case LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat(
"[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name,
parent.LocalID);
}
return(ret);
}
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
{
m_physicsScene = physicsScene;
m_controllingPrim = pObj;
ActorName = actorName;
Enabled = true;
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
switch (parent.LinksetType)
{
case LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat(
"[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name,
parent.LocalID);
}
return ret;
}
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
// Assume one region of default size
m_worldMax = new Vector3(physicsScene.Scene.RegionInfo.RegionSizeX,
physicsScene.Scene.RegionInfo.RegionSizeY, physicsScene.Scene.RegionInfo.RegionSizeZ);
}
public PhysicsScene GetScene()
{
if (_mScene == null)
{
_mScene = new BSScene();
}
return(_mScene);
}
public BSShapeCollection(BSScene physScene)
{
PhysicsScene = physScene;
// Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
// While detailed debugging is still active, this is better than commenting out all the
// DetailLog statements. When debugging slows down, this and the protected logging
// statements can be commented/removed.
DDetail = true;
}
// Apply the specificed collision mask into the physical world
public virtual bool ApplyCollisionMask(BSScene physicsScene)
{
// Should assert the body has been added to the physical world.
// (The collision masks are stored in the collision proxy cache which only exists for
// a collision body that is in the world.)
return physicsScene.PE.SetCollisionGroupMask(this,
BulletSimData.CollisionTypeMasks[collisionType].group,
BulletSimData.CollisionTypeMasks[collisionType].mask);
}
// Apply the specificed collision mask into the physical world
public virtual bool ApplyCollisionMask(BSScene physicsScene)
{
// Should assert the body has been added to the physical world.
// (The collision masks are stored in the collision proxy cache which only exists for
// a collision body that is in the world.)
return(physicsScene.PE.SetCollisionGroupMask(this,
BulletSimData.CollisionTypeMasks[collisionType].group,
BulletSimData.CollisionTypeMasks[collisionType].mask));
}
public BSShapeCollection(BSScene physScene)
{
PhysicsScene = physScene;
// Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
// While detailed debugging is still active, this is better than commenting out all the
// DetailLog statements. When debugging slows down, this and the protected logging
// statements can be commented/removed.
DDetail = true;
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
{
_physicsActorType = (int)ActorTypes.Agent;
_isPhysical = true;
_position = pos;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f)
{
_size.X = BSParam.AvatarCapsuleDepth;
}
if (_size.Y == 0f)
{
_size.Y = BSParam.AvatarCapsuleWidth;
}
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName);
PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into PhysBody and PhysShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
SetPhysicalProperties();
SubscribeEvents(1000);
});
return;
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation) BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysicsScene, this);
if (Linkset != null)
Linkset.Refresh(this);
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysicsScene, this);
if (Linkset != null)
{
Linkset.Refresh(this);
}
}
// 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 BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
{
_physicsActorType = (int)ActorTypes.Agent;
_isPhysical = true;
_position = pos;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName);
PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into PhysBody and PhysShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
SetPhysicalProperties();
SubscribeEvents(1000);
});
return;
}
// 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();
}
// 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();
}
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
{
m_nextLinksetID = 1;
}
PhysicsScene = scene;
LinksetRoot = parent;
//m_children = new HashSet<BSPrimLinkable>();
m_children = new Dictionary <BSPrimLinkable, BSLinkInfo>();
LinksetMass = parent.RawMass;
Rebuilding = false;
RebuildScheduled = false;
parent.ClearDisplacement();
}
// 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();
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Oddity if object is destroyed and recreated very quickly it could still have the old body.
if (!PhysBody.HasPhysicalBody)
{
PhysBody = new BulletBody(localID);
}
// The collection of things that push me around
PhysicalActors = new BSActorCollection(PhysicsScene);
// Initialize variables kept in base.
GravityMultiplier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
PrimAssetState = PrimAssetCondition.Unknown;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
SubscribedEventsMs = 0;
CollidingStep = 0;
TrueCollidingStep = 0;
CollisionAccumulation = 0;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(parent_scene, localID, primName, "BSPrim")
{
// MainConsole.Instance.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
_physicsActorType = (int)ActorTypes.Prim;
_position = pos;
_size = size;
Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
_orientation = rotation;
_buoyancy = 0f;
RawVelocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
BaseShape = pbs;
_isPhysical = pisPhysical;
_isVolumeDetect = false;
// Add a dynamic vehicle to our set of actors that can move this prim.
VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
PhysicalActors.Add(VehicleActorName, VehicleActor);
//PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysicsScene, this, VehicleActorName));
_mass = CalculateMass();
// DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
PhysicsScene.TaintedObject(LocalID, "BSPrim.create", delegate()
{
// Make sure the object is being created with some sanity.
ExtremeSanityCheck(true /* inTaintTime */);
CreateGeomAndObject(true);
CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
IsInitialized = true;
});
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Oddity if object is destroyed and recreated very quickly it could still have the old body.
if (!PhysBody.HasPhysicalBody)
PhysBody = new BulletBody(localID);
// The collection of things that push me around
PhysicalActors = new BSActorCollection(PhysicsScene);
// Initialize variables kept in base.
GravityMultiplier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
PrimAssetState = PrimAssetCondition.Unknown;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
SubscribedEventsMs = 0;
CollidingStep = 0;
TrueCollidingStep = 0;
CollisionAccumulation = 0;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
// Code that uses the mesher to create the index/vertices info for a trimesh shape.
// This is used by the passed 'makeShape' call to create the Bullet mesh shape.
// The actual build call is passed so this logic can be used by several of the shapes that use a
// simple mesh as their base shape.
public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape)
{
BulletShape newShape = new BulletShape();
IMesh meshData;
lock (physicsScene.mesher)
{
meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
false, // say it is not physical so a bounding box is not built
false // do not cache the mesh and do not use previously built versions
);
}
if (meshData != null)
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
// Release the fetched asset data once it has been used.
pbs.SculptData = new byte[0];
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
}
int[] indices = meshData.getIndexListAsInt();
int realIndicesIndex = indices.Length;
float[] verticesAsFloats = meshData.getVertexListAsFloat();
if (BSParam.ShouldRemoveZeroWidthTriangles)
{
// Remove degenerate triangles. These are triangles with two of the vertices
// are the same. This is complicated by the problem that vertices are not
// made unique in sculpties so we have to compare the values in the vertex.
realIndicesIndex = 0;
for (int tri = 0; tri < indices.Length; tri += 3)
{
// Compute displacements into vertex array for each vertex of the triangle
int v1 = indices[tri + 0]*3;
int v2 = indices[tri + 1]*3;
int v3 = indices[tri + 2]*3;
// Check to see if any two of the vertices are the same
if (!((verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
|| (verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
|| (verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]))
)
{
// None of the vertices of the triangles are the same. This is a good triangle;
indices[realIndicesIndex + 0] = indices[tri + 0];
indices[realIndicesIndex + 1] = indices[tri + 1];
indices[realIndicesIndex + 2] = indices[tri + 2];
realIndicesIndex += 3;
}
}
}
physicsScene.DetailLog(
"{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}",
BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length/3, realIndicesIndex/3,
verticesAsFloats.Length/3);
if (realIndicesIndex != 0)
{
newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length/3,
verticesAsFloats);
}
else
{
// Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh.
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim={1}", LogHeader,
UsefulPrimInfo(physicsScene, prim));
physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID,
newMeshKey);
}
}
newShape.shapeKey = newMeshKey;
return newShape;
}
BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
(w, iC, i, vC, v) =>
{
shapeInfo.Vertices = vC;
return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v);
});
}
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(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(PhysicsScene,
initialMap, m_sizeX, m_sizeY, // input size
BSParam.TerrainMeshMagnification,
physicsScene.TerrainManager.WorldMax,
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
if (!meshCreationSuccess)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}",
BSScene.DetailLogZero, ID);
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;
}
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshid,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount,
vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero,
ID);
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 = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
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
PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
PhysicsScene.PE.SetMassProps(m_terrainBody, 0.1f, Vector3.Zero);
// Put the new terrain to the world of physical objects
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(PhysicsScene);
if (BSParam.UseSingleSidedMeshes)
{
PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
}
// Make it so the terrain will not move or be considered for movement.
PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_torqueMotor = null;
m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID);
}
public static BSShape GetReference(BSScene physicsScene)
{
// Base compound shapes are not shared so this returns a raw shape.
// A built compound shape can be reused in linksets.
BSShapeCompound ret = new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene));
CompoundShapes.Add(ret.AddrString, ret);
return ret;
}
public override void Dereference(BSScene physicsScene)
{
lock (Hulls)
{
DecrementReference();
physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this);
// TODO: schedule aging and destruction of unused meshes.
}
}
public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_torqueMotor = null;
m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID);
}
// 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);
}
// 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);
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
}
public BSActorCollection(BSScene physicsScene)
{
m_physicsScene = physicsScene;
m_actors = new Dictionary <string, BSActor>();
}
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
: base(physicsScene, regionBase, id)
{
}
public BSConstraint(BulletWorld world)
{
m_world = world;
PhysicsScene = m_world.physicsScene;
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
BSShapeHull retHull;
bool foundHull = false;
lock (Hulls)
foundHull = Hulls.TryGetValue (newHullKey, out retHull);
if (foundHull)
{
// The mesh has already been created. Return a new reference to same.
retHull.IncrementReference();
}
else
{
retHull = new BSShapeHull(new BulletShape());
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod);
// Check to see if hull was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
if (!newShape.isNativeShape || prim.AssetFailed())
{
// If a mesh was what was created, remember the built shape for later sharing.
lock(Hulls)
Hulls.Add(newHullKey, retHull);
}
retHull.physShapeInfo = newShape;
}
physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull,
prim.Size, lod);
return retHull;
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
BSShape ret;
// If the underlying shape is native, the actual shape has not been build (waiting for asset)
// and we must create a copy of the native shape since they are never shared.
if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape)
{
// TODO: decide when the native shapes should be freed. Check in Dereference?
ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX,
FixedShapeKey.KEY_BOX);
}
else
{
// Another reference to this shape is just counted.
IncrementReference();
ret = this;
}
return ret;
}
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
// Assume one region of default size
m_worldMax = new Vector3(physicsScene.Scene.RegionInfo.RegionSizeX,
physicsScene.Scene.RegionInfo.RegionSizeY, physicsScene.Scene.RegionInfo.RegionSizeZ);
}
BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, UInt64 newHullKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
IMesh meshData;
List<List<OMV.Vector3>> allHulls = null;
lock (physicsScene.mesher)
{
// Pass true for physicalness as this prevents the creation of bounding box which is not needed
meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */,
false /* shouldCache */);
// If we should use the asset's hull info, fetch it out of the locked mesher
if (meshData != null && BSParam.ShouldUseAssetHulls)
{
Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
if (realMesher != null)
{
allHulls = realMesher.GetConvexHulls(size);
}
if (allHulls == null)
{
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
}
}
}
// If there is hull data in the mesh asset, build the hull from that
if (allHulls != null && BSParam.ShouldUseAssetHulls)
{
int hullCount = allHulls.Count;
shapeInfo.HullCount = hullCount;
int totalVertices = 1; // include one for the count of the hulls
// Using the structure described for HACD hulls, create the memory structure
// to pass the hull data to the creater.
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += hullVerts.Count*3; // one vertex is three dimensions
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float) hullCount;
int jj = 1;
int hullIndex = 0;
foreach (List<OMV.Vector3> hullVerts in allHulls)
{
convHulls[jj + 0] = hullVerts.Count;
convHulls[jj + 1] = 0f; // centroid x,y,z
convHulls[jj + 2] = 0f;
convHulls[jj + 3] = 0f;
jj += 4;
foreach (OMV.Vector3 oneVert in hullVerts)
{
convHulls[jj + 0] = oneVert.X;
convHulls[jj + 1] = oneVert.Y;
convHulls[jj + 2] = oneVert.Z;
jj += 3;
}
shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
hullIndex++;
}
// create the hull data structure in Bullet
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,AssetHulls,hulls={1},totVert={2},shape={3}",
prim.LocalID, hullCount, totalVertices, newShape);
}
// If no hull specified in the asset and we should use Bullet's HACD approximation...
if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
{
// Build the hull shape from an existing mesh shape.
// The mesh should have already been created in Bullet.
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID);
var meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);
if (meshShape.physShapeInfo.HasPhysicalShape)
{
HACDParams parms = new HACDParams();
parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
parms.minClusters = BSParam.BHullMinClusters;
parms.compacityWeight = BSParam.BHullCompacityWeight;
parms.volumeWeight = BSParam.BHullVolumeWeight;
parms.concavity = BSParam.BHullConcavity;
parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
parms.whichHACD = 0; // Use the HACD routine that comes with Bullet
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID,
newShape.HasPhysicalShape);
newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID,
newShape);
// Now done with the mesh shape.
shapeInfo.HullCount = 1;
BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
if (maybeMesh != null)
shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
meshShape.Dereference(physicsScene);
}
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID,
newShape.HasPhysicalShape);
}
// If no other hull specifications, use our HACD hull approximation.
if (!newShape.HasPhysicalShape && meshData != null)
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
// Release the fetched asset data once it has been used.
pbs.SculptData = new byte[0];
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
}
int[] indices = meshData.getIndexListAsInt();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
// greythane - use the integer array instead of OS type vertex list
// List<OMV.Vector3> vertices = meshData.getVertexList();
// foreach (OMV.Vector3 vv in vertices)
// {
// convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
// }
var vertices = meshData.getVertexListAsFloat();
var vertexCount = vertices.Length / 3;
for (int i = 0; i < vertexCount; i++)
{
convVertices.Add(new float3(vertices[3 * i + 0], vertices[3 * i + 1], vertices[3 * i + 2]));
}
uint maxDepthSplit = (uint) BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (BSShapeCollection.PrimHasNoCuts(pbs))
{
maxDepthSplit = (uint) BSParam.CSHullMaxDepthSplitForSimpleShapes;
}
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint) BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
physicsScene.DetailLog(
"{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Length, maxDepthSplit,
m_hulls.Count);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count*3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float) hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
}
newShape.shapeKey = newHullKey;
return newShape;
}
public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
{
PhysicsScene = physicsScene;
TerrainBase = regionBase;
ID = id;
}
#pragma warning restore 414
public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
: base(myScene, myPrim, actorName)
{
ControllingPrim = myPrim; // as BSPrimLinkable;;
Type = Vehicle.TYPE_NONE;
m_haveRegisteredForSceneEvents = false;
// SetupVehicleDebugging();
}
// 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;
}
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetImpl = LinksetImplementation.Constraint;
}
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
: base(physicsScene, regionBase, id)
{
}
public BulletWorld(uint worldId, BSScene bss)
{
worldID = worldId;
physicsScene = bss;
}
public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_targetMotor = null;
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
}
public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
{
PhysicsScene = physicsScene;
TerrainBase = regionBase;
ID = id;
}
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
ClearDisplacement();
}
// 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;
}
public static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
BulletShape newShape;
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
}
if (!newShape.HasPhysicalShape)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
newShape.shapeType = shapeType;
newShape.isNativeShape = true;
newShape.shapeKey = (UInt64) shapeKey;
return newShape;
}
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
: base(physicsScene, regionBase, id)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
BSShapeMesh retMesh;
lock (Meshes)
{
if (Meshes.TryGetValue(newMeshKey, out retMesh))
{
// The mesh has already been created. Return a new reference to same.
retMesh.IncrementReference();
}
else
{
retMesh = new BSShapeMesh(new BulletShape());
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape,
prim.Size, lod);
// Check to see if mesh was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
if (!newShape.isNativeShape || prim.AssetFailed())
{
// If a mesh was what was created, remember the built shape for later sharing.
// Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh.
Meshes.Add(newMeshKey, retMesh);
}
retMesh.physShapeInfo = newShape;
}
}
physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh,
prim.Size, lod);
return retMesh;
}
// 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(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(PhysicsScene,
initialMap, m_sizeX, m_sizeY, // input size
BSParam.TerrainMeshMagnification,
physicsScene.TerrainManager.WorldMax,
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
if (!meshCreationSuccess)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}",
BSScene.DetailLogZero, ID);
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;
}
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshid,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount,
vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero,
ID);
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 = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
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
PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
PhysicsScene.PE.SetMassProps(m_terrainBody, 0.1f, Vector3.Zero);
// Put the new terrain to the world of physical objects
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(PhysicsScene);
if (BSParam.UseSingleSidedMeshes)
{
PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
}
// Make it so the terrain will not move or be considered for movement.
PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
#pragma warning restore 414
public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetImpl = LinksetImplementation.Compound;
}
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
ClearDisplacement();
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
// Native shapes are not tracked and are released immediately
lock (physShapeInfo)
{
if (physShapeInfo.HasPhysicalShape)
{
physicsScene.DetailLog("{0},BSShapeNative.Dereference.deleteNativeShape,shape={1}",
BSScene.DetailLogZero, this);
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
physShapeInfo.Clear();
// Garbage collection will free up this instance.
}
}
