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
parent
94bbbf96c7
commit
4e18e71089
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@ -10781,155 +10781,400 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
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return rq.ToString();
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}
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private struct Tri
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{
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public Vector3 p1;
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public Vector3 p2;
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public Vector3 p3;
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}
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private bool InBoundingBox(ScenePresence avatar, Vector3 point)
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{
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float height = avatar.Appearance.AvatarHeight;
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Vector3 b1 = avatar.AbsolutePosition + new Vector3(-0.22f, -0.22f, -height/2);
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Vector3 b2 = avatar.AbsolutePosition + new Vector3(0.22f, 0.22f, height/2);
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if (point.X > b1.X && point.X < b2.X &&
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point.Y > b1.Y && point.Y < b2.Y &&
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point.Z > b1.Z && point.Z < b2.Z)
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return true;
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return false;
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}
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private ContactResult[] AvatarIntersection(Vector3 rayStart, Vector3 rayEnd)
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{
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List<ContactResult> contacts = new List<ContactResult>();
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Vector3 ab = rayEnd - rayStart;
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World.ForEachScenePresence(delegate(ScenePresence sp)
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{
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Vector3 ac = sp.AbsolutePosition - rayStart;
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Vector3 bc = sp.AbsolutePosition - rayEnd;
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double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));
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if (d > 1.5)
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return;
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double d2 = Vector3.Dot(Vector3.Negate(ab), ac);
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if (d2 > 0)
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return;
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double dp = Math.Sqrt(Vector3.Mag(ac) * Vector3.Mag(ac) - d * d);
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Vector3 p = rayStart + Vector3.Divide(Vector3.Multiply(ab, (float)dp), (float)Vector3.Mag(ab));
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if (!InBoundingBox(sp, p))
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return;
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ContactResult result = new ContactResult ();
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result.ConsumerID = sp.LocalId;
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result.Depth = Vector3.Distance(rayStart, p);
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result.Normal = Vector3.Zero;
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result.Pos = p;
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contacts.Add(result);
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});
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return contacts.ToArray();
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}
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private ContactResult[] ObjectIntersection(Vector3 rayStart, Vector3 rayEnd, bool includePhysical, bool includeNonPhysical, bool includePhantom)
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{
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Ray ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart));
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List<ContactResult> contacts = new List<ContactResult>();
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Vector3 ab = rayEnd - rayStart;
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World.ForEachSOG(delegate(SceneObjectGroup group)
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{
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if (m_host.ParentGroup == group)
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return;
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if (group.IsAttachment)
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return;
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if (group.RootPart.PhysActor == null)
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{
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if (!includePhantom)
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return;
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}
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else
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{
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if (group.RootPart.PhysActor.IsPhysical)
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{
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if (!includePhysical)
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return;
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}
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else
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{
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if (!includeNonPhysical)
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return;
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}
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}
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// Find the radius ouside of which we don't even need to hit test
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float minX;
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float maxX;
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float minY;
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float maxY;
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float minZ;
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float maxZ;
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float radius = 0.0f;
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group.GetAxisAlignedBoundingBoxRaw(out minX, out maxX, out minY, out maxY, out minZ, out maxZ);
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if (Math.Abs(minX) > radius)
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radius = Math.Abs(minX);
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if (Math.Abs(minY) > radius)
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radius = Math.Abs(minY);
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if (Math.Abs(minZ) > radius)
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radius = Math.Abs(minZ);
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if (Math.Abs(maxX) > radius)
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radius = Math.Abs(maxX);
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if (Math.Abs(maxY) > radius)
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radius = Math.Abs(maxY);
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if (Math.Abs(maxZ) > radius)
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radius = Math.Abs(maxZ);
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Vector3 ac = group.AbsolutePosition - rayStart;
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Vector3 bc = group.AbsolutePosition - rayEnd;
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double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));
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// Too far off ray, don't bother
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if (d > radius)
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return;
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// Behind ray, drop
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double d2 = Vector3.Dot(Vector3.Negate(ab), ac);
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if (d2 > 0)
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return;
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EntityIntersection intersection = group.TestIntersection(ray, true, false);
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// Miss.
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if (!intersection.HitTF)
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return;
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ContactResult result = new ContactResult ();
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result.ConsumerID = group.LocalId;
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result.Depth = intersection.distance;
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result.Normal = intersection.normal;
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result.Pos = intersection.ipoint;
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contacts.Add(result);
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});
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return contacts.ToArray();
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}
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private ContactResult? GroundIntersection(Vector3 rayStart, Vector3 rayEnd)
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{
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double[,] heightfield = World.Heightmap.GetDoubles();
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List<ContactResult> contacts = new List<ContactResult>();
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double min = 2048.0;
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double max = 0.0;
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// Find the min and max of the heightfield
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for (int x = 0 ; x < World.Heightmap.Width ; x++)
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{
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for (int y = 0 ; y < World.Heightmap.Height ; y++)
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{
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if (heightfield[x, y] > max)
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max = heightfield[x, y];
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if (heightfield[x, y] < min)
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min = heightfield[x, y];
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}
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}
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// A ray extends past rayEnd, but doesn't go back before
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// rayStart. If the start is above the highest point of the ground
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// and the ray goes up, we can't hit the ground. Ever.
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if (rayStart.Z > max && rayEnd.Z >= rayStart.Z)
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return null;
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// Same for going down
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if (rayStart.Z < min && rayEnd.Z <= rayStart.Z)
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return null;
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List<Tri> trilist = new List<Tri>();
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// Create our triangle list
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for (int x = 1 ; x < World.Heightmap.Width ; x++)
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{
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for (int y = 1 ; y < World.Heightmap.Height ; y++)
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{
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Tri t1 = new Tri();
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Tri t2 = new Tri();
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Vector3 p1 = new Vector3(x-1, y-1, (float)heightfield[x-1, y-1]);
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Vector3 p2 = new Vector3(x, y-1, (float)heightfield[x, y-1]);
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Vector3 p3 = new Vector3(x, y, (float)heightfield[x, y]);
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Vector3 p4 = new Vector3(x-1, y, (float)heightfield[x-1, y]);
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t1.p1 = p1;
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t1.p2 = p2;
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t1.p3 = p3;
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t2.p1 = p3;
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t2.p2 = p4;
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t2.p3 = p1;
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trilist.Add(t1);
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trilist.Add(t2);
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}
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}
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// Ray direction
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Vector3 rayDirection = rayEnd - rayStart;
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foreach (Tri t in trilist)
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{
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// Compute triangle plane normal and edges
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Vector3 u = t.p2 - t.p1;
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Vector3 v = t.p3 - t.p1;
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Vector3 n = Vector3.Cross(u, v);
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if (n == Vector3.Zero)
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continue;
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Vector3 w0 = rayStart - t.p1;
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double a = -Vector3.Dot(n, w0);
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double b = Vector3.Dot(n, rayDirection);
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// Not intersecting the plane, or in plane (same thing)
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// Ignoring this MAY cause the ground to not be detected
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// sometimes
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if (Math.Abs(b) < 0.000001)
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continue;
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double r = a / b;
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// ray points away from plane
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if (r < 0.0)
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continue;
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Vector3 ip = rayStart + Vector3.Multiply(rayDirection, (float)r);
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float uu = Vector3.Dot(u, u);
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float uv = Vector3.Dot(u, v);
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float vv = Vector3.Dot(v, v);
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Vector3 w = ip - t.p1;
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float wu = Vector3.Dot(w, u);
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float wv = Vector3.Dot(w, v);
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float d = uv * uv - uu * vv;
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float cs = (uv * wv - vv * wu) / d;
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if (cs < 0 || cs > 1.0)
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continue;
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float ct = (uv * wu - uu * wv) / d;
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if (ct < 0 || (cs + ct) > 1.0)
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continue;
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// Add contact point
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ContactResult result = new ContactResult ();
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result.ConsumerID = 0;
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result.Depth = Vector3.Distance(rayStart, ip);
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result.Normal = n;
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result.Pos = ip;
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contacts.Add(result);
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}
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if (contacts.Count == 0)
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return null;
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contacts.Sort(delegate(ContactResult a, ContactResult b)
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{
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return (int)(a.Depth - b.Depth);
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});
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return contacts[0];
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}
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public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
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{
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LSL_List list = new LSL_List();
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m_host.AddScriptLPS(1);
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Vector3 dir = new Vector3((float)(end-start).x, (float)(end-start).y, (float)(end-start).z);
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Vector3 startvector = new Vector3((float)start.x, (float)start.y, (float)start.z);
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Vector3 endvector = new Vector3((float)end.x, (float)end.y, (float)end.z);
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Vector3 rayStart = new Vector3((float)start.x, (float)start.y, (float)start.z);
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Vector3 rayEnd = new Vector3((float)end.x, (float)end.y, (float)end.z);
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Vector3 dir = rayEnd - rayStart;
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int count = 0;
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// int detectPhantom = 0;
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float dist = Vector3.Mag(dir);
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int count = 1;
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bool detectPhantom = false;
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int dataFlags = 0;
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int rejectTypes = 0;
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for (int i = 0; i < options.Length; i += 2)
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{
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if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS)
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{
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count = options.GetLSLIntegerItem(i + 1);
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}
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// else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
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// {
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// detectPhantom = options.GetLSLIntegerItem(i + 1);
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// }
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else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
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detectPhantom = (options.GetLSLIntegerItem(i + 1) > 0);
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else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS)
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{
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dataFlags = options.GetLSLIntegerItem(i + 1);
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}
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else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES)
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{
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rejectTypes = options.GetLSLIntegerItem(i + 1);
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}
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}
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LSL_List list = new LSL_List();
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List<ContactResult> results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count);
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if (count > 16)
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count = 16;
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double distance = Util.GetDistanceTo(startvector, endvector);
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if (distance == 0)
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distance = 0.001;
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Vector3 posToCheck = startvector;
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ITerrainChannel channel = World.RequestModuleInterface<ITerrainChannel>();
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List<ContactResult> results = new List<ContactResult>();
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bool checkTerrain = !((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) == ScriptBaseClass.RC_REJECT_LAND);
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bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS);
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bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL);
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bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
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for (float i = 0; i <= distance; i += 0.1f)
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{
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posToCheck = startvector + (dir * (i / (float)distance));
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if (checkTerrain && channel[(int)(posToCheck.X + startvector.X), (int)(posToCheck.Y + startvector.Y)] < posToCheck.Z)
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if (checkTerrain)
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{
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ContactResult result = new ContactResult();
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result.ConsumerID = 0;
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result.Depth = 0;
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result.Normal = Vector3.Zero;
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result.Pos = posToCheck;
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results.Add(result);
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checkTerrain = false;
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ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
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if (groundContact != null)
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results.Add((ContactResult)groundContact);
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}
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if (checkAgents)
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{
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World.ForEachRootScenePresence(delegate(ScenePresence sp)
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{
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if (sp.AbsolutePosition.ApproxEquals(posToCheck, sp.PhysicsActor.Size.X))
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{
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ContactResult result = new ContactResult ();
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result.ConsumerID = sp.LocalId;
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result.Depth = 0;
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result.Normal = Vector3.Zero;
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result.Pos = posToCheck;
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results.Add(result);
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}
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});
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}
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ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
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foreach (ContactResult r in agentHits)
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results.Add(r);
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}
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int refcount = 0;
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if (checkPhysical || checkNonPhysical || detectPhantom)
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{
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ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
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foreach (ContactResult r in objectHits)
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results.Add(r);
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}
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results.Sort(delegate(ContactResult a, ContactResult b)
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{
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return a.Depth.CompareTo(b.Depth);
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});
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int values = 0;
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SceneObjectGroup thisgrp = m_host.ParentGroup;
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foreach (ContactResult result in results)
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{
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if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND)
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== ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0)
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if (result.Depth > dist)
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continue;
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ISceneEntity entity = World.GetSceneObjectPart(result.ConsumerID);
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// physics ray can return colisions with host prim
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if (m_host.LocalId == result.ConsumerID)
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continue;
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if (entity == null && (rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) != ScriptBaseClass.RC_REJECT_AGENTS)
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entity = World.GetScenePresence(result.ConsumerID); //Only check if we should be looking for agents
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UUID itemID = UUID.Zero;
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int linkNum = 0;
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if (entity == null)
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SceneObjectPart part = World.GetSceneObjectPart(result.ConsumerID);
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// It's a prim!
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if (part != null)
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{
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list.Add(UUID.Zero);
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// dont detect members of same object ???
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if (part.ParentGroup == thisgrp)
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continue;
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if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY)
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itemID = part.ParentGroup.UUID;
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else
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itemID = part.UUID;
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linkNum = part.LinkNum;
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}
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else
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{
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ScenePresence sp = World.GetScenePresence(result.ConsumerID);
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/// It it a boy? a girl?
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if (sp != null)
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itemID = sp.UUID;
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}
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list.Add(new LSL_String(itemID.ToString()));
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list.Add(new LSL_String(result.Pos.ToString()));
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if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
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list.Add(0);
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list.Add(result.Pos);
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list.Add(new LSL_Integer(linkNum));
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if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
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list.Add(result.Normal);
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list.Add(new LSL_Vector(result.Normal.X, result.Normal.Y, result.Normal.Z));
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continue; //Can't find it, so add UUID.Zero
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values++;
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if (values >= count)
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break;
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}
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/*if (detectPhantom == 0 && intersection.obj is ISceneChildEntity &&
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((ISceneChildEntity)intersection.obj).PhysActor == null)
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continue;*/ //Can't do this ATM, physics engine knows only of non phantom objects
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if (entity is SceneObjectPart)
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{
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PhysicsActor pa = ((SceneObjectPart)entity).PhysActor;
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if (pa != null && pa.IsPhysical)
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{
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if (!checkPhysical)
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continue;
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}
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else
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{
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if (!checkNonPhysical)
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continue;
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}
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}
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refcount++;
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if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY && entity is SceneObjectPart)
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list.Add(((SceneObjectPart)entity).ParentGroup.UUID);
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else
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list.Add(entity.UUID);
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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
|
||||
list.Add(new LSL_Integer(values));
|
||||
|
||||
return list;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue