OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

*TEST* avatar unscripted sit. Some guessing/automation

avinationmerge
UbitUmarov 2013-01-02 19:39:46 +00:00
parent 2313a86e32
commit 7980a1d849
6 changed files with 821 additions and 348 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
OpenSim/Region/Framework/Scenes/ScenePresence.cs
View File

@ -2280,7 +2280,9 @@ namespace OpenSim.Region.Framework.Scenes
ParentPart = part;
ParentID = part.LocalId;
if(status == 3)
Animator.TrySetMovementAnimation("SIT_GROUND");
else
Animator.TrySetMovementAnimation("SIT");
SendAvatarDataToAllAgents();

21
OpenSim/Region/Physics/Manager/PhysicsScene.cs
View File

@ -38,6 +38,9 @@ namespace OpenSim.Region.Physics.Manager
public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
public delegate void RayCallback(List<ContactResult> list);
public delegate void ProbeBoxCallback(List<ContactResult> list);
public delegate void ProbeSphereCallback(List<ContactResult> list);
public delegate void ProbePlaneCallback(List<ContactResult> list);
public delegate void SitAvatarCallback(int status, uint partID, Vector3 offset, Quaternion Orientation);
public delegate void JointMoved(PhysicsJoint joint);
@ -56,6 +59,7 @@ namespace OpenSim.Region.Physics.Manager
volumedtc = 0x40,
// ray cast colision control (may only work for meshs)
ContactsUnImportant = 0x2000,
BackFaceCull = 0x4000,
ClosestHit = 0x8000,
@ -351,13 +355,26 @@ namespace OpenSim.Region.Physics.Manager
return false;
}
public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod){}
public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { }
public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags)
{
return new List<ContactResult>();
}
public virtual List<ContactResult> BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags)
{
return new List<ContactResult>();
}
public virtual List<ContactResult> SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags)
{
return new List<ContactResult>();
}
public virtual List<ContactResult> PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags)
{
return new List<ContactResult>();
}
public virtual int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
{
return 0;

13
OpenSim/Region/Physics/UbitOdePlugin/ODECharacter.cs
View File

@ -715,7 +715,17 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 off = _velocity;
float t = 0.5f * timeStep;
off = off * t;
d.Quaternion qtmp;
d.GeomCopyQuaternion(bbox, out qtmp);
Quaternion q;
q.X = qtmp.X;
q.Y = qtmp.Y;
q.Z = qtmp.Z;
q.W = qtmp.W;
off *= Quaternion.Conjugate(q);
d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z);
off.X = 2.0f * (m_size.X + Math.Abs(off.X));
off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y));
off.Z = m_size.Z + 2.0f * Math.Abs(off.Z);
@ -741,6 +751,9 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
}
uint cat1 = d.GeomGetCategoryBits(bbox);
uint col1 = d.GeomGetCollideBits(bbox);
}
}

501
OpenSim/Region/Physics/UbitOdePlugin/ODERayCastRequestManager.cs
View File

@ -56,8 +56,11 @@ namespace OpenSim.Region.Physics.OdePlugin
private OdeScene m_scene;
IntPtr ray; // the ray. we only need one for our lifetime
IntPtr Sphere;
IntPtr Box;
IntPtr Plane;
private const int ColisionContactGeomsPerTest = 5;
private int CollisionContactGeomsPerTest = 25;
private const int DefaultMaxCount = 25;
private const int MaxTimePerCallMS = 30;
@ -65,6 +68,7 @@ namespace OpenSim.Region.Physics.OdePlugin
/// ODE near callback delegate
/// </summary>
private d.NearCallback nearCallback;
private d.NearCallback nearProbeCallback;
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private List<ContactResult> m_contactResults = new List<ContactResult>();
private RayFilterFlags CurrentRayFilter;
@ -74,169 +78,21 @@ namespace OpenSim.Region.Physics.OdePlugin
{
m_scene = pScene;
nearCallback = near;
nearProbeCallback = nearProbe;
ray = d.CreateRay(IntPtr.Zero, 1.0f);
d.GeomSetCategoryBits(ray,0);
d.GeomSetCategoryBits(ray, 0);
Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f);
d.GeomSetCategoryBits(Box, 0);
Sphere = d.CreateSphere(IntPtr.Zero,1.0f);
d.GeomSetCategoryBits(Sphere, 0);
Plane = d.CreatePlane(IntPtr.Zero, 0f,0f,1f,1f);
d.GeomSetCategoryBits(Sphere, 0);
}
/// <summary>
/// Queues request for a raycast to all world
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray direction</param>
/// <param name="length">Ray length</param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
public void QueueRequest(ODERayRequest req)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
if (req.Count == 0)
req.Count = DefaultMaxCount;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
/// <summary>
/// Queues request for a raycast to particular part
/// </summary>
/// <param name="position">Origin of Ray</param>
/// <param name="direction">Ray direction</param>
/// <param name="length">Ray length</param>
/// <param name="retMethod">Return method to send the results</param>
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = DefaultMaxCount;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.Count = DefaultMaxCount;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.filter = RayFilterFlags.AllPrims | RayFilterFlags.land;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = DefaultMaxCount;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
/// <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)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count,RayFilterFlags filter , RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = filter;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count,RayFilterFlags flags, RayCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = flags;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
{
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = count;
req.filter = RayFilterFlags.AllPrims;
m_PendingRequests.Enqueue(req);
}
@ -272,21 +128,64 @@ namespace OpenSim.Region.Physics.OdePlugin
CurrentRayFilter = req.filter;
CurrentMaxCount = req.Count;
CollisionContactGeomsPerTest = req.Count & 0xffff;
closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
if (req.callbackMethod is ProbeBoxCallback)
{
if (CollisionContactGeomsPerTest > 80)
CollisionContactGeomsPerTest = 80;
d.GeomBoxSetLengths(Box, req.Normal.X, req.Normal.Y, req.Normal.Z);
d.GeomSetPosition(Box, req.Origin.X, req.Origin.Y, req.Origin.Z);
d.Quaternion qtmp;
qtmp.X = req.orientation.X;
qtmp.Y = req.orientation.Y;
qtmp.Z = req.orientation.Z;
qtmp.W = req.orientation.W;
d.GeomSetOffsetWorldQuaternion(Box, ref qtmp);
}
else if (req.callbackMethod is ProbeSphereCallback)
{
if (CollisionContactGeomsPerTest > 80)
CollisionContactGeomsPerTest = 80;
d.GeomSphereSetRadius(Sphere, req.length);
d.GeomSetPosition(Sphere, req.Origin.X, req.Origin.Y, req.Origin.Z);
}
else if (req.callbackMethod is ProbePlaneCallback)
{
if (CollisionContactGeomsPerTest > 80)
CollisionContactGeomsPerTest = 80;
d.GeomPlaneSetParams(Plane, req.Normal.X, req.Normal.Y, req.Normal.Z, req.length);
}
else
{
if (CollisionContactGeomsPerTest > 25)
CollisionContactGeomsPerTest = 25;
d.GeomRaySetLength(ray, req.length);
d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
d.GeomRaySetParams(ray, 0, backfacecull);
d.GeomRaySetClosestHit(ray, closestHit);
if (req.callbackMethod is RaycastCallback)
// if we only want one get only one per colision pair saving memory
// if we only want one get only one per Collision pair saving memory
CurrentRayFilter |= RayFilterFlags.ClosestHit;
}
if ((CurrentRayFilter & RayFilterFlags.ContactsUnImportant) != 0)
unchecked
{
CollisionContactGeomsPerTest |= (int)d.CONTACTS_UNIMPORTANT;
}
if (req.geom == IntPtr.Zero)
{
// translate ray filter to colision flags
// translate ray filter to Collision flags
catflags = 0;
if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
catflags |= CollisionCategories.VolumeDtc;
@ -302,18 +201,51 @@ namespace OpenSim.Region.Physics.OdePlugin
catflags |= CollisionCategories.Water;
if (catflags != 0)
{
if (req.callbackMethod is ProbeBoxCallback)
{
catflags |= CollisionCategories.Space;
d.GeomSetCollideBits(Box, (uint)catflags);
d.GeomSetCategoryBits(Box, (uint)catflags);
doProbe(req, Box);
}
else if (req.callbackMethod is ProbeSphereCallback)
{
catflags |= CollisionCategories.Space;
d.GeomSetCollideBits(Sphere, (uint)catflags);
d.GeomSetCategoryBits(Sphere, (uint)catflags);
doProbe(req, Sphere);
}
else if (req.callbackMethod is ProbePlaneCallback)
{
catflags |= CollisionCategories.Space;
d.GeomSetCollideBits(Plane, (uint)catflags);
d.GeomSetCategoryBits(Plane, (uint)catflags);
doPlane(req);
}
else
{
d.GeomSetCollideBits(ray, (uint)catflags);
doSpaceRay(req);
}
}
}
else
{
// if we select a geom don't use filters
if (req.callbackMethod is ProbePlaneCallback)
{
d.GeomSetCollideBits(Plane, (uint)CollisionCategories.All);
doPlane(req);
}
else
{
d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
doGeomRay(req);
}
}
}
if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
break;
@ -396,6 +328,61 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void doProbe(ODERayRequest req, IntPtr probe)
{
// Collide tests
if ((CurrentRayFilter & FilterActiveSpace) != 0)
{
d.SpaceCollide2(probe, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
d.SpaceCollide2(probe, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
}
if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
d.SpaceCollide2(probe, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
d.SpaceCollide2(probe, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
lock (m_PendingRequests)
{
cresult.AddRange(m_contactResults);
m_contactResults.Clear();
}
if (req.callbackMethod is ProbeBoxCallback)
((ProbeBoxCallback)req.callbackMethod)(cresult);
else if (req.callbackMethod is ProbeSphereCallback)
((ProbeSphereCallback)req.callbackMethod)(cresult);
}
private void doPlane(ODERayRequest req)
{
// Collide tests
if (req.geom == IntPtr.Zero)
{
if ((CurrentRayFilter & FilterActiveSpace) != 0)
{
d.SpaceCollide2(Plane, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
d.SpaceCollide2(Plane, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
}
if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
d.SpaceCollide2(Plane, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
d.SpaceCollide2(Plane, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
}
else
{
d.SpaceCollide2(Plane, req.geom, IntPtr.Zero, nearCallback);
}
List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
lock (m_PendingRequests)
{
cresult.AddRange(m_contactResults);
m_contactResults.Clear();
}
((ProbePlaneCallback)req.callbackMethod)(cresult);
}
/// <summary>
/// Method that actually initiates the raycast with a geom
/// </summary>
@ -450,7 +437,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
{
IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
if (ContactgeomsArray == IntPtr.Zero || index >= ColisionContactGeomsPerTest)
if (ContactgeomsArray == IntPtr.Zero || index >= CollisionContactGeomsPerTest)
return false;
IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
@ -483,7 +470,7 @@ namespace OpenSim.Region.Physics.OdePlugin
int count = 0;
try
{
count = d.CollidePtr(g1, g2, ColisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
count = d.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
}
catch (Exception e)
{
@ -494,37 +481,20 @@ namespace OpenSim.Region.Physics.OdePlugin
if (count == 0)
return;
uint cat1 = d.GeomGetCategoryBits(g1);
uint cat2 = d.GeomGetCategoryBits(g2);
uint col1 = d.GeomGetCollideBits(g1);
uint col2 = d.GeomGetCollideBits(g2);
uint ID = 0;
PhysicsActor p2 = null;
m_scene.actor_name_map.TryGetValue(g2, out p2);
if (p2 == null)
{
/*
string name;
if (!m_scene.geom_name_map.TryGetValue(g2, out name))
return;
if (name == "Terrain")
{
// land colision
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
return;
}
else if (name == "Water")
{
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
return;
}
else
return;
*/
return;
}
else
{
switch (p2.PhysicsActorType)
{
case (int)ActorTypes.Prim:
@ -571,6 +541,149 @@ namespace OpenSim.Region.Physics.OdePlugin
default:
break;
}
d.ContactGeom curcontact = new d.ContactGeom();
// closestHit for now only works for meshs, so must do it for others
if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
{
// Loop all contacts, build results.
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curcontact))
break;
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = ID;
collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
collisionresult.Depth = curcontact.depth;
collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
curcontact.normal.Z);
lock (m_contactResults)
{
m_contactResults.Add(collisionresult);
if (m_contactResults.Count >= CurrentMaxCount)
return;
}
}
}
else
{
// keep only closest contact
ContactResult collisionresult = new ContactResult();
collisionresult.ConsumerID = ID;
collisionresult.Depth = float.MaxValue;
for (int i = 0; i < count; i++)
{
if (!GetCurContactGeom(i, ref curcontact))
break;
if (curcontact.depth < collisionresult.Depth)
{
collisionresult.Pos = new Vector3(curcontact.pos.X, curcontact.pos.Y, curcontact.pos.Z);
collisionresult.Depth = curcontact.depth;
collisionresult.Normal = new Vector3(curcontact.normal.X, curcontact.normal.Y,
curcontact.normal.Z);
}
}
if (collisionresult.Depth != float.MaxValue)
{
lock (m_contactResults)
m_contactResults.Add(collisionresult);
}
}
}
private void nearProbe(IntPtr space, IntPtr g1, IntPtr g2)
{
if (g1 == IntPtr.Zero || g1 == g2)
return;
if (m_contactResults.Count >= CurrentMaxCount)
return;
if (d.GeomIsSpace(g1))
{
try
{
d.SpaceCollide2(g1, g2, IntPtr.Zero, nearProbeCallback);
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
}
return;
}
int count = 0;
try
{
count = d.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
}
catch (Exception e)
{
m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
return;
}
if (count == 0)
return;
uint ID = 0;
PhysicsActor p1 = null;
m_scene.actor_name_map.TryGetValue(g1, out p1);
if (p1 == null)
return;
switch (p1.PhysicsActorType)
{
case (int)ActorTypes.Prim:
RayFilterFlags thisFlags;
if (p1.IsPhysical)
thisFlags = RayFilterFlags.physical;
else
thisFlags = RayFilterFlags.nonphysical;
if (p1.Phantom)
thisFlags |= RayFilterFlags.phantom;
if (p1.IsVolumeDtc)
thisFlags |= RayFilterFlags.volumedtc;
if ((thisFlags & CurrentRayFilter) == 0)
return;
ID = ((OdePrim)p1).LocalID;
break;
case (int)ActorTypes.Agent:
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
return;
else
ID = ((OdeCharacter)p1).LocalID;
break;
case (int)ActorTypes.Ground:
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
return;
break;
case (int)ActorTypes.Water:
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
return;
break;
default:
break;
}
d.ContactGeom curcontact = new d.ContactGeom();
@ -638,6 +751,21 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDestroy(ray);
ray = IntPtr.Zero;
}
if (Box != IntPtr.Zero)
{
d.GeomDestroy(Box);
Box = IntPtr.Zero;
}
if (Sphere != IntPtr.Zero)
{
d.GeomDestroy(Sphere);
Sphere = IntPtr.Zero;
}
if (Plane != IntPtr.Zero)
{
d.GeomDestroy(Plane);
Plane = IntPtr.Zero;
}
}
}
@ -650,5 +778,6 @@ namespace OpenSim.Region.Physics.OdePlugin
public float length;
public object callbackMethod;
public RayFilterFlags filter;
public Quaternion orientation;
}
}

234
OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
View File

@ -54,6 +54,20 @@ namespace OpenSim.Region.Physics.OdePlugin
private static Vector3 SitAjust = new Vector3(0, 0, 0.4f);
private const RayFilterFlags RaySitFlags = RayFilterFlags.AllPrims | RayFilterFlags.ClosestHit;
private void RotAroundZ(float x, float y, ref Quaternion ori)
{
double ang = Math.Atan2(y, x);
ang *= 0.5d;
float s = (float)Math.Sin(ang);
float c = (float)Math.Cos(ang);
ori.X = 0;
ori.Y = 0;
ori.Z = s;
ori.W = c;
}
public void Sit(PhysicsActor actor, Vector3 avPos, Vector3 avCameraPosition, Vector3 offset, Vector3 avOffset, SitAvatarCallback PhysicsSitResponse)
{
if (!m_scene.haveActor(actor) || !(actor is OdePrim) || ((OdePrim)actor).prim_geom == IntPtr.Zero)
@ -72,7 +86,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.AABB aabb;
Quaternion ori;
Quaternion ori = Quaternion.Identity;
d.Quaternion qtmp;
d.GeomCopyQuaternion(geom, out qtmp);
Quaternion geomOri;
@ -86,9 +100,14 @@ namespace OpenSim.Region.Physics.OdePlugin
geomInvOri.Z = -qtmp.Z;
geomInvOri.W = qtmp.W;
Vector3 target = geopos + offset;
Vector3 rayDir = target - avCameraPosition;
Vector3 rayDir = geopos + offset - avCameraPosition;
float raylen = rayDir.Length();
if (raylen < 0.001f)
{
PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
return;
}
float t = 1 / raylen;
rayDir.X *= t;
rayDir.Y *= t;
@ -98,9 +117,9 @@ namespace OpenSim.Region.Physics.OdePlugin
List<ContactResult> rayResults;
rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir, raylen, 1, RaySitFlags);
if (rayResults.Count == 0 || rayResults[0].ConsumerID != actor.LocalID)
if (rayResults.Count == 0)
{
d.GeomGetAABB(geom,out aabb);
d.GeomGetAABB(geom, out aabb);
offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
ori = geomInvOri;
offset *= geomInvOri;
@ -109,33 +128,27 @@ namespace OpenSim.Region.Physics.OdePlugin
return;
}
offset = rayResults[0].Pos - geopos;
double ang;
float s;
float c;
d.GeomClassID geoclass = d.GeomGetClass(geom);
if (geoclass == d.GeomClassID.SphereClass)
{
int status = 1;
float r = d.GeomSphereGetRadius(geom);
offset.Normalize();
offset *= r;
ang = Math.Atan2(offset.Y, offset.X);
ang *= 0.5d;
s = (float)Math.Sin(ang);
c = (float)Math.Cos(ang);
ori = new Quaternion(0, 0, s, c);
RotAroundZ(offset.X, offset.Y, ref ori);
if (r < 0.4f)
{
offset = new Vector3(0, 0, r);
}
else if (offset.Z < 0.4f)
else
{
if (offset.Z < 0.4f)
{
t = offset.Z;
float rsq = r * r;
@ -148,33 +161,202 @@ namespace OpenSim.Region.Physics.OdePlugin
offset.X *= t;
offset.Y *= t;
}
else if (r > 0.8f && offset.Z > 0.8f * r)
{
status = 3;
avOffset.X = -avOffset.X;
avOffset.Z += 0.4f;
}
}
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(1, actor.LocalID, offset, ori);
PhysicsSitResponse(status, actor.LocalID, offset, ori);
return;
}
/*
// contact normals aren't reliable on meshs or sculpts it seems
Vector3 norm = rayResults[0].Normal;
if (norm.Z < 0)
if (norm.Z < -0.4f)
{
PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity);
return;
}
*/
ang = Math.Atan2(-rayDir.Y, -rayDir.X);
ang *= 0.5d;
s = (float)Math.Sin(ang);
c = (float)Math.Cos(ang);
float SitNormX = -rayDir.X;
float SitNormY = -rayDir.Y;
ori = new Quaternion(0, 0, s, c);
Vector3 pivot = geopos + offset;
float edgeNormalX = norm.X;
float edgeNormalY = norm.Y;
float edgeDirX = -rayDir.X;
float edgeDirY = -rayDir.Y;
Vector3 edgePos = rayResults[0].Pos;
float edgeDist = float.MaxValue;
bool foundEdge = false;
if (norm.Z < 0.5f)
{
float rayDist = 4.0f;
float curEdgeDist = 0.0f;
pivot = geopos + offset;
for (int i = 0; i < 6; i++)
{
pivot.X -= 0.005f * norm.X;
pivot.Y -= 0.005f * norm.Y;
pivot.Z -= 0.005f * norm.Z;
rayDir.X = -norm.X * norm.Z;
rayDir.Y = -norm.Y * norm.Z;
rayDir.Z = 1.0f - norm.Z * norm.Z;
rayDir.Normalize();
rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims);
if (rayResults.Count == 0)
break;
curEdgeDist += rayResults[0].Depth;
if (Math.Abs(rayResults[0].Normal.Z) < 0.7f)
{
rayDist -= rayResults[0].Depth;
if (rayDist < 0f)
break;
pivot = rayResults[0].Pos;
norm = rayResults[0].Normal;
edgeNormalX = norm.X;
edgeNormalY = norm.Y;
edgeDirX = rayDir.X;
edgeDirY = rayDir.Y;
}
else
{
foundEdge = true;
if (curEdgeDist < edgeDist)
{
edgeDist = curEdgeDist;
edgePos = rayResults[0].Pos;
}
break;
}
}
if (!foundEdge)
{
PhysicsSitResponse(0, actor.LocalID, offset, ori);
return;
}
avOffset.X *= 0.5f;
}
else if (norm.Z > 0.866f)
{
float toCamBaseX = avCameraPosition.X - pivot.X;
float toCamBaseY = avCameraPosition.Y - pivot.Y;
float toCamX = toCamBaseX;
float toCamY = toCamBaseY;
for (int j = 0; j < 4; j++)
{
float rayDist = 1.0f;
float curEdgeDist = 0.0f;
pivot = geopos + offset;
for (int i = 0; i < 3; i++)
{
pivot.Z -= 0.005f;
rayDir.X = toCamX;
rayDir.Y = toCamY;
rayDir.Z = (-toCamX * norm.X - toCamY * norm.Y) / norm.Z;
rayDir.Normalize();
rayResults = m_scene.RaycastActor(actor, pivot, rayDir, rayDist, 1, RayFilterFlags.AllPrims);
if (rayResults.Count == 0)
break;
curEdgeDist += rayResults[0].Depth;
if (rayResults[0].Normal.Z > 0.5f)
{
rayDist -= rayResults[0].Depth;
if (rayDist < 0f)
break;
pivot = rayResults[0].Pos;
norm = rayResults[0].Normal;
}
else
{
foundEdge = true;
if (curEdgeDist < edgeDist)
{
edgeDist = curEdgeDist;
edgeNormalX = rayResults[0].Normal.X;
edgeNormalY = rayResults[0].Normal.Y;
edgeDirX = rayDir.X;
edgeDirY = rayDir.Y;
edgePos = rayResults[0].Pos;
}
break;
}
}
if (foundEdge && edgeDist < 0.2f)
break;
switch (j)
{
case 0:
toCamX = -toCamBaseY;
toCamY = toCamBaseX;
break;
case 1:
toCamX = toCamBaseY;
toCamY = -toCamBaseX;
break;
case 2:
toCamX = -toCamBaseX;
toCamY = -toCamBaseY;
break;
default:
break;
}
}
if (!foundEdge)
{
avOffset.X = -avOffset.X;
avOffset.Z += 0.4f;
RotAroundZ(SitNormX, SitNormY, ref ori);
offset += avOffset * ori;
ori = geomInvOri * ori;
offset *= geomInvOri;
PhysicsSitResponse(3, actor.LocalID, offset, ori);
return;
}
avOffset.X *= 0.5f;
}
SitNormX = edgeNormalX;
SitNormY = edgeNormalY;
offset = edgePos - geopos;
if (edgeDirX * SitNormX + edgeDirY * SitNormY < 0)
{
SitNormX = -SitNormX;
SitNormY = -SitNormY;
}
RotAroundZ(SitNormX, SitNormY, ref ori);
offset += avOffset * ori;

256
OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
View File

@ -2579,7 +2579,16 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (retMethod != null)
{
m_rayCastManager.QueueRequest(position, direction, length, retMethod);
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = 0;
req.filter = RayFilterFlags.All;
m_rayCastManager.QueueRequest(req);
}
}
@ -2587,29 +2596,51 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (retMethod != null)
{
m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = Count;
req.filter = RayFilterFlags.All;
m_rayCastManager.QueueRequest(req);
}
}
// don't like this
public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
{
ContactResult[] ourResults = null;
List<ContactResult> ourresults = new List<ContactResult>();
object SyncObject = new object();
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)
lock (SyncObject)
{
Thread.Sleep(1);
waitTime++;
ourresults = results;
Monitor.PulseAll(SyncObject);
}
};
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = Count;
req.filter = RayFilterFlags.All;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return null;
else
return ourresults;
}
if (ourResults == null)
return new List<ContactResult>();
return new List<ContactResult>(ourResults);
}
public override bool SuportsRaycastWorldFiltered()
@ -2631,9 +2662,18 @@ namespace OpenSim.Region.Physics.OdePlugin
}
};
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = Count;
req.filter = filter;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(position, direction, length, Count,filter, retMethod);
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return null;
else
@ -2641,45 +2681,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
if (retMethod != null && actor !=null)
{
IntPtr geom;
if (actor is OdePrim)
geom = ((OdePrim)actor).prim_geom;
else if (actor is OdeCharacter)
geom = ((OdePrim)actor).prim_geom;
else
return;
if (geom == IntPtr.Zero)
return;
m_rayCastManager.QueueRequest(geom, position, direction, length, retMethod);
}
}
public override void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
{
if (retMethod != null && actor != null)
{
IntPtr geom;
if (actor is OdePrim)
geom = ((OdePrim)actor).prim_geom;
else if (actor is OdeCharacter)
geom = ((OdePrim)actor).prim_geom;
else
return;
if (geom == IntPtr.Zero)
return;
m_rayCastManager.QueueRequest(geom,position, direction, length, Count, retMethod);
}
}
public override List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags)
{
if (actor != null)
{
if (actor == null)
return new List<ContactResult>();
IntPtr geom;
if (actor is OdePrim)
geom = ((OdePrim)actor).prim_geom;
@ -2687,29 +2693,153 @@ namespace OpenSim.Region.Physics.OdePlugin
geom = ((OdePrim)actor).prim_geom;
else
return new List<ContactResult>();
if (geom == IntPtr.Zero)
return new List<ContactResult>();
ContactResult[] ourResults = null;
List<ContactResult> ourResults = null;
object SyncObject = new object();
RayCallback retMethod = delegate(List<ContactResult> results)
{
ourResults = new ContactResult[results.Count];
results.CopyTo(ourResults, 0);
};
int waitTime = 0;
m_rayCastManager.QueueRequest(geom,position, direction, length, Count, flags, retMethod);
while (ourResults == null && waitTime < 1000)
lock (SyncObject)
{
Thread.Sleep(1);
waitTime++;
ourResults = results;
Monitor.PulseAll(SyncObject);
}
};
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = length;
req.Normal = direction;
req.Origin = position;
req.Count = Count;
req.filter = flags;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return new List<ContactResult>();
}
if (ourResults == null)
return new List<ContactResult>();
return new List<ContactResult>(ourResults);
return ourResults;
}
public override List<ContactResult> BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags)
{
List<ContactResult> ourResults = null;
object SyncObject = new object();
ProbeBoxCallback retMethod = delegate(List<ContactResult> results)
{
lock (SyncObject)
{
ourResults = results;
Monitor.PulseAll(SyncObject);
}
};
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.Normal = size;
req.Origin = position;
req.orientation = orientation;
req.Count = Count;
req.filter = flags;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return new List<ContactResult>();
}
if (ourResults == null)
return new List<ContactResult>();
return ourResults;
}
public override List<ContactResult> SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags)
{
List<ContactResult> ourResults = null;
object SyncObject = new object();
ProbeSphereCallback retMethod = delegate(List<ContactResult> results)
{
ourResults = results;
Monitor.PulseAll(SyncObject);
};
ODERayRequest req = new ODERayRequest();
req.geom = IntPtr.Zero;
req.callbackMethod = retMethod;
req.length = radius;
req.Origin = position;
req.Count = Count;
req.filter = flags;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return new List<ContactResult>();
}
if (ourResults == null)
return new List<ContactResult>();
return ourResults;
}
public override List<ContactResult> PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags)
{
IntPtr geom = IntPtr.Zero;;
if (actor != null)
{
if (actor is OdePrim)
geom = ((OdePrim)actor).prim_geom;
else if (actor is OdeCharacter)
geom = ((OdePrim)actor).prim_geom;
}
List<ContactResult> ourResults = null;
object SyncObject = new object();
ProbePlaneCallback retMethod = delegate(List<ContactResult> results)
{
ourResults = results;
Monitor.PulseAll(SyncObject);
};
ODERayRequest req = new ODERayRequest();
req.geom = geom;
req.callbackMethod = retMethod;
req.length = plane.W;
req.Normal.X = plane.X;
req.Normal.Y = plane.Y;
req.Normal.Z = plane.Z;
req.Count = Count;
req.filter = flags;
lock (SyncObject)
{
m_rayCastManager.QueueRequest(req);
if (!Monitor.Wait(SyncObject, 500))
return new List<ContactResult>();
}
if (ourResults == null)
return new List<ContactResult>();
return ourResults;
}
public override int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
{
Util.FireAndForget( delegate