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Committing the Avination implementation of llCastRay. This is a complete rewrite 

wich does it's thing independently of physics. Enjoy!
0.7.4.1
Melanie 2012-06-13 02:32:25 +01:00
parent 94bbbf96c7
commit 4e18e71089
1 changed files with 349 additions and 104 deletions
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453
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
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@ -10781,155 +10781,400 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return rq.ToString(); 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<ContactResult> contacts = new List<ContactResult>();
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<ContactResult> contacts = new List<ContactResult>();
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<ContactResult> contacts = new List<ContactResult>();
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<Tri> trilist = new List<Tri>();
// 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) public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
{ {
LSL_List list = new LSL_List();
m_host.AddScriptLPS(1); m_host.AddScriptLPS(1);
Vector3 dir = new Vector3((float)(end-start).x, (float)(end-start).y, (float)(end-start).z); Vector3 rayStart = new Vector3((float)start.x, (float)start.y, (float)start.z);
Vector3 startvector = 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 endvector = new Vector3((float)end.x, (float)end.y, (float)end.z); Vector3 dir = rayEnd - rayStart;
int count = 0; float dist = Vector3.Mag(dir);
// int detectPhantom = 0;
int count = 1;
bool detectPhantom = false;
int dataFlags = 0; int dataFlags = 0;
int rejectTypes = 0; int rejectTypes = 0;
for (int i = 0; i < options.Length; i += 2) for (int i = 0; i < options.Length; i += 2)
{ {
if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS) if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS)
{
count = options.GetLSLIntegerItem(i + 1); count = options.GetLSLIntegerItem(i + 1);
} else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
// else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM) detectPhantom = (options.GetLSLIntegerItem(i + 1) > 0);
// {
// detectPhantom = options.GetLSLIntegerItem(i + 1);
// }
else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS) else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS)
{
dataFlags = options.GetLSLIntegerItem(i + 1); dataFlags = options.GetLSLIntegerItem(i + 1);
}
else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES) else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES)
{
rejectTypes = options.GetLSLIntegerItem(i + 1); rejectTypes = options.GetLSLIntegerItem(i + 1);
}
} }
LSL_List list = new LSL_List(); if (count > 16)
List<ContactResult> results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count); count = 16;
double distance = Util.GetDistanceTo(startvector, endvector); List<ContactResult> results = new List<ContactResult>();
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 checkTerrain = !((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) == ScriptBaseClass.RC_REJECT_LAND);
bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS); bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS);
bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL); bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL);
bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL); 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)); ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
if (groundContact != null)
if (checkTerrain && channel[(int)(posToCheck.X + startvector.X), (int)(posToCheck.Y + startvector.Y)] < posToCheck.Z) results.Add((ContactResult)groundContact);
{
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);
}
});
}
} }
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) foreach (ContactResult result in results)
{ {
if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) if (result.Depth > dist)
== ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0)
continue; 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) UUID itemID = UUID.Zero;
entity = World.GetScenePresence(result.ConsumerID); //Only check if we should be looking for agents 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) if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY)
list.Add(0); itemID = part.ParentGroup.UUID;
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;
}
else else
{ itemID = part.UUID;
if (!checkNonPhysical)
continue; linkNum = part.LinkNum;
} }
else
{
ScenePresence sp = World.GetScenePresence(result.ConsumerID);
/// It it a boy? a girl?
if (sp != null)
itemID = sp.UUID;
} }
refcount++; list.Add(new LSL_String(itemID.ToString()));
if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY && entity is SceneObjectPart) list.Add(new LSL_String(result.Pos.ToString()));
list.Add(((SceneObjectPart)entity).ParentGroup.UUID);
else
list.Add(entity.UUID);
if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM) if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
{ list.Add(new LSL_Integer(linkNum));
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) 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; return list;
} }