opensim/OpenSim/Region/PhysicsModules/BulletS/BSTerrainManager.cs

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using System;
using System.Collections.Generic;
using System.Text;

using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.PhysicsModules.SharedBase;

using Nini.Config;
using log4net;

using OpenMetaverse;

namespace OpenSim.Region.PhysicsModule.BulletS
{
    // The physical implementation of the terrain is wrapped in this class.
    public abstract class BSTerrainPhys : IDisposable
    {
        public enum TerrainImplementation
        {
            Heightmap   = 0,
            Mesh        = 1
        }

        protected BSScene m_physicsScene { get; private set; }
        // Base of the region in world coordinates. Coordinates inside the region are relative to this.
        public Vector3 TerrainBase { get; private set; }
        public uint ID { get; private set; }

        public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
        {
            m_physicsScene = physicsScene;
            TerrainBase = regionBase;
            ID = id;
        }
        public abstract void Dispose();
        public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
        public abstract float GetWaterLevelAtXYZ(Vector3 pos);
    }

    // ==========================================================================================
    public sealed class BSTerrainManager : IDisposable
    {
        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;
        public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;

        // 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;

        // 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 m_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<Vector3, BSTerrainPhys> m_terrains;

        // Flags used to know when to recalculate the height.
        private bool m_terrainModified = false;

        // 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, Vector3 regionSize)
        {
            m_physicsScene = physicsScene;
            DefaultRegionSize = regionSize;

            m_terrains = new Dictionary<Vector3,BSTerrainPhys>();

            // Assume one region of default size
            m_worldOffset = Vector3.Zero;
            m_worldMax = new Vector3(DefaultRegionSize);
            MegaRegionParentPhysicsScene = null;
        }

        public void Dispose()
        {
            ReleaseGroundPlaneAndTerrain();
        }

        // Create the initial instance of terrain and the underlying ground plane.
        // 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()
        {
            DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
            // The ground plane is here to catch things that are trying to drop to negative infinity
            BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
            Vector3 groundPlaneAltitude = new Vector3(0f, 0f, BSParam.TerrainGroundPlane);
            m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
                                            BSScene.GROUNDPLANE_ID, groundPlaneAltitude, Quaternion.Identity);

            // Everything collides with the ground plane.
            m_groundPlane.collisionType = CollisionType.Groundplane;

            m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane);
            m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane);

            // Ground plane does not move
            m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);

            BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
            lock (m_terrains)
            {
                // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
                m_terrains.Add(Vector3.Zero, initialTerrain);
            }
        }

        // Release all the terrain structures we might have allocated
        public void ReleaseGroundPlaneAndTerrain()
        {
            DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName);
            if (m_groundPlane.HasPhysicalBody)
            {
                if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane))
                {
                    m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane);
                }
                m_groundPlane.Clear();
            }

            ReleaseTerrain();
        }

        // Release all the terrain we have allocated
        public void ReleaseTerrain()
        {
            lock (m_terrains)
            {
                foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
                {
                    kvp.Value.Dispose();
                }
                m_terrains.Clear();
            }
        }

        // The simulator wants to set a new heightmap for the terrain.
        public void SetTerrain(float[] heightMap) {
            float[] localHeightMap = heightMap;
            // If there are multiple requests for changes to the same terrain between ticks,
            //      only do that last one.
            m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, 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.AddMegaRegionChildTerrain(
                                            BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
                    }
                }
                else
                {
                    // If not doing the mega-prim thing, just change the terrain
                    DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);

                    UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize);
                }
            });
        }

        // Another region is calling this region and passing a terrain.
        // A region that is not the mega-region root will pass its terrain to the root region so the root region
        //      physics engine will have all the terrains.
        private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
        {
            // Since we are called by another region's thread, the action must be rescheduled onto our processing thread.
            m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
            {
                UpdateTerrain(id, heightMap, minCoords, maxCoords);
            });
        }

        // If called for terrain has has not been previously allocated, a new terrain will be built
        //     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 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.)
        // Called during taint-time.
        private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
        {
            // Find high and low points of passed heightmap.
            // The min and max passed in is usually the area objects can be in (maximum
            //     object height, for instance). The terrain wants the bounding box for the
            //     terrain so replace passed min and max Z with the actual terrain min/max Z.
            float minZ = float.MaxValue;
            float maxZ = float.MinValue;
            foreach (float height in heightMap)
            {
                if (height < minZ) minZ = height;
                if (height > maxZ) maxZ = height;
            }
            if (minZ == maxZ)
            {
                // If min and max are the same, reduce min a little bit so a good bounding box is created.
                minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
            }
            minCoords.Z = minZ;
            maxCoords.Z = maxZ;

            DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}",
                                BSScene.DetailLogZero, id, minCoords, maxCoords);

            Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);

            lock (m_terrains)
            {
                BSTerrainPhys terrainPhys;
                if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
                {
                    // There is already a terrain in this spot. Free the old and build the new.
                    DetailLog("{0},BSTerrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
                                    BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords);

                    // Remove old terrain from the collection
                    m_terrains.Remove(terrainRegionBase);
                    // Release any physical memory it may be using.
                    terrainPhys.Dispose();

                    if (MegaRegionParentPhysicsScene == null)
                    {
                        // This terrain is not part of the mega-region scheme. Create vanilla terrain.
                        BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                        m_terrains.Add(terrainRegionBase, newTerrainPhys);

                        m_terrainModified = true;
                    }
                    else
                    {
                        // 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},BSTerrainManager.UpdateTerrain: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;
                    }
                }
                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;

                    DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
                                                BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords);
                    BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
                    m_terrains.Add(terrainRegionBase, newTerrainPhys);

                    m_terrainModified = true;
                }
            }
        }

        // TODO: redo terrain implementation selection to allow other base types than heightMap.
        private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
        {
            m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
                                                LogHeader, m_physicsScene.RegionName, terrainRegionBase,
                                                (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
            BSTerrainPhys newTerrainPhys = null;
            switch ((int)BSParam.TerrainImplementation)
            {
                case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
                    newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id,
                                                heightMap, minCoords, maxCoords);
                    break;
                case (int)BSTerrainPhys.TerrainImplementation.Mesh:
                    newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id,
                                                heightMap, minCoords, maxCoords);
                    break;
                default:
                    m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
                                                LogHeader,
                                                (int)BSParam.TerrainImplementation,
                                                BSParam.TerrainImplementation,
                                                m_physicsScene.RegionName, terrainRegionBase);
                    break;
            }
            return newTerrainPhys;
        }

        // Return 'true' of this position is somewhere in known physical terrain space
        public bool IsWithinKnownTerrain(Vector3 pos)
        {
            Vector3 terrainBaseXYZ;
            BSTerrainPhys physTerrain;
            return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
        }

        // Return a new position that is over known terrain if the position is outside our terrain.
        public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos)
        {
            float edgeEpsilon = 0.1f;

            Vector3 ret = pPos;

            // First, base addresses are never negative so correct for that possible problem.
            if (ret.X < 0f || ret.Y < 0f)
            {
                ret.X = Math.Clamp(ret.X, 0f, 1000000f);
                ret.Y = Math.Clamp(ret.Y, 0f, 1000000f);
                DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}",
                                            BSScene.DetailLogZero, pPos, ret);
            }

            // Can't do this function if we don't know about any terrain.
            if (m_terrains.Count == 0)
                return ret;

            int loopPrevention = 10;
            Vector3 terrainBaseXYZ;
            BSTerrainPhys physTerrain;
            while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ))
            {
                // The passed position is not within a known terrain area.
                // NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region.

                // Must be off the top of a region. Find an adjacent region to move into.
                //     The returned terrain is always 'lower'. That is, closer to <0,0>.
                Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ);

                if (adjacentTerrainBase.X < terrainBaseXYZ.X)
                {
                    // moving down into a new region in the X dimension. New position will be the max in the new base.
                    ret.X = adjacentTerrainBase.X + DefaultRegionSize.X - edgeEpsilon;
                }
                if (adjacentTerrainBase.Y < terrainBaseXYZ.Y)
                {
                    // moving down into a new region in the X dimension. New position will be the max in the new base.
                    ret.Y = adjacentTerrainBase.Y + DefaultRegionSize.Y - edgeEpsilon;
                }
                DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}",
                                            BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret);

                if (loopPrevention-- < 0f)
                {
                    // The 'while' is a little dangerous so this prevents looping forever if the
                    //    mapping of the terrains ever gets messed up (like nothing at <0,0>) or
                    //    the list of terrains is in transition.
                    DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,suppressingFindAdjacentRegionLoop", BSScene.DetailLogZero);
                    break;
                }
            }

            return ret;
        }

        // 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;
        public float GetTerrainHeightAtXYZ(Vector3 pos)
        {
            float tX = pos.X;
            float tY = pos.Y;
            // 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;
            m_terrainModified = false;

            lastHeightTX = tX;
            lastHeightTY = tY;
            float ret = HEIGHT_GETHEIGHT_RET;

            Vector3 terrainBaseXYZ;
            BSTerrainPhys physTerrain;
            if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
            {
                ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
            }
            else
            {
                m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
                        LogHeader, m_physicsScene.RegionName, tX, tY);
                DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
                                    BSScene.DetailLogZero, pos, terrainBaseXYZ);
            }

            lastHeight = ret;
            return ret;
        }

        public float GetWaterLevelAtXYZ(Vector3 pos)
        {
            float ret = WATER_HEIGHT_GETHEIGHT_RET;

            Vector3 terrainBaseXYZ;
            BSTerrainPhys physTerrain;
            if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
            {
                ret = physTerrain.GetWaterLevelAtXYZ(pos);
            }
            else
            {
                m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
                        LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret);
            }
            return ret;
        }

        // Given an address, return 'true' of there is a description of that terrain and output
        //    the descriptor class and the 'base' fo the addresses therein.
        private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
        {
            bool ret = false;

            Vector3 terrainBaseXYZ = Vector3.Zero;
            if (pos.X < 0f || pos.Y < 0f)
            {
                // We don't handle negative addresses so just make up a base that will not be found.
                terrainBaseXYZ = new Vector3(-DefaultRegionSize.X, -DefaultRegionSize.Y, 0f);
            }
            else
            {
                int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
                int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
                terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
            }

            BSTerrainPhys physTerrain = null;
            lock (m_terrains)
            {
                ret = m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
            }
            outTerrainBase = terrainBaseXYZ;
            outPhysTerrain = physTerrain;
            return ret;
        }

        // Given a terrain base, return a terrain base for a terrain that is closer to <0,0> than
        //   this one. Usually used to return an out of bounds object to a known place.
        private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase)
        {
            Vector3 ret = pTerrainBase;

            // Can't do this function if we don't know about any terrain.
            if (m_terrains.Count == 0)
                return ret;

            // Just some sanity
            ret.X = Math.Clamp(ret.X, 0f, 1000000f);
            ret.Y = Math.Clamp(ret.Y, 0f, 1000000f);
            ret.Z = 0f;

            lock (m_terrains)
            {
                // Once down to the <0,0> region, we have to be done.
                while (ret.X > 0f || ret.Y > 0f)
                {
                    if (ret.X > 0f)
                    {
                        ret.X = Math.Max(0f, ret.X - DefaultRegionSize.X);
                        DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingX,terrainBase={1}", BSScene.DetailLogZero, ret);
                        if (m_terrains.ContainsKey(ret))
                            break;
                    }
                    if (ret.Y > 0f)
                    {
                        ret.Y = Math.Max(0f, ret.Y - DefaultRegionSize.Y);
                        DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingY,terrainBase={1}", BSScene.DetailLogZero, ret);
                        if (m_terrains.ContainsKey(ret))
                            break;
                    }
                }
            }

            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, we don't do anything yet.
            DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
        }


        private void DetailLog(string msg, params Object[] args)
        {
            m_physicsScene.PhysicsLogging.Write(msg, args);
        }
    }
}