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- /*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyrightD
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
- using System;
- using System.Collections.Generic;
- using System.Text;
- using OpenSim.Framework;
- using OpenSim.Region.Framework;
- using OpenSim.Region.CoreModules;
- using OpenSim.Region.Physics.Manager;
- using Nini.Config;
- using log4net;
- using OpenMetaverse;
- namespace OpenSim.Region.Physics.BulletSPlugin
- {
- public sealed class BSTerrainManager
- {
- static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
- // These height values are fractional so the odd values will be
- // noticable when debugging.
- public const float HEIGHT_INITIALIZATION = 24.987f;
- public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
- public const float HEIGHT_GETHEIGHT_RET = 24.765f;
- // If the min and max height are equal, we reduce the min by this
- // amount to make sure that a bounding box is built for the terrain.
- public const float HEIGHT_EQUAL_FUDGE = 0.2f;
- public const float TERRAIN_COLLISION_MARGIN = 0.0f;
- // Until the whole simulator is changed to pass us the region size, we rely on constants.
- public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
- // The scene that I am part of
- private BSScene PhysicsScene { get; set; }
- // The ground plane created to keep thing from falling to infinity.
- private BulletBody m_groundPlane;
- // If doing mega-regions, if we're region zero we will be managing multiple
- // region terrains since region zero does the physics for the whole mega-region.
- private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps;
- // True of the terrain has been modified.
- // Used to force recalculation of terrain height after terrain has been modified
- private bool m_terrainModified;
- // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
- // This is incremented before assigning to new region so it is the last ID allocated.
- private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
- public uint HighestTerrainID { get {return m_terrainCount; } }
- // If doing mega-regions, this holds our offset from region zero of
- // the mega-regions. "parentScene" points to the PhysicsScene of region zero.
- private Vector3 m_worldOffset;
- // If the parent region (region 0), this is the extent of the combined regions
- // relative to the origin of region zero
- private Vector3 m_worldMax;
- private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
- public BSTerrainManager(BSScene physicsScene)
- {
- PhysicsScene = physicsScene;
- m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
- m_terrainModified = false;
- // Assume one region of default size
- m_worldOffset = Vector3.Zero;
- m_worldMax = new Vector3(DefaultRegionSize);
- MegaRegionParentPhysicsScene = null;
- }
- // Create the initial instance of terrain and the underlying ground plane.
- // The objects are allocated in the unmanaged space and the pointers are tracked
- // by the managed code.
- // The terrains and the groundPlane are not added to the list of PhysObjects.
- // This is called from the initialization routine so we presume it is
- // safe to call Bullet in real time. We hope no one is moving prims around yet.
- public void CreateInitialGroundPlaneAndTerrain()
- {
- // The ground plane is here to catch things that are trying to drop to negative infinity
- BulletShape groundPlaneShape = new BulletShape(
- BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
- ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
- m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
- BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
- Vector3.Zero, Quaternion.Identity));
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
- // Ground plane does not move
- BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
- // Everything collides with the ground plane.
- BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
- (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
- Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
- Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
- int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
- float[] initialMap = new float[totalHeights];
- for (int ii = 0; ii < totalHeights; ii++)
- {
- initialMap[ii] = HEIGHT_INITIALIZATION;
- }
- UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true);
- }
- // Release all the terrain structures we might have allocated
- public void ReleaseGroundPlaneAndTerrain()
- {
- if (m_groundPlane.ptr != IntPtr.Zero)
- {
- if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
- {
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
- }
- m_groundPlane.ptr = IntPtr.Zero;
- }
- ReleaseTerrain();
- }
- // Release all the terrain we have allocated
- public void ReleaseTerrain()
- {
- foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
- {
- if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
- {
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
- BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
- }
- }
- m_heightMaps.Clear();
- }
- // 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);
- }
- });
- }
- // 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 above does suggest that some simplification/refactoring is in order.)
- private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
- {
- DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
- BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
- 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);
- // Create the terrain shape from the mapInfo
- mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
- ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
- // 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);
- 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);
- // 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.ISLAND_SLEEPING);
- 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 (inTaintTime)
- 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 (inTaintTime)
- createOperation();
- else
- PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
- }
- }
- // Someday we will have complex terrain with caves and tunnels
- public float GetTerrainHeightAtXYZ(Vector3 loc)
- {
- // For the moment, it's flat and convex
- return GetTerrainHeightAtXY(loc.X, loc.Y);
- }
- // Given an X and Y, find the height of the terrain.
- // Since we could be handling multiple terrains for a mega-region,
- // the base of the region is calcuated assuming all regions are
- // the same size and that is the default.
- // Once the heightMapInfo is found, we have all the information to
- // compute the offset into the array.
- private float lastHeightTX = 999999f;
- private float lastHeightTY = 999999f;
- private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
- private float GetTerrainHeightAtXY(float tX, float tY)
- {
- // You'd be surprized at the number of times this routine is called
- // with the same parameters as last time.
- if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY)
- return lastHeight;
- lastHeightTX = tX;
- lastHeightTY = tY;
- float ret = HEIGHT_GETHEIGHT_RET;
- int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
- int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
- Vector2 terrainBaseXY = new Vector2(offsetX, offsetY);
- BulletHeightMapInfo mapInfo;
- if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo))
- {
- float regionX = tX - offsetX;
- float regionY = tY - offsetY;
- int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
- try
- {
- ret = mapInfo.heightMap[mapIndex];
- }
- catch
- {
- // Sometimes they give us wonky values of X and Y. Give a warning and return something.
- PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
- LogHeader, terrainBaseXY, regionX, regionY);
- ret = HEIGHT_GETHEIGHT_RET;
- }
- // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
- // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
- }
- else
- {
- PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
- LogHeader, PhysicsScene.RegionName, tX, tY);
- }
- m_terrainModified = false;
- lastHeight = ret;
- return ret;
- }
- // Although no one seems to check this, I do support combining.
- public bool SupportsCombining()
- {
- return true;
- }
- // This routine is called two ways:
- // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
- // extent of the combined regions. This is to inform the parent of the size
- // of the combined regions.
- // and one with 'offset' as the offset of the child region to the base region,
- // 'pScene' pointing to the parent and 'extents' of zero. This informs the
- // child of its relative base and new parent.
- public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
- {
- m_worldOffset = offset;
- m_worldMax = extents;
- MegaRegionParentPhysicsScene = pScene;
- if (pScene != null)
- {
- // We are a child.
- // We want m_worldMax to be the highest coordinate of our piece of terrain.
- m_worldMax = offset + DefaultRegionSize;
- }
- DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
- BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
- }
- // Unhook all the combining that I know about.
- public void UnCombine(PhysicsScene pScene)
- {
- // Just like ODE, for the moment a NOP
- DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
- }
- private void DetailLog(string msg, params Object[] args)
- {
- PhysicsScene.PhysicsLogging.Write(msg, args);
- }
- }
- }
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