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BulletSim: add raycast filtering

BulletSim2017
Robert Adams 2017-09-05 06:19:49 -07:00
parent f348f7fa90
commit 4608b44817
1 changed files with 35 additions and 3 deletions
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38
OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
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@ -1044,8 +1044,40 @@ namespace OpenSim.Region.PhysicsModule.BulletS
List<ContactResult> ret = new List<ContactResult>(); List<ContactResult> ret = new List<ContactResult>();
if (BSParam.UseBulletRaycast) if (BSParam.UseBulletRaycast)
{ {
DetailLog("{0},RaycastWorld,pos={1},dir={2},len={3},count={4},filter={5}", uint collisionFilter = 0;
DetailLogZero, position, direction, length, count, filter); uint collisionMask = 0;
if ((filter & RayFilterFlags.land) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].mask;
}
if ((filter & RayFilterFlags.agent) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].mask;
}
if ((filter & RayFilterFlags.nonphysical) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Static].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Static].mask;
}
if ((filter & RayFilterFlags.physical) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].mask;
}
// if ((filter & RayFilterFlags.phantom) != 0)
// {
// collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
// collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
// }
if ((filter & RayFilterFlags.volumedtc) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
}
DetailLog("{0},RaycastWorld,pos={1},dir={2},len={3},count={4},filter={5},filter={6},mask={7}",
DetailLogZero, position, direction, length, count, filter, collisionFilter, collisionMask);
// NOTE: locking ensures the physics engine is not executing. // NOTE: locking ensures the physics engine is not executing.
// The caller might have to wait for the physics engine to finish. // The caller might have to wait for the physics engine to finish.
lock (PhysicsEngineLock) lock (PhysicsEngineLock)
@ -1054,7 +1086,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
Vector3 posTo = Vector3.Normalize(direction) * length + position; Vector3 posTo = Vector3.Normalize(direction) * length + position;
DetailLog("{0},RaycastWorld,RayTest2,from={1},to={2}", DetailLog("{0},RaycastWorld,RayTest2,from={1},to={2}",
DetailLogZero, posFrom, posTo); DetailLogZero, posFrom, posTo);
RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff); RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, collisionFilter, collisionMask);
if (hitInfo.hasHit()) if (hitInfo.hasHit())
{ {
ContactResult result = new ContactResult(); ContactResult result = new ContactResult();