public override void SetTerrain(ITerrainChannel channel, short[] heightMap)
{
m_channel = channel;
bool needToCreateHeightmapinODE = false;
short[] _heightmap = ODETerrainHeightFieldHeights;
if (ODETerrainHeightFieldHeights == null)
{
needToCreateHeightmapinODE = true; //We don't have any terrain yet, we need to generate one
_heightmap = new short[((m_region.RegionSizeX + 3)*(m_region.RegionSizeY + 3))];
}
int heightmapWidth = m_region.RegionSizeX + 2;
int heightmapHeight = m_region.RegionSizeY + 2;
int heightmapWidthSamples = m_region.RegionSizeX + 3; // + one to complete the 256m + 2 margins each side
int heightmapHeightSamples = m_region.RegionSizeY + 3;
float hfmin = 2000;
float hfmax = -2000;
for (int x = 0; x < heightmapWidthSamples; x++)
{
for (int y = 0; y < heightmapHeightSamples; y++)
{
//Some notes on this part
//xx and yy are used for the original heightmap, as we are offsetting the new one by 1
// so we subtract one so that we can put the heightmap in correctly
int xx = x - 1;
if (xx < 0)
xx = 0;
if (xx > m_region.RegionSizeX - 1)
xx = m_region.RegionSizeX - 1;
int yy = y - 1;
if (yy < 0)
yy = 0;
if (yy > m_region.RegionSizeY - 1)
yy = m_region.RegionSizeY - 1;
short val = heightMap[yy*m_region.RegionSizeX + xx];
//ODE is evil... flip x and y
_heightmap[(x*heightmapHeightSamples) + y] = val;
hfmin = (val < hfmin) ? val : hfmin;
hfmax = (val > hfmax) ? val : hfmax;
}
}
needToCreateHeightmapinODE = true; //ODE seems to have issues with not rebuilding :(
if (RegionTerrain != IntPtr.Zero)
{
d.SpaceRemove(space, RegionTerrain);
d.GeomDestroy(RegionTerrain);
}
if (!needToCreateHeightmapinODE)
{
TerrainHeightFieldHeights = null;
TerrainHeightFieldlimits = null;
ODETerrainHeightFieldHeights = null;
float[] heighlimits = new float[2];
heighlimits[0] = hfmin;
heighlimits[1] = hfmax;
TerrainHeightFieldHeights = heightMap;
TerrainHeightFieldlimits = heighlimits;
ODETerrainHeightFieldHeights = _heightmap;
return; //If we have already done this once, we don't need to do it again
}
lock (OdeLock)
{
const float scale = (1f/Constants.TerrainCompression);
const float offset = 0.0f;
float thickness = 0.01f;
const int wrap = 0;
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
GC.AddMemoryPressure(_heightmap.Length);
//Add the memory pressure properly (note: should we be doing this since we have it in managed memory?)
//Do NOT copy it! Otherwise, it'll copy the terrain into unmanaged memory where we can't release it each time
d.GeomHeightfieldDataBuildShort(HeightmapData, _heightmap, 0, heightmapHeight, heightmapWidth,
heightmapHeightSamples, heightmapWidthSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1.0f, hfmax + 1.0f);
RegionTerrain = d.CreateHeightfield(space, HeightmapData, 1);
if (RegionTerrain != IntPtr.Zero)
{
d.GeomSetCategoryBits(RegionTerrain, (int) (CollisionCategories.Land));
d.GeomSetCollideBits(RegionTerrain, (int) (CollisionCategories.Space));
}
NullObjectPhysicsActor terrainActor = new NullObjectPhysicsActor();
actor_name_map[RegionTerrain] = terrainActor;
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
q1 = q1*q2;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(RegionTerrain, ref R);
d.GeomSetPosition(RegionTerrain, (m_region.RegionSizeX*0.5f), (m_region.RegionSizeY*0.5f), 0);
float[] heighlimits = new float[2];
heighlimits[0] = hfmin;
heighlimits[1] = hfmax;
TerrainHeightFieldHeights = heightMap;
ODETerrainHeightFieldHeights = _heightmap;
TerrainHeightFieldlimits = heighlimits;
}
}
public override void SetTerrain(ITerrainChannel channel, short[] heightMap)
{
m_channel = channel;
float[] _heightmap = ODETerrainHeightFieldHeights;
if (ODETerrainHeightFieldHeights == null)
_heightmap = new float[m_region.RegionSizeX * m_region.RegionSizeY];
for (int x = 0; x < m_region.RegionSizeX; x++)
{
for (int y = 0; y < m_region.RegionSizeY; y++)
{
_heightmap[(x * m_region.RegionSizeX) + y] = heightMap[y * m_region.RegionSizeX + x] / Constants.TerrainCompression;
}
}
float hfmin = _heightmap.Min();
float hfmax = _heightmap.Max();
SimulationChangesQueue.Enqueue(() =>
{
if (RegionTerrain != IntPtr.Zero)
{
d.GeomHeightfieldDataDestroy(RegionTerrain);
d.SpaceRemove(space, RegionTerrain);
//d.GeomDestroy(RegionTerrain);
GC.RemoveMemoryPressure(_heightmap.Length);
}
const float scale = 1f;
const float offset = 0.0f;
float thickness = 0.2f;
const int wrap = 0;
IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
GC.AddMemoryPressure(_heightmap.Length);
//Add the memory pressure properly (note: should we be doing this since we have it in managed memory?)
//Do NOT copy it! Otherwise, it'll copy the terrain into unmanaged memory where we can't release it each time
d.GeomHeightfieldDataBuildSingle(HeightmapData, _heightmap, 0, m_region.RegionSizeX, m_region.RegionSizeY,
m_region.RegionSizeX, m_region.RegionSizeY, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds(HeightmapData, hfmin - 1.0f, hfmax + 1.0f);
RegionTerrain = d.CreateHeightfield(space, HeightmapData, 1);
d.GeomSetCategoryBits(RegionTerrain, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(RegionTerrain, (int)(CollisionCategories.Space));
actor_name_map[RegionTerrain] = new NullObjectPhysicsActor();
d.Matrix3 R = new d.Matrix3();
Quaternion q1 = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 1.5707f);
Quaternion q2 = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), 1.5707f);
q1 = q1 * q2;
Vector3 v3;
float angle;
q1.GetAxisAngle(out v3, out angle);
d.RFromAxisAndAngle(out R, v3.X, v3.Y, v3.Z, angle);
d.GeomSetRotation(RegionTerrain, ref R);
d.GeomSetPosition(RegionTerrain, (m_region.RegionSizeX * 0.5f), (m_region.RegionSizeY * 0.5f), 0);
TerrainHeightFieldHeights = heightMap;
ODETerrainHeightFieldHeights = _heightmap;
});
//Trimesh terrain
/*var mesh = new OpenSim.Region.Physics.Meshing.Mesh(523452345);
for (int i = 0; i < m_region.RegionSizeX - 1; i++)
{
for (int j = 0; j < m_region.RegionSizeY - 1; j++)
{
mesh.Add(new Triangle(
new Vertex(i, j, m_channel[i, j]),
new Vertex(i + 1, j, m_channel[i + 1, j]),
new Vertex(i + 1, j + 1, m_channel[i + 1, j + 1])));
}
}
System.IntPtr vertices, indices;
int vertexCount, indexCount;
int vertexStride, triStride;
mesh.getVertexListAsPtrToFloatArray(out vertices, out vertexStride, out vertexCount);
// Note, that vertices are fixed in unmanaged heap
mesh.getIndexListAsPtrToIntArray(out indices, out triStride, out indexCount);
// Also fixed, needs release after usage
if (vertexCount == 0 || indexCount == 0)
return;
mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
var _triMeshData = d.GeomTriMeshDataCreate();
d.GeomTriMeshDataBuildSimple(_triMeshData, vertices, vertexStride, vertexCount, indices, indexCount,
triStride);
d.GeomTriMeshDataPreprocess(_triMeshData);
var RegionTerrain = d.CreateTriMesh(space, _triMeshData, null, null, null);
d.GeomSetCategoryBits(RegionTerrain, (int)(CollisionCategories.Land));
d.GeomSetCollideBits(RegionTerrain, (int)(CollisionCategories.Space));
actor_name_map[RegionTerrain] = new NullObjectPhysicsActor();
TerrainHeightFieldHeights = heightMap;*/
}
