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 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 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 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;
}
// 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;
}
// 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.
}
}
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 static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}", prim.LocalID,
newMeshKey.ToString("X"), prim.Size, lod);
BSShapeGImpact retGImpact;
lock (GImpacts)
{
if (GImpacts.TryGetValue(newMeshKey, out retGImpact))
{
// Teh mesh has already been created. Return a new reference to same.
retGImpact.IncrementReference();
}
else
{
retGImpact = new BSShapeGImpact(new BulletShape());
BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey,
prim.BaseShape, prim.Size, lod);
// Check to see if mesh was created (might require an asset).
newShape = VerifyMeshCreated(physicsScene, newShape, prim);
newShape.shapeKey = newMeshKey;
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.
GImpacts.Add(newMeshKey, retGImpact);
}
retGImpact.physShapeInfo = newShape;
}
}
return retGImpact;
}
// The creation of a mesh or hull can fail if an underlying asset is not available.
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
// and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
// The first case causes the asset to be fetched. The second case requires
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.HasPhysicalShape)
return newShape;
// VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
// fetched but we end up here again, the meshing of the asset must have failed.
// Prevent trying to keep fetching the mesh by declaring failure.
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing;
physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. prim={1}, texture={2}",
LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,prim={1},tex={2}",
prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture);
}
else
{
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (prim.BaseShape.SculptEntry
&& prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedAssetFetch
&& prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting
&& prim.BaseShape.SculptTexture != OMV.UUID.Zero
)
{
physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
// Multiple requestors will know we're waiting for this asset
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
physicsScene.Scene.AssetService.Get(yprim.BaseShape.SculptTexture.ToString(), null,
delegate(string id, Object sender, AssetBase asset)
{
bool assetFound = false;
string mismatchIDs = String.Empty; // DEBUG DEBUG
if (asset != null && yprim.BaseShape.SculptEntry)
{
if (yprim.BaseShape.SculptTexture == asset.ID)
{
yprim.BaseShape.SculptData = asset.Data;
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
// No race condition with the normal shape setting since the rebuild is at taint time.
yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
assetFound = true;
}
else
{
mismatchIDs = yprim.BaseShape.SculptTexture + "/" + asset.ID;
}
}
if (assetFound)
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
else
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch;
physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs);
});
});
}
else
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch)
{
physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
}
}
// While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
return fillShape.physShapeInfo;
}
// Sometimes we have a pointer to a collision shape but don't know what type it is.
// Figure out type and call the correct dereference routine.
// Called at taint-time.
void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape)
{
// TODO: figure a better way to go through all the shape types and find a possible instance.
physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,shape={1}",
BSScene.DetailLogZero, pShape);
BSShapeMesh meshDesc;
if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc))
{
meshDesc.Dereference(physicsScene);
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundMesh,shape={1}", BSScene.DetailLogZero, pShape);
}
else
{
BSShapeHull hullDesc;
if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc))
{
hullDesc.Dereference(physicsScene);
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundHull,shape={1}", BSScene.DetailLogZero, pShape);
}
else
{
BSShapeConvexHull chullDesc;
if (BSShapeConvexHull.TryGetConvexHullByPtr(pShape, out chullDesc))
{
chullDesc.Dereference(physicsScene);
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundConvexHull,shape={1}", BSScene.DetailLogZero, pShape);
}
else
{
BSShapeGImpact gImpactDesc;
if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc))
{
gImpactDesc.Dereference(physicsScene);
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundgImpact,shape={1}", BSScene.DetailLogZero, pShape);
}
else
{
// Didn't find it in the lists of specific types. It could be compound.
BSShapeCompound compoundDesc;
if (TryGetCompoundByPtr(pShape, out compoundDesc))
{
compoundDesc.Dereference(physicsScene);
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,recursiveCompoundShape,shape={1}", BSScene.DetailLogZero, pShape);
}
else
{
// If none of the above, maybe it is a simple native shape.
if (physicsScene.PE.IsNativeShape(pShape))
{
// physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,assumingNative,shape={1}", BSScene.DetailLogZero, pShape);
BSShapeNative nativeShape = new BSShapeNative(pShape);
nativeShape.Dereference(physicsScene);
}
else
{
physicsScene.Logger.WarnFormat(
"{0} DereferenceAnonCollisionShape. Did not find shape. {1}",
LogHeader, pShape);
}
}
}
}
}
}
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}",
prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod);
BSShapeConvexHull retConvexHull;
bool foundMesh = false;
lock (ConvexHulls) {
foundMesh = ConvexHulls.TryGetValue (newMeshKey, out retConvexHull);
}
if (foundMesh)
{
// The mesh has already been created. Return a new reference to same.
retConvexHull.IncrementReference();
}
else
{
retConvexHull = new BSShapeConvexHull(new BulletShape());
BulletShape convexShape;
// Get a handle to a mesh to buld the hull from
BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim);
if (baseMesh.physShapeInfo.isNativeShape)
{
// We get here if the mesh was not creatable. Could be waiting for an asset from the disk.
// In the short term, we return the native shape and a later ForceBodyShapeRebuild should
// get back to this code with a buildable mesh.
// TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed?
convexShape = baseMesh.physShapeInfo;
}
else
{
convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo);
convexShape.shapeKey = newMeshKey;
lock (ConvexHulls)
ConvexHulls.Add(convexShape.shapeKey, retConvexHull);
physicsScene.DetailLog("{0},BSShapeConvexHull.GetReference,addingNewlyCreatedShape,shape={1}",
BSScene.DetailLogZero, convexShape);
}
// Done with the base mesh
baseMesh.Dereference(physicsScene);
retConvexHull.physShapeInfo = convexShape;
}
return retConvexHull;
}
// Dereferencing a compound shape releases the hold on all the child shapes.
public override void Dereference(BSScene physicsScene)
{
lock (physShapeInfo)
{
DecrementReference();
physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this);
if (referenceCount <= 0)
{
if (!physicsScene.PE.IsCompound(physShapeInfo))
{
// Failed the sanity check!!
physicsScene.Logger.ErrorFormat(
"{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString);
physicsScene.DetailLog(
"{0},BsShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString);
return;
}
int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo);
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}",
BSScene.DetailLogZero, physShapeInfo, numChildren);
// Loop through all the children dereferencing each.
for (int ii = numChildren = 1; ii >= 0; ii--)
{
BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo,
ii);
DereferenceAnonCollisionShape(physicsScene, childShape);
}
lock (CompoundShapes) CompoundShapes.Remove(physShapeInfo.AddrString);
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
}
}
// 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;
}
// 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);
}
// 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);
}
