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Port implementation of llCastRay() from Aurora. 

I haven't been able to test this since the viewer won't parse the llCastRay() function.  Maybe some activation cap is missing.  Could wait until it is activated by default in the viewer.
bulletsim
Justin Clark-Casey (justincc) 2011-07-12 22:13:15 +01:00
parent d31e0a67f7
commit 3e456163dd
6 changed files with 299 additions and 34 deletions
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24
OpenSim/Region/Physics/Manager/PhysicsScene.cs
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@ -37,6 +37,18 @@ namespace OpenSim.Region.Physics.Manager
public delegate void physicsCrash();
public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
public delegate void RayCallback(List<ContactResult> list);
/// <summary>
/// Contact result from a raycast.
/// </summary>
public struct ContactResult
{
public Vector3 Pos;
public float Depth;
public uint ConsumerID;
public Vector3 Normal;
}
public abstract class PhysicsScene
{
@ -61,7 +73,6 @@ namespace OpenSim.Region.Physics.Manager
}
}
public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
@ -225,6 +236,17 @@ namespace OpenSim.Region.Physics.Manager
retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
}
public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
{
if (retMethod != null)
retMethod(new List<ContactResult>());
}
public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
return new List<ContactResult>();
}
private class NullPhysicsScene : PhysicsScene
{
private static int m_workIndicator;

94
OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
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@ -45,10 +45,15 @@ namespace OpenSim.Region.Physics.OdePlugin
public class ODERayCastRequestManager
{
/// <summary>
/// Pending Raycast Requests
/// Pending raycast requests
/// </summary>
protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
/// <summary>
/// Pending ray requests
/// </summary>
protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
/// <summary>
/// Scene that created this object.
/// </summary>
@ -95,6 +100,29 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
/// <summary>
/// Queues a raycast
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray normal</param>
/// <param name="length">Ray length</param>
/// <param name="count"></param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
lock (m_PendingRequests)
{
ODERayRequest req = new ODERayRequest();
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
m_PendingRayRequests.Add(req);
}
}
/// <summary>
/// Process all queued raycast requests
/// </summary>
@ -112,18 +140,26 @@ namespace OpenSim.Region.Physics.OdePlugin
if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(reqs[i]); // if there isn't anyone to send results
}
/*
foreach (ODERayCastRequest req in m_PendingRequests)
{
if (req.callbackMethod != null) // quick optimization here, don't raycast
RayCast(req); // if there isn't anyone to send results to
}
*/
m_PendingRequests.Clear();
}
}
lock (m_PendingRayRequests)
{
if (m_PendingRayRequests.Count > 0)
{
ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
for (int i = 0; i < reqs.Length; i++)
{
if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(reqs[i]); // if there isn't anyone to send results
}
m_PendingRayRequests.Clear();
}
}
lock (m_contactResults)
m_contactResults.Clear();
@ -146,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// Remove Ray
d.GeomDestroy(ray);
// Define default results
bool hitYN = false;
uint hitConsumerID = 0;
@ -177,6 +212,31 @@ namespace OpenSim.Region.Physics.OdePlugin
req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
}
/// <summary>
/// Method that actually initiates the raycast
/// </summary>
/// <param name="req"></param>
private void RayCast(ODERayRequest req)
{
// Create the ray
IntPtr ray = d.CreateRay(m_scene.space, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
// Collide test
d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
// Remove Ray
d.GeomDestroy(ray);
// Find closest contact and object.
lock (m_contactResults)
{
// Return results
if (req.callbackMethod != null)
req.callbackMethod(m_contactResults);
}
}
// This is the standard Near. Uses space AABBs to speed up detection.
private void near(IntPtr space, IntPtr g1, IntPtr g2)
{
@ -342,10 +402,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_contactResults.Add(collisionresult);
}
}
}
}
/// <summary>
@ -365,11 +422,12 @@ namespace OpenSim.Region.Physics.OdePlugin
public RaycastCallback callbackMethod;
}
public struct ContactResult
public struct ODERayRequest
{
public Vector3 Pos;
public float Depth;
public uint ConsumerID;
public Vector3 Origin;
public Vector3 Normal;
public int Count;
public float length;
public RayCallback callbackMethod;
}
}
}

28
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -3736,6 +3736,34 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
}
}
public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
{
if (retMethod != null)
{
m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
}
}
public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
ContactResult[] ourResults = null;
RayCallback retMethod = delegate(List<ContactResult> results)
{
ourResults = new ContactResult[results.Count];
results.CopyTo(ourResults, 0);
};
int waitTime = 0;
m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
while (ourResults == null && waitTime < 1000)
{
Thread.Sleep(1);
waitTime++;
}
if (ourResults == null)
return new List<ContactResult> ();
return new List<ContactResult>(ourResults);
}
#if USE_DRAWSTUFF
// Keyboard callback
public void command(int cmd)

166
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
View File

@ -10309,51 +10309,191 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return rq.ToString();
}
public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
{
m_host.AddScriptLPS(1);
Vector3 dir = new Vector3((float)(end-start).x, (float)(end-start).y, (float)(end-start).z);
Vector3 startvector = new Vector3((float)start.x, (float)start.y, (float)start.z);
Vector3 endvector = new Vector3((float)end.x, (float)end.y, (float)end.z);
int count = 0;
// int detectPhantom = 0;
int dataFlags = 0;
int rejectTypes = 0;
for (int i = 0; i < options.Length; i += 2)
{
if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS)
{
count = options.GetLSLIntegerItem(i + 1);
}
// else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
// {
// detectPhantom = options.GetLSLIntegerItem(i + 1);
// }
else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS)
{
dataFlags = options.GetLSLIntegerItem(i + 1);
}
else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES)
{
rejectTypes = options.GetLSLIntegerItem(i + 1);
}
}
LSL_List list = new LSL_List();
List<ContactResult> results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count);
double distance = Util.GetDistanceTo(startvector, endvector);
if (distance == 0)
distance = 0.001;
Vector3 posToCheck = startvector;
ITerrainChannel channel = World.RequestModuleInterface<ITerrainChannel>();
bool checkTerrain = !((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) == ScriptBaseClass.RC_REJECT_LAND);
bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS);
bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL);
bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
for (float i = 0; i <= distance; i += 0.1f)
{
posToCheck = startvector + (dir * (i / (float)distance));
if (checkTerrain && channel[(int)(posToCheck.X + startvector.X), (int)(posToCheck.Y + startvector.Y)] < posToCheck.Z)
{
ContactResult result = new ContactResult();
result.ConsumerID = 0;
result.Depth = 0;
result.Normal = Vector3.Zero;
result.Pos = posToCheck;
results.Add(result);
checkTerrain = false;
}
if (checkAgents)
{
World.ForEachScenePresence(delegate(ScenePresence sp)
{
if (sp.AbsolutePosition.ApproxEquals(posToCheck, sp.PhysicsActor.Size.X))
{
ContactResult result = new ContactResult ();
result.ConsumerID = sp.LocalId;
result.Depth = 0;
result.Normal = Vector3.Zero;
result.Pos = posToCheck;
results.Add(result);
}
});
}
}
int refcount = 0;
foreach (ContactResult result in results)
{
if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND)
== ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0)
continue;
ISceneEntity entity = World.GetSceneObjectPart(result.ConsumerID);
if (entity == null && (rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) != ScriptBaseClass.RC_REJECT_AGENTS)
entity = World.GetScenePresence(result.ConsumerID); //Only check if we should be looking for agents
if (entity == null)
{
list.Add(UUID.Zero);
if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
list.Add(0);
list.Add(result.Pos);
if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
list.Add(result.Normal);
continue; //Can't find it, so add UUID.Zero
}
/*if (detectPhantom == 0 && intersection.obj is ISceneChildEntity &&
((ISceneChildEntity)intersection.obj).PhysActor == null)
continue;*/ //Can't do this ATM, physics engine knows only of non phantom objects
if (entity is SceneObjectPart)
{
if (((SceneObjectPart)entity).PhysActor != null && ((SceneObjectPart)entity).PhysActor.IsPhysical)
{
if (!checkPhysical)
continue;
}
else
{
if (!checkNonPhysical)
continue;
}
}
refcount++;
if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY && entity is SceneObjectPart)
list.Add(((SceneObjectPart)entity).ParentGroup.UUID);
else
list.Add(entity.UUID);
if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
{
if (entity is SceneObjectPart)
list.Add(((SceneObjectPart)entity).LinkNum);
else
list.Add(0);
}
list.Add(result.Pos);
if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
list.Add(result.Normal);
}
list.Add(refcount); //The status code, either the # of contacts, RCERR_SIM_PERF_LOW, or RCERR_CAST_TIME_EXCEEDED
return list;
}
#region Not Implemented
//
// Listing the unimplemented lsl functions here, please move
// them from this region as they are completed
//
public void llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
{
m_host.AddScriptLPS(1);
NotImplemented("llCastRay");
}
public void llGetEnv(LSL_String name)
{
m_host.AddScriptLPS(1);
NotImplemented("llGetEnv");
}
public void llGetSPMaxMemory()
{
m_host.AddScriptLPS(1);
NotImplemented("llGetSPMaxMemory");
}
public void llGetUsedMemory()
{
m_host.AddScriptLPS(1);
NotImplemented("llGetUsedMemory");
}
public void llRegionSayTo( LSL_Key target, LSL_Integer channel, LSL_String msg )
public void llRegionSayTo(LSL_Key target, LSL_Integer channel, LSL_String msg)
{
m_host.AddScriptLPS(1);
NotImplemented("llRegionSayTo");
}
public void llScriptProfiler( LSL_Integer flags )
public void llScriptProfiler(LSL_Integer flags)
{
m_host.AddScriptLPS(1);
NotImplemented("llScriptProfiler");
}
public void llSetSoundQueueing(int queue)

5
OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
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@ -60,6 +60,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
LSL_String llBase64ToString(string str);
void llBreakAllLinks();
void llBreakLink(int linknum);
LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options);
LSL_Integer llCeil(double f);
void llClearCameraParams();
LSL_Integer llClearPrimMedia(LSL_Integer face);
@ -404,7 +405,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
LSL_String llXorBase64StringsCorrect(string str1, string str2);
void print(string str);
void SetPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
LSL_List GetLinkPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
void SetPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
LSL_List GetLinkPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
}
}

16
OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
View File

@ -593,5 +593,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
public const string URL_REQUEST_GRANTED = "URL_REQUEST_GRANTED";
public const string URL_REQUEST_DENIED = "URL_REQUEST_DENIED";
public static readonly LSLInteger RC_REJECT_TYPES = 2;
public static readonly LSLInteger RC_DATA_FLAGS = 4;
public static readonly LSLInteger RC_MAX_HITS = 8;
public static readonly LSLInteger RC_DETECT_PHANTOM = 16;
public static readonly LSLInteger RC_REJECT_AGENTS = 2;
public static readonly LSLInteger RC_REJECT_PHYSICAL = 4;
public static readonly LSLInteger RC_REJECT_NONPHYSICAL = 8;
public static readonly LSLInteger RC_REJECT_LAND = 16;
public static readonly LSLInteger RC_GET_NORMAL = 2;
public static readonly LSLInteger RC_GET_ROOT_KEY = 4;
public static readonly LSLInteger RC_GET_LINK_NUM = 8;
public static readonly LSLInteger RCERR_CAST_TIME_EXCEEDED = 1;
}
}