public override void SetTerrain (ITerrainChannel channel, short[] heightMap)
{
m_channel = channel;
bool needToCreateHeightmapinODE = false;
short[] _heightmap;
if (!ODETerrainHeightFieldHeights.TryGetValue (RegionTerrain, out _heightmap))
{
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 :(
TerrainHeightFieldHeights.Remove (RegionTerrain);
TerrainHeightFieldlimits.Remove (RegionTerrain);
ODETerrainHeightFieldHeights.Remove (RegionTerrain);
if (RegionTerrain != IntPtr.Zero)
{
d.SpaceRemove (space, RegionTerrain);
d.GeomDestroy (RegionTerrain);
}
if (!needToCreateHeightmapinODE)
{
TerrainHeightFieldHeights.Remove (RegionTerrain);
TerrainHeightFieldlimits.Remove (RegionTerrain);
ODETerrainHeightFieldHeights.Remove (RegionTerrain);
float[] heighlimits = new float[2];
heighlimits[0] = hfmin;
heighlimits[1] = hfmax;
TerrainHeightFieldHeights.Add (RegionTerrain, heightMap);
TerrainHeightFieldlimits.Add (RegionTerrain, heighlimits);
ODETerrainHeightFieldHeights.Add (RegionTerrain, _heightmap);
return;//If we have already done this once, we don't need to do it again
}
lock (OdeLock)
{
const float scale = (1f / (float)Constants.TerrainCompression);
const float offset = 0.0f;
float thickness = (float)hfmin;
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, (float)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.Add (RegionTerrain, heightMap);
ODETerrainHeightFieldHeights.Add (RegionTerrain, _heightmap);
TerrainHeightFieldlimits.Add (RegionTerrain, heighlimits);
}
}
/* needs fixing if really needed
public float[] ResizeTerrain512NearestNeighbor(float[] heightMap)
{
float[] returnarr = new float[262144];
float[,] resultarr = new float[(int)WorldExtents.X, (int)WorldExtents.Y];
// Filling out the array into its multi-dimensional components
for (int y = 0; y < WorldExtents.Y; y++)
{
for (int x = 0; x < WorldExtents.X; x++)
{
resultarr[y, x] = heightMap[y * (int)WorldExtents.Y + x];
}
}
// Resize using Nearest Neighbor
// This particular way is quick but it only works on a multiple of the original
// The idea behind this method can be described with the following diagrams
// second pass and third pass happen in the same loop really.. just separated
// them to show what this does.
// First Pass
// ResultArr:
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// Second Pass
// ResultArr2:
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// Third pass fills in the blanks
// ResultArr2:
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// X,Y = .
// X+1,y = ^
// X,Y+1 = *
// X+1,Y+1 = #
// Filling in like this;
// .*
// ^#
// 1st .
// 2nd *
// 3rd ^
// 4th #
// on single loop.
float[,] resultarr2 = new float[512, 512];
for (int y = 0; y < WorldExtents.Y; y++)
{
for (int x = 0; x < WorldExtents.X; x++)
{
resultarr2[y * 2, x * 2] = resultarr[y, x];
if (y < WorldExtents.Y)
{
resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
}
if (x < WorldExtents.X)
{
resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
}
if (x < WorldExtents.X && y < WorldExtents.Y)
{
resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
}
}
}
//Flatten out the array
int i = 0;
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
if (resultarr2[y, x] <= 0)
returnarr[i] = 0.0000001f;
else
returnarr[i] = resultarr2[y, x];
i++;
}
}
return returnarr;
}
public float[] ResizeTerrain512Interpolation(float[] heightMap)
{
float[] returnarr = new float[262144];
float[,] resultarr = new float[512, 512];
// Filling out the array into its multi-dimensional components
for (int y = 0; y < Constants.RegionSize; y++)
{
for (int x = 0; x < Constants.RegionSize; x++)
{
resultarr[y, x] = heightMap[y * m_region.RegionSizeX + x];
}
}
// Resize using interpolation
// This particular way is quick but it only works on a multiple of the original
// The idea behind this method can be described with the following diagrams
// second pass and third pass happen in the same loop really.. just separated
// them to show what this does.
// First Pass
// ResultArr:
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// 1,1,1,1,1,1
// Second Pass
// ResultArr2:
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// ,,,,,,,,,,
// 1,,1,,1,,1,,1,,1,
// Third pass fills in the blanks
// ResultArr2:
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// 1,1,1,1,1,1,1,1,1,1,1,1
// X,Y = .
// X+1,y = ^
// X,Y+1 = *
// X+1,Y+1 = #
// Filling in like this;
// .*
// ^#
// 1st .
// 2nd *
// 3rd ^
// 4th #
// on single loop.
float[,] resultarr2 = new float[512, 512];
for (int y = 0; y < m_region.RegionSizeY; y++)
{
for (int x = 0; x < m_region.RegionSizeX; x++)
{
resultarr2[y * 2, x * 2] = resultarr[y, x];
if (y < m_region.RegionSizeY)
{
if (y + 1 < m_region.RegionSizeY)
{
if (x + 1 < m_region.RegionSizeX)
{
resultarr2[(y * 2) + 1, x * 2] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1]) / 4);
}
else
{
resultarr2[(y * 2) + 1, x * 2] = ((resultarr[y, x] + resultarr[y + 1, x]) / 2);
}
}
else
{
resultarr2[(y * 2) + 1, x * 2] = resultarr[y, x];
}
}
if (x < m_region.RegionSizeX)
{
if (x + 1 < m_region.RegionSizeX)
{
if (y + 1 < m_region.RegionSizeY)
{
resultarr2[y * 2, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1]) / 4);
}
else
{
resultarr2[y * 2, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y, x + 1]) / 2);
}
}
else
{
resultarr2[y * 2, (x * 2) + 1] = resultarr[y, x];
}
}
if (x < m_region.RegionSizeX && y < m_region.RegionSizeY)
{
if ((x + 1 < m_region.RegionSizeX) && (y + 1 < m_region.RegionSizeY))
{
resultarr2[(y * 2) + 1, (x * 2) + 1] = ((resultarr[y, x] + resultarr[y + 1, x] +
resultarr[y, x + 1] + resultarr[y + 1, x + 1]) / 4);
}
else
{
resultarr2[(y * 2) + 1, (x * 2) + 1] = resultarr[y, x];
}
}
}
}
//Flatten out the array
int i = 0;
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
if (Single.IsNaN(resultarr2[y, x]) || Single.IsInfinity(resultarr2[y, x]))
{
m_log.Warn("[PHYSICS]: Non finite heightfield element detected. Setting it to 0");
resultarr2[y, x] = 0;
}
returnarr[i] = resultarr2[y, x];
i++;
}
}
return returnarr;
}
*/
#endregion
public override void SetTerrain (short[] heightMap)
{
short[] _heightmap;
if(!ODETerrainHeightFieldHeights.TryGetValue(RegionTerrain, out _heightmap))
_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 = Util.Clip (x - 1, 0, m_region.RegionSizeX - 1);
int yy = Util.Clip (y - 1, 0, 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;
}
}
lock (OdeLock)
{
if (RegionTerrain != IntPtr.Zero)
{
d.SpaceRemove (space, RegionTerrain);
d.GeomDestroy (RegionTerrain);
}
TerrainHeightFieldHeights.Remove (RegionTerrain);
ODETerrainHeightFieldHeights.Remove (RegionTerrain);
TerrainHeightFieldlimits.Remove (RegionTerrain);
actor_name_map.Remove (RegionTerrain);
geom_name_map.Remove (RegionTerrain);
const float scale = (1f / (float)Constants.TerrainCompression);
const float offset = 0.0f;
float thickness = (float)hfmin;
const int wrap = 0;
IntPtr HeightmapData = d.GeomHeightfieldDataCreate ();
d.GeomHeightfieldDataBuildShort (HeightmapData, _heightmap, 0, heightmapHeight, heightmapWidth,
heightmapHeightSamples, heightmapWidthSamples, scale,
offset, thickness, wrap);
d.GeomHeightfieldDataSetBounds (HeightmapData, hfmin, (float)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));
}
geom_name_map[RegionTerrain] = "Terrain";
NullObjectPhysicsActor terrainActor = new NullObjectPhysicsActor()
{
PhysicsActorType = (int)ActorTypes.Ground
};
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.Add (RegionTerrain, heightMap);
ODETerrainHeightFieldHeights.Add (RegionTerrain, _heightmap);
TerrainHeightFieldlimits.Add (RegionTerrain, heighlimits);
}
}
