private void EnsureObjectAboveGround()
{
//check our bounding box. if it is below ground, provide a
//z+ adjustment to our position to move it out
//the height of ALL the terrain below our bounding box must be checked
//to find the highest peak. quantize to the nearest meter since we don't
//actually need to have the slope calculations performed
int yCoordMin = (int)Math.Floor(_actor.WorldBounds.Center.Y - _actor.WorldBounds.Extents.Y);
int yCoordMax = (int)Math.Ceiling(_actor.WorldBounds.Center.Y + _actor.WorldBounds.Extents.Y);
int xCoordMin = (int)Math.Floor(_actor.WorldBounds.Center.X - _actor.WorldBounds.Extents.X);
int xCoordMax = (int)Math.Ceiling(_actor.WorldBounds.Center.X + _actor.WorldBounds.Extents.X);
float maxHeightFound = -100.0f;
for (int x = xCoordMin; x <= xCoordMax; x++)
{
for (int y = yCoordMin; y <= yCoordMax; y++)
{
maxHeightFound = Math.Max(maxHeightFound, (float)_scene.TerrainChannel[x, y]);
}
}
if (_position.Z - _actor.WorldBounds.Extents.Z <= maxHeightFound)
{
_position.Z = maxHeightFound + _actor.WorldBounds.Extents.Z + 0.1f;
_dynActor.GlobalPose = PhysUtil.PositionToMatrix(_position, _rotation);
}
}
private void RunDepenetrateCycle(ref float pushFactor, ref bool foundOverlap, ref bool foundCriticalOverlap)
{
const int MAX_ITERATIONS = 6;
const int MAX_OVERLAPS = 32;
OpenMetaverse.Vector3 offset = OpenMetaverse.Vector3.Zero;
int iterOverlaps = 0;
for (int i = 0; i < MAX_ITERATIONS; i++)
{
iterOverlaps = 0;
foundOverlap = false;
foundCriticalOverlap = false;
foreach (var shape in _shapeToPrimIndex.Keys)
{
OpenMetaverse.Vector3 translatedPose = PhysUtil.DecomposeToPosition(shape.GlobalPose) + offset;
PhysX.Shape[] overlapping = _scene.SceneImpl.OverlapMultiple(shape.Geom, PhysUtil.PositionToMatrix(translatedPose, _rotation));
if (overlapping == null)
{
//the overlap is too deep, instant fail
foundOverlap = true;
foundCriticalOverlap = true;
return;
}
foreach (var oshape in overlapping)
{
if (oshape != null && oshape.Actor.UserData != this)
{
iterOverlaps++;
foundOverlap = true;
if (iterOverlaps > MAX_OVERLAPS)
{
foundCriticalOverlap = true;
break;
}
}
}
if (iterOverlaps > MAX_OVERLAPS)
{
break;
}
}
if (iterOverlaps > 0 && i + 1 < MAX_ITERATIONS)
{
offset += new OpenMetaverse.Vector3(0f, 0f, pushFactor);
pushFactor *= 2.0f;
}
else
{
break;
}
}
if (iterOverlaps == 0 && offset != OpenMetaverse.Vector3.Zero)
{
_dynActor.GlobalPose = PhysUtil.PositionToMatrix(_position + offset, _rotation);
_position = _position + offset;
foundOverlap = false;
}
else if (iterOverlaps == 0 && offset == OpenMetaverse.Vector3.Zero)
{
foundOverlap = false;
}
else if (iterOverlaps < MAX_OVERLAPS)
{
foundOverlap = true;
foundCriticalOverlap = false;
}
else
{
foundOverlap = true;
foundCriticalOverlap = true;
}
}
