From 4e18e71089eb1ef84bad8f09dd4a9d18f09bec5e Mon Sep 17 00:00:00 2001 From: Melanie Date: Wed, 13 Jun 2012 02:32:25 +0100 Subject: [PATCH] Committing the Avination implementation of llCastRay. This is a complete rewrite wich does it's thing independently of physics. Enjoy! --- .../Shared/Api/Implementation/LSL_Api.cs | 453 ++++++++++++++---- 1 file changed, 349 insertions(+), 104 deletions(-) diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs index 89f2068ea5..a8679e2cb1 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs @@ -10781,155 +10781,400 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api return rq.ToString(); } + private struct Tri + { + public Vector3 p1; + public Vector3 p2; + public Vector3 p3; + } + + private bool InBoundingBox(ScenePresence avatar, Vector3 point) + { + float height = avatar.Appearance.AvatarHeight; + Vector3 b1 = avatar.AbsolutePosition + new Vector3(-0.22f, -0.22f, -height/2); + Vector3 b2 = avatar.AbsolutePosition + new Vector3(0.22f, 0.22f, height/2); + + if (point.X > b1.X && point.X < b2.X && + point.Y > b1.Y && point.Y < b2.Y && + point.Z > b1.Z && point.Z < b2.Z) + return true; + return false; + } + + private ContactResult[] AvatarIntersection(Vector3 rayStart, Vector3 rayEnd) + { + List contacts = new List(); + + Vector3 ab = rayEnd - rayStart; + + World.ForEachScenePresence(delegate(ScenePresence sp) + { + Vector3 ac = sp.AbsolutePosition - rayStart; + Vector3 bc = sp.AbsolutePosition - rayEnd; + + double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd)); + + if (d > 1.5) + return; + + double d2 = Vector3.Dot(Vector3.Negate(ab), ac); + + if (d2 > 0) + return; + + double dp = Math.Sqrt(Vector3.Mag(ac) * Vector3.Mag(ac) - d * d); + Vector3 p = rayStart + Vector3.Divide(Vector3.Multiply(ab, (float)dp), (float)Vector3.Mag(ab)); + + if (!InBoundingBox(sp, p)) + return; + + ContactResult result = new ContactResult (); + result.ConsumerID = sp.LocalId; + result.Depth = Vector3.Distance(rayStart, p); + result.Normal = Vector3.Zero; + result.Pos = p; + + contacts.Add(result); + }); + + return contacts.ToArray(); + } + + private ContactResult[] ObjectIntersection(Vector3 rayStart, Vector3 rayEnd, bool includePhysical, bool includeNonPhysical, bool includePhantom) + { + Ray ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart)); + List contacts = new List(); + + Vector3 ab = rayEnd - rayStart; + + World.ForEachSOG(delegate(SceneObjectGroup group) + { + if (m_host.ParentGroup == group) + return; + + if (group.IsAttachment) + return; + + if (group.RootPart.PhysActor == null) + { + if (!includePhantom) + return; + } + else + { + if (group.RootPart.PhysActor.IsPhysical) + { + if (!includePhysical) + return; + } + else + { + if (!includeNonPhysical) + return; + } + } + + // Find the radius ouside of which we don't even need to hit test + float minX; + float maxX; + float minY; + float maxY; + float minZ; + float maxZ; + + float radius = 0.0f; + + group.GetAxisAlignedBoundingBoxRaw(out minX, out maxX, out minY, out maxY, out minZ, out maxZ); + + if (Math.Abs(minX) > radius) + radius = Math.Abs(minX); + if (Math.Abs(minY) > radius) + radius = Math.Abs(minY); + if (Math.Abs(minZ) > radius) + radius = Math.Abs(minZ); + if (Math.Abs(maxX) > radius) + radius = Math.Abs(maxX); + if (Math.Abs(maxY) > radius) + radius = Math.Abs(maxY); + if (Math.Abs(maxZ) > radius) + radius = Math.Abs(maxZ); + + Vector3 ac = group.AbsolutePosition - rayStart; + Vector3 bc = group.AbsolutePosition - rayEnd; + + double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd)); + + // Too far off ray, don't bother + if (d > radius) + return; + + // Behind ray, drop + double d2 = Vector3.Dot(Vector3.Negate(ab), ac); + if (d2 > 0) + return; + + EntityIntersection intersection = group.TestIntersection(ray, true, false); + // Miss. + if (!intersection.HitTF) + return; + + ContactResult result = new ContactResult (); + result.ConsumerID = group.LocalId; + result.Depth = intersection.distance; + result.Normal = intersection.normal; + result.Pos = intersection.ipoint; + + contacts.Add(result); + }); + + return contacts.ToArray(); + } + + private ContactResult? GroundIntersection(Vector3 rayStart, Vector3 rayEnd) + { + double[,] heightfield = World.Heightmap.GetDoubles(); + List contacts = new List(); + + double min = 2048.0; + double max = 0.0; + + // Find the min and max of the heightfield + for (int x = 0 ; x < World.Heightmap.Width ; x++) + { + for (int y = 0 ; y < World.Heightmap.Height ; y++) + { + if (heightfield[x, y] > max) + max = heightfield[x, y]; + if (heightfield[x, y] < min) + min = heightfield[x, y]; + } + } + + + // A ray extends past rayEnd, but doesn't go back before + // rayStart. If the start is above the highest point of the ground + // and the ray goes up, we can't hit the ground. Ever. + if (rayStart.Z > max && rayEnd.Z >= rayStart.Z) + return null; + + // Same for going down + if (rayStart.Z < min && rayEnd.Z <= rayStart.Z) + return null; + + List trilist = new List(); + + // Create our triangle list + for (int x = 1 ; x < World.Heightmap.Width ; x++) + { + for (int y = 1 ; y < World.Heightmap.Height ; y++) + { + Tri t1 = new Tri(); + Tri t2 = new Tri(); + + Vector3 p1 = new Vector3(x-1, y-1, (float)heightfield[x-1, y-1]); + Vector3 p2 = new Vector3(x, y-1, (float)heightfield[x, y-1]); + Vector3 p3 = new Vector3(x, y, (float)heightfield[x, y]); + Vector3 p4 = new Vector3(x-1, y, (float)heightfield[x-1, y]); + + t1.p1 = p1; + t1.p2 = p2; + t1.p3 = p3; + + t2.p1 = p3; + t2.p2 = p4; + t2.p3 = p1; + + trilist.Add(t1); + trilist.Add(t2); + } + } + + // Ray direction + Vector3 rayDirection = rayEnd - rayStart; + + foreach (Tri t in trilist) + { + // Compute triangle plane normal and edges + Vector3 u = t.p2 - t.p1; + Vector3 v = t.p3 - t.p1; + Vector3 n = Vector3.Cross(u, v); + + if (n == Vector3.Zero) + continue; + + Vector3 w0 = rayStart - t.p1; + double a = -Vector3.Dot(n, w0); + double b = Vector3.Dot(n, rayDirection); + + // Not intersecting the plane, or in plane (same thing) + // Ignoring this MAY cause the ground to not be detected + // sometimes + if (Math.Abs(b) < 0.000001) + continue; + + double r = a / b; + + // ray points away from plane + if (r < 0.0) + continue; + + Vector3 ip = rayStart + Vector3.Multiply(rayDirection, (float)r); + + float uu = Vector3.Dot(u, u); + float uv = Vector3.Dot(u, v); + float vv = Vector3.Dot(v, v); + Vector3 w = ip - t.p1; + float wu = Vector3.Dot(w, u); + float wv = Vector3.Dot(w, v); + float d = uv * uv - uu * vv; + + float cs = (uv * wv - vv * wu) / d; + if (cs < 0 || cs > 1.0) + continue; + float ct = (uv * wu - uu * wv) / d; + if (ct < 0 || (cs + ct) > 1.0) + continue; + + // Add contact point + ContactResult result = new ContactResult (); + result.ConsumerID = 0; + result.Depth = Vector3.Distance(rayStart, ip); + result.Normal = n; + result.Pos = ip; + + contacts.Add(result); + } + + if (contacts.Count == 0) + return null; + + contacts.Sort(delegate(ContactResult a, ContactResult b) + { + return (int)(a.Depth - b.Depth); + }); + + return contacts[0]; + } + public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options) { + LSL_List list = new LSL_List(); + 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); + Vector3 rayStart = new Vector3((float)start.x, (float)start.y, (float)start.z); + Vector3 rayEnd = new Vector3((float)end.x, (float)end.y, (float)end.z); + Vector3 dir = rayEnd - rayStart; - int count = 0; -// int detectPhantom = 0; + float dist = Vector3.Mag(dir); + + int count = 1; + bool detectPhantom = false; 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_DETECT_PHANTOM) + detectPhantom = (options.GetLSLIntegerItem(i + 1) > 0); 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 results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count); + if (count > 16) + count = 16; - double distance = Util.GetDistanceTo(startvector, endvector); - - if (distance == 0) - distance = 0.001; - - Vector3 posToCheck = startvector; - ITerrainChannel channel = World.RequestModuleInterface(); + List results = new List(); 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) + + if (checkTerrain) { - 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.ForEachRootScenePresence(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); - } - }); - } + ContactResult? groundContact = GroundIntersection(rayStart, rayEnd); + if (groundContact != null) + results.Add((ContactResult)groundContact); } - int refcount = 0; + if (checkAgents) + { + ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd); + foreach (ContactResult r in agentHits) + results.Add(r); + } + + if (checkPhysical || checkNonPhysical || detectPhantom) + { + ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom); + foreach (ContactResult r in objectHits) + results.Add(r); + } + + results.Sort(delegate(ContactResult a, ContactResult b) + { + return a.Depth.CompareTo(b.Depth); + }); + + int values = 0; + SceneObjectGroup thisgrp = m_host.ParentGroup; + foreach (ContactResult result in results) { - if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) - == ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0) + if (result.Depth > dist) continue; - ISceneEntity entity = World.GetSceneObjectPart(result.ConsumerID); + // physics ray can return colisions with host prim + if (m_host.LocalId == result.ConsumerID) + continue; - 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 + UUID itemID = UUID.Zero; + int linkNum = 0; - if (entity == null) + SceneObjectPart part = World.GetSceneObjectPart(result.ConsumerID); + // It's a prim! + if (part != null) { - list.Add(UUID.Zero); + // dont detect members of same object ??? + if (part.ParentGroup == thisgrp) + continue; - 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) - { - PhysicsActor pa = ((SceneObjectPart)entity).PhysActor; - - if (pa != null && pa.IsPhysical) - { - if (!checkPhysical) - continue; - } + if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY) + itemID = part.ParentGroup.UUID; else - { - if (!checkNonPhysical) - continue; - } + itemID = part.UUID; + + linkNum = part.LinkNum; + } + else + { + ScenePresence sp = World.GetScenePresence(result.ConsumerID); + /// It it a boy? a girl? + if (sp != null) + itemID = sp.UUID; } - 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); + list.Add(new LSL_String(itemID.ToString())); + list.Add(new LSL_String(result.Pos.ToString())); 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); + list.Add(new LSL_Integer(linkNum)); if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL) - list.Add(result.Normal); + list.Add(new LSL_Vector(result.Normal.X, result.Normal.Y, result.Normal.Z)); + + values++; + if (values >= count) + break; } - list.Add(refcount); //The status code, either the # of contacts, RCERR_SIM_PERF_LOW, or RCERR_CAST_TIME_EXCEEDED + list.Add(new LSL_Integer(values)); return list; }