private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
{
if (force.IsFinite())
{
float magnitude = force.Length();
if (magnitude > BSParam.MaxAddForceMagnitude)
{
// Force has a limit
force = force / magnitude * BSParam.MaxAddForceMagnitude;
}
OMV.Vector3 addForce = force;
// DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
// DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
}
});
}
else
{
m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
return;
}
}
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
private void AddChildToLinkset(BSPhysObject child)
{
if (!HasChild(child))
{
m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
// build the physical binding between me and the child
m_taintChildren.Add(childx);
PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
});
}
return;
}
// The simulator wants to set a new heightmap for the terrain.
public void SetTerrain(float[] heightMap)
{
float[] localHeightMap = heightMap;
PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
{
if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
{
// If a child of a mega-region, we shouldn't have any terrain allocated for us
ReleaseGroundPlaneAndTerrain();
// If doing the mega-prim stuff and we are the child of the zero region,
// the terrain is added to our parent
if (MegaRegionParentPhysicsScene is BSScene)
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
}
else
{
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
});
}
// I am the root of a linkset and one of my children is being removed.
// Safe to call even if the child is not really in my linkset.
private void RemoveChildFromLinkset(BSPhysObject child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
if (m_taintChildren.Contains(childx))
{
m_taintChildren.Remove(childx);
}
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
RecomputeLinksetConstraintVariables();
});
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPrimLinkable child)
{
if (m_children.Remove(child))
{
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
BSPrimLinkable childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.PhysBody.AddrString,
childx.LocalID, childx.PhysBody.AddrString);
PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
{
PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
// See that the linkset parameters are recomputed at the end of the taint time.
Refresh(LinksetRoot);
}
else
{
// Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// called when this character is being destroyed and the resources should be released
public override void Destroy()
{
DetailLog("{0},BSCharacter.Destroy", LocalID);
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{
BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
});
}
// Tell the object to clean up.
public virtual void Destroy()
{
PhysicalActors.Enable(false);
PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
{
PhysicalActors.Dispose();
});
}
public override void UnSubscribeEvents()
{
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName + ".UnSubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
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;
_position = pos;
// 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;
}
// A motor to control the acceleration and deceleration of the avatar movement.
// _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
// _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
// Infinite decay and timescale values so motor only changes current to target values.
_velocityMotor = new BSVMotor("BSCharacter.Velocity",
0.2f, // time scale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
_velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_appliedVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject("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();
});
return;
}
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 override void UnSubscribeEvents()
{
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName + ".UnSubscribeEvents", delegate()
{
// Make sure there is a body there because sometimes destruction happens in an un-ideal order.
if (PhysBody.HasPhysicalBody)
{
CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
});
}
// called when this character is being destroyed and the resources should be released
public override void Destroy()
{
base.Destroy();
DetailLog("{0},BSCharacter.Destroy", LocalID);
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{
PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
PhysBody.Clear();
PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
PhysShape.Clear();
});
}
public override void UnSubscribeEvents()
{
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName + ".UnSubscribeEvents", delegate()
{
// Make sure there is a body there because sometimes destruction happens in an un-ideal order.
if (PhysBody.HasPhysicalBody)
{
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
});
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity;
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass();
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Scale = _scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
// If not set at creation, the avatar will stop flying when created after crossing a region boundry.
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
// This works here because CreateObject has already put the character into the physical world.
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
});
return;
}
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero);
// The next also get rid of applied linear force but the linear velocity is untouched.
PhysicsScene.PE.ClearForces(PhysBody);
}
});
}
// Set motion values to zero.
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion(bool inTaintTime)
{
RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ClearAllForces(PhysBody);
}
});
}
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;
_position = pos;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
// 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();
SetupMovementMotor();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject("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();
});
return;
}
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2()
{
bool ret = false;
if (PositionSanityCheck())
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
{
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
});
ret = true;
}
return(ret);
}
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)
{
Linkset = BSLinkset.Factory(PhysicsScene, this);
PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
base.SetMaterial(material);
base.Friction = friction;
base.Restitution = restitution;
base.GravityMultiplier = gravityMultiplier;
base.Density = density;
Linkset.Refresh(this);
});
}
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck(bool inTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
{
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
ForcePosition = _position;
});
ret = true;
}
return(ret);
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// Called at runtime.
public void Refresh(BSPhysObject requestor)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
{
return;
}
// Only the root does the recomputation
if (IsRoot(requestor))
{
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
{
RecomputeLinksetConstraintVariables();
});
}
}
public override void AddForce(OMV.Vector3 force, bool pushforce)
{
if (force.IsFinite())
{
_force.X += force.X;
_force.Y += force.Y;
_force.Z += force.Z;
// m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
{
DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
});
}
else
{
m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
}
//m_lastUpdateSent = false;
}
// Subscribe for collision events.
// Parameter is the millisecond rate the caller wishes collision events to occur.
public override void SubscribeEvents(int ms)
{
// DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
SubscribedEventsMs = ms;
if (ms > 0)
{
// make sure first collision happens
NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
PhysicsScene.TaintedObject(TypeName + ".SubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
else
{
// Subscribing for zero or less is the same as unsubscribing
UnSubscribeEvents();
}
}
private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
{
if (force.IsFinite())
{
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
}
});
}
else
{
MainConsole.Instance.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
return;
}
}
// Subscribe for collision events.
// Parameter is the millisecond rate the caller wishes collision events to occur.
public override void SubscribeEvents(int ms)
{
SubscribedEventsMs = ms;
if (ms > 0)
{
// make sure first collision happens
NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
PhysicsScene.TaintedObject(TypeName + ".SubscribeEvents", delegate()
{
if (PhysBody.HasPhysicalBody)
{
CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
});
}
else
{
// Subscribing for zero or less is the same as unsubscribing
UnSubscribeEvents();
}
}
// If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
// based on the passed information. The 'id' should be either the terrain id or
// BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
// The latter feature is for creating child terrains for mega-regions.
// If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0)
// then a new body and shape is created and the mapInfo is filled.
// This call is used for doing the initial terrain creation.
// If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
// terrain shape is created and added to the body.
// This call is most often used to update the heightMap and parameters of the terrain.
// The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
// calling this routine from initialization or taint-time routines) or whether to delay
// all the unmanaged activities to taint-time.
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
float minZ = float.MaxValue;
float maxZ = float.MinValue;
Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y);
int heightMapSize = heightMap.Length;
for (int ii = 0; ii < heightMapSize; ii++)
{
float height = heightMap[ii];
if (height < minZ)
{
minZ = height;
}
if (height > maxZ)
{
maxZ = height;
}
}
// The shape of the terrain is from its base to its extents.
minCoords.Z = minZ;
maxCoords.Z = maxZ;
BulletHeightMapInfo mapInfo;
if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo))
{
// If this is terrain we know about, it's easy to update
mapInfo.heightMap = heightMap;
mapInfo.minCoords = minCoords;
mapInfo.maxCoords = maxCoords;
mapInfo.minZ = minZ;
mapInfo.maxZ = maxZ;
mapInfo.sizeX = maxCoords.X - minCoords.X;
mapInfo.sizeY = maxCoords.Y - minCoords.Y;
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
BSScene.TaintCallback rebuildOperation = delegate()
{
if (MegaRegionParentPhysicsScene != null)
{
// It's possible that Combine() was called after this code was queued.
// If we are a child of combined regions, we don't create any terrain for us.
DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
// Get rid of any terrain that may have been allocated for us.
ReleaseGroundPlaneAndTerrain();
// I hate doing this, but just bail
return;
}
if (mapInfo.terrainBody.ptr != IntPtr.Zero)
{
// Updating an existing terrain.
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
// Remove from the dynamics world because we're going to mangle this object
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// Get rid of the old terrain
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
mapInfo.Ptr = IntPtr.Zero;
/*
* // NOTE: This routine is half here because I can't get the terrain shape replacement
* // to work. In the short term, the above three lines completely delete the old
* // terrain and the code below recreates one from scratch.
* // Hopefully the Bullet community will help me out on this one.
*
* // First, release the old collision shape (there is only one terrain)
* BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr);
*
* // Fill the existing height map info with the new location and size information
* BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID,
* mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
*
* // Create a terrain shape based on the new info
* mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
*
* // Stuff the shape into the existing terrain body
* BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr);
*/
}
// else
{
// Creating a new terrain.
DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}",
BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
mapInfo.ID = id;
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
centerPos.Z = minZ + ((maxZ - minZ) / 2f);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
}
// Make sure the entry is in the heightmap table
m_heightMaps[terrainRegionBase] = mapInfo;
// Set current terrain attributes
BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make sure the new shape is processed.
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
m_terrainModified = true;
};
// There is the option to do the changes now (we're already in 'taint time'), or
// to do the Bullet operations later.
if (atTaintTime)
{
rebuildOperation();
}
else
{
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
}
}
else
{
// We don't know about this terrain so either we are creating a new terrain or
// our mega-prim child is giving us a new terrain to add to the phys world
// if this is a child terrain, calculate a unique terrain id
uint newTerrainID = id;
if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
{
newTerrainID = ++m_terrainCount;
}
float[] heightMapX = heightMap;
Vector3 minCoordsX = minCoords;
Vector3 maxCoordsX = maxCoords;
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}",
BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
// Code that must happen at taint-time
BSScene.TaintCallback createOperation = delegate()
{
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
// Create a new mapInfo that will be filled with the new info
mapInfo = new BulletHeightMapInfo(id, heightMapX,
BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
// Put the unfilled heightmap info into the collection of same
m_heightMaps.Add(terrainRegionBase, mapInfo);
// Build the terrain
UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
m_terrainModified = true;
};
// If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
if (atTaintTime)
{
createOperation();
}
else
{
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
}
}
}