Merge branch 'ubitwork' of ssh://3dhosting.de/var/git/careminster into ubitwork
commit
f4e189e828
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@ -2280,8 +2280,10 @@ namespace OpenSim.Region.Framework.Scenes
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ParentPart = part;
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ParentID = part.LocalId;
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Animator.TrySetMovementAnimation("SIT");
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if(status == 3)
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Animator.TrySetMovementAnimation("SIT_GROUND");
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else
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Animator.TrySetMovementAnimation("SIT");
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SendAvatarDataToAllAgents();
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part.ParentGroup.TriggerScriptChangedEvent(Changed.LINK);
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@ -38,6 +38,9 @@ namespace OpenSim.Region.Physics.Manager
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public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
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public delegate void RayCallback(List<ContactResult> list);
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public delegate void ProbeBoxCallback(List<ContactResult> list);
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public delegate void ProbeSphereCallback(List<ContactResult> list);
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public delegate void ProbePlaneCallback(List<ContactResult> list);
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public delegate void SitAvatarCallback(int status, uint partID, Vector3 offset, Quaternion Orientation);
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public delegate void JointMoved(PhysicsJoint joint);
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@ -56,6 +59,7 @@ namespace OpenSim.Region.Physics.Manager
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volumedtc = 0x40,
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// ray cast colision control (may only work for meshs)
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ContactsUnImportant = 0x2000,
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BackFaceCull = 0x4000,
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ClosestHit = 0x8000,
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@ -351,13 +355,26 @@ namespace OpenSim.Region.Physics.Manager
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return false;
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}
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public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod){}
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public virtual void RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod) { }
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public virtual List<ContactResult> RaycastActor(PhysicsActor actor, Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags flags)
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{
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return new List<ContactResult>();
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}
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public virtual List<ContactResult> BoxProbe(Vector3 position, Vector3 size, Quaternion orientation, int Count, RayFilterFlags flags)
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{
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return new List<ContactResult>();
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}
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public virtual List<ContactResult> SphereProbe(Vector3 position, float radius, int Count, RayFilterFlags flags)
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{
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return new List<ContactResult>();
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}
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public virtual List<ContactResult> PlaneProbe(PhysicsActor actor, Vector4 plane, int Count, RayFilterFlags flags)
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{
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return new List<ContactResult>();
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}
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public virtual int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
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{
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return 0;
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@ -715,7 +715,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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Vector3 off = _velocity;
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float t = 0.5f * timeStep;
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off = off * t;
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d.Quaternion qtmp;
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d.GeomCopyQuaternion(bbox, out qtmp);
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Quaternion q;
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q.X = qtmp.X;
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q.Y = qtmp.Y;
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q.Z = qtmp.Z;
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q.W = qtmp.W;
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off *= Quaternion.Conjugate(q);
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d.GeomSetOffsetPosition(bbox, off.X, off.Y, off.Z);
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off.X = 2.0f * (m_size.X + Math.Abs(off.X));
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off.Y = 2.0f * (m_size.Y + Math.Abs(off.Y));
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off.Z = m_size.Z + 2.0f * Math.Abs(off.Z);
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@ -741,6 +751,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomSetCategoryBits(feetbox, (uint)m_collisionCategories);
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d.GeomSetCollideBits(feetbox, (uint)m_collisionFlags);
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}
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uint cat1 = d.GeomGetCategoryBits(bbox);
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uint col1 = d.GeomGetCollideBits(bbox);
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}
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}
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@ -56,8 +56,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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private OdeScene m_scene;
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IntPtr ray; // the ray. we only need one for our lifetime
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IntPtr Sphere;
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IntPtr Box;
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IntPtr Plane;
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private const int ColisionContactGeomsPerTest = 5;
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private int CollisionContactGeomsPerTest = 25;
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private const int DefaultMaxCount = 25;
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private const int MaxTimePerCallMS = 30;
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@ -65,6 +68,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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/// ODE near callback delegate
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/// </summary>
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private d.NearCallback nearCallback;
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private d.NearCallback nearProbeCallback;
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private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
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private List<ContactResult> m_contactResults = new List<ContactResult>();
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private RayFilterFlags CurrentRayFilter;
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@ -74,169 +78,21 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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m_scene = pScene;
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nearCallback = near;
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nearProbeCallback = nearProbe;
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ray = d.CreateRay(IntPtr.Zero, 1.0f);
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d.GeomSetCategoryBits(ray,0);
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d.GeomSetCategoryBits(ray, 0);
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Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f);
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d.GeomSetCategoryBits(Box, 0);
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Sphere = d.CreateSphere(IntPtr.Zero,1.0f);
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d.GeomSetCategoryBits(Sphere, 0);
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Plane = d.CreatePlane(IntPtr.Zero, 0f,0f,1f,1f);
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d.GeomSetCategoryBits(Sphere, 0);
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}
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/// <summary>
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/// Queues request for a raycast to all world
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/// </summary>
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/// <param name="position">Origin of Ray</param>
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/// <param name="direction">Ray direction</param>
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/// <param name="length">Ray length</param>
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/// <param name="retMethod">Return method to send the results</param>
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public void QueueRequest(Vector3 position, Vector3 direction, float length, RayCallback retMethod)
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public void QueueRequest(ODERayRequest req)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = IntPtr.Zero;
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req.callbackMethod = retMethod;
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req.Count = DefaultMaxCount;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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/// <summary>
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/// Queues request for a raycast to particular part
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/// </summary>
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/// <param name="position">Origin of Ray</param>
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/// <param name="direction">Ray direction</param>
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/// <param name="length">Ray length</param>
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/// <param name="retMethod">Return method to send the results</param>
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public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RayCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = geom;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = DefaultMaxCount;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = IntPtr.Zero;
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req.callbackMethod = retMethod;
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req.Count = DefaultMaxCount;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.filter = RayFilterFlags.AllPrims | RayFilterFlags.land;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = geom;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = DefaultMaxCount;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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/// <summary>
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/// Queues a raycast
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/// </summary>
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/// <param name="position">Origin of Ray</param>
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/// <param name="direction">Ray normal</param>
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/// <param name="length">Ray length</param>
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/// <param name="count"></param>
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/// <param name="retMethod">Return method to send the results</param>
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public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = IntPtr.Zero;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(Vector3 position, Vector3 direction, float length, int count,RayFilterFlags filter , RayCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = IntPtr.Zero;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = filter;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = geom;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count,RayFilterFlags flags, RayCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = geom;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = flags;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = IntPtr.Zero;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = RayFilterFlags.AllPrims;
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m_PendingRequests.Enqueue(req);
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}
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public void QueueRequest(IntPtr geom, Vector3 position, Vector3 direction, float length, int count, RaycastCallback retMethod)
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{
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ODERayRequest req = new ODERayRequest();
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req.geom = geom;
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req.callbackMethod = retMethod;
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req.length = length;
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req.Normal = direction;
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req.Origin = position;
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req.Count = count;
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req.filter = RayFilterFlags.AllPrims;
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if (req.Count == 0)
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req.Count = DefaultMaxCount;
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m_PendingRequests.Enqueue(req);
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}
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@ -272,21 +128,64 @@ namespace OpenSim.Region.Physics.OdePlugin
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CurrentRayFilter = req.filter;
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CurrentMaxCount = req.Count;
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CollisionContactGeomsPerTest = req.Count & 0xffff;
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closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
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backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
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d.GeomRaySetLength(ray, req.length);
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d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
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d.GeomRaySetParams(ray, 0, backfacecull);
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d.GeomRaySetClosestHit(ray, closestHit);
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if (req.callbackMethod is ProbeBoxCallback)
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{
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if (CollisionContactGeomsPerTest > 80)
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CollisionContactGeomsPerTest = 80;
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d.GeomBoxSetLengths(Box, req.Normal.X, req.Normal.Y, req.Normal.Z);
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d.GeomSetPosition(Box, req.Origin.X, req.Origin.Y, req.Origin.Z);
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d.Quaternion qtmp;
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qtmp.X = req.orientation.X;
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qtmp.Y = req.orientation.Y;
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qtmp.Z = req.orientation.Z;
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qtmp.W = req.orientation.W;
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d.GeomSetOffsetWorldQuaternion(Box, ref qtmp);
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}
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else if (req.callbackMethod is ProbeSphereCallback)
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{
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if (CollisionContactGeomsPerTest > 80)
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CollisionContactGeomsPerTest = 80;
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|
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if (req.callbackMethod is RaycastCallback)
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// if we only want one get only one per colision pair saving memory
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CurrentRayFilter |= RayFilterFlags.ClosestHit;
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d.GeomSphereSetRadius(Sphere, req.length);
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d.GeomSetPosition(Sphere, req.Origin.X, req.Origin.Y, req.Origin.Z);
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}
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else if (req.callbackMethod is ProbePlaneCallback)
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{
|
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if (CollisionContactGeomsPerTest > 80)
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CollisionContactGeomsPerTest = 80;
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|
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d.GeomPlaneSetParams(Plane, req.Normal.X, req.Normal.Y, req.Normal.Z, req.length);
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}
|
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|
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else
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{
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if (CollisionContactGeomsPerTest > 25)
|
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CollisionContactGeomsPerTest = 25;
|
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|
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d.GeomRaySetLength(ray, req.length);
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d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
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d.GeomRaySetParams(ray, 0, backfacecull);
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d.GeomRaySetClosestHit(ray, closestHit);
|
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|
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if (req.callbackMethod is RaycastCallback)
|
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// if we only want one get only one per Collision pair saving memory
|
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CurrentRayFilter |= RayFilterFlags.ClosestHit;
|
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}
|
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|
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if ((CurrentRayFilter & RayFilterFlags.ContactsUnImportant) != 0)
|
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unchecked
|
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{
|
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CollisionContactGeomsPerTest |= (int)d.CONTACTS_UNIMPORTANT;
|
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}
|
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|
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if (req.geom == IntPtr.Zero)
|
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{
|
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// translate ray filter to colision flags
|
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// translate ray filter to Collision flags
|
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catflags = 0;
|
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if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
|
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catflags |= CollisionCategories.VolumeDtc;
|
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|
@ -303,15 +202,48 @@ namespace OpenSim.Region.Physics.OdePlugin
|
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|
||||
if (catflags != 0)
|
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{
|
||||
d.GeomSetCollideBits(ray, (uint)catflags);
|
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doSpaceRay(req);
|
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if (req.callbackMethod is ProbeBoxCallback)
|
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{
|
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catflags |= CollisionCategories.Space;
|
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d.GeomSetCollideBits(Box, (uint)catflags);
|
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d.GeomSetCategoryBits(Box, (uint)catflags);
|
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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
|
||||
d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
|
||||
doGeomRay(req);
|
||||
|
||||
if (req.callbackMethod is ProbePlaneCallback)
|
||||
{
|
||||
d.GeomSetCollideBits(Plane, (uint)CollisionCategories.All);
|
||||
doPlane(req);
|
||||
}
|
||||
else
|
||||
{
|
||||
d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
|
||||
doGeomRay(req);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -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 +470,157 @@ 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)
|
||||
{
|
||||
m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
|
||||
return;
|
||||
}
|
||||
|
||||
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)
|
||||
return;
|
||||
|
||||
switch (p2.PhysicsActorType)
|
||||
{
|
||||
case (int)ActorTypes.Prim:
|
||||
|
||||
RayFilterFlags thisFlags;
|
||||
|
||||
if (p2.IsPhysical)
|
||||
thisFlags = RayFilterFlags.physical;
|
||||
else
|
||||
thisFlags = RayFilterFlags.nonphysical;
|
||||
|
||||
if (p2.Phantom)
|
||||
thisFlags |= RayFilterFlags.phantom;
|
||||
|
||||
if (p2.IsVolumeDtc)
|
||||
thisFlags |= RayFilterFlags.volumedtc;
|
||||
|
||||
if ((thisFlags & CurrentRayFilter) == 0)
|
||||
return;
|
||||
|
||||
ID = ((OdePrim)p2).LocalID;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Agent:
|
||||
|
||||
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
|
||||
return;
|
||||
else
|
||||
ID = ((OdeCharacter)p2).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();
|
||||
|
||||
// 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)
|
||||
{
|
||||
|
@ -495,82 +632,58 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
return;
|
||||
|
||||
uint ID = 0;
|
||||
PhysicsActor p2 = null;
|
||||
PhysicsActor p1 = null;
|
||||
|
||||
m_scene.actor_name_map.TryGetValue(g2, out p2);
|
||||
m_scene.actor_name_map.TryGetValue(g1, out p1);
|
||||
|
||||
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;
|
||||
*/
|
||||
if (p1 == null)
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
||||
switch (p1.PhysicsActorType)
|
||||
{
|
||||
switch (p2.PhysicsActorType)
|
||||
{
|
||||
case (int)ActorTypes.Prim:
|
||||
case (int)ActorTypes.Prim:
|
||||
|
||||
RayFilterFlags thisFlags;
|
||||
RayFilterFlags thisFlags;
|
||||
|
||||
if (p2.IsPhysical)
|
||||
thisFlags = RayFilterFlags.physical;
|
||||
else
|
||||
thisFlags = RayFilterFlags.nonphysical;
|
||||
if (p1.IsPhysical)
|
||||
thisFlags = RayFilterFlags.physical;
|
||||
else
|
||||
thisFlags = RayFilterFlags.nonphysical;
|
||||
|
||||
if (p2.Phantom)
|
||||
thisFlags |= RayFilterFlags.phantom;
|
||||
if (p1.Phantom)
|
||||
thisFlags |= RayFilterFlags.phantom;
|
||||
|
||||
if (p2.IsVolumeDtc)
|
||||
thisFlags |= RayFilterFlags.volumedtc;
|
||||
if (p1.IsVolumeDtc)
|
||||
thisFlags |= RayFilterFlags.volumedtc;
|
||||
|
||||
if ((thisFlags & CurrentRayFilter) == 0)
|
||||
return;
|
||||
if ((thisFlags & CurrentRayFilter) == 0)
|
||||
return;
|
||||
|
||||
ID = ((OdePrim)p2).LocalID;
|
||||
break;
|
||||
ID = ((OdePrim)p1).LocalID;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Agent:
|
||||
case (int)ActorTypes.Agent:
|
||||
|
||||
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
|
||||
return;
|
||||
else
|
||||
ID = ((OdeCharacter)p2).LocalID;
|
||||
break;
|
||||
if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
|
||||
return;
|
||||
else
|
||||
ID = ((OdeCharacter)p1).LocalID;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Ground:
|
||||
case (int)ActorTypes.Ground:
|
||||
|
||||
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
|
||||
return;
|
||||
break;
|
||||
if ((CurrentRayFilter & RayFilterFlags.land) == 0)
|
||||
return;
|
||||
break;
|
||||
|
||||
case (int)ActorTypes.Water:
|
||||
case (int)ActorTypes.Water:
|
||||
|
||||
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
|
||||
return;
|
||||
break;
|
||||
if ((CurrentRayFilter & RayFilterFlags.water) == 0)
|
||||
return;
|
||||
break;
|
||||
|
||||
default:
|
||||
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;
|
||||
}
|
||||
}
|
|
@ -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;
|
||||
|
@ -109,44 +128,45 @@ 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)
|
||||
{
|
||||
float r = d.GeomSphereGetRadius(geom);
|
||||
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
|
||||
{
|
||||
t = offset.Z;
|
||||
float rsq = r * r;
|
||||
if (offset.Z < 0.4f)
|
||||
{
|
||||
t = offset.Z;
|
||||
float rsq = r * r;
|
||||
|
||||
t = 1.0f / (rsq - t * t);
|
||||
offset.X *= t;
|
||||
offset.Y *= t;
|
||||
offset.Z = 0.4f;
|
||||
t = rsq - 0.16f;
|
||||
offset.X *= t;
|
||||
offset.Y *= t;
|
||||
t = 1.0f / (rsq - t * t);
|
||||
offset.X *= t;
|
||||
offset.Y *= t;
|
||||
offset.Z = 0.4f;
|
||||
t = rsq - 0.16f;
|
||||
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;
|
||||
|
@ -154,27 +174,189 @@ namespace OpenSim.Region.Physics.OdePlugin
|
|||
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;
|
||||
Vector3 norm = rayResults[0].Normal;
|
||||
|
||||
if (norm.Z < 0)
|
||||
if (norm.Z < -0.4f)
|
||||
{
|
||||
PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity);
|
||||
return;
|
||||
}
|
||||
|
||||
float SitNormX = -rayDir.X;
|
||||
float SitNormY = -rayDir.Y;
|
||||
|
||||
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++)
|
||||
{
|
||||
PhysicsSitResponse(0, actor.LocalID, offset, Quaternion.Identity);
|
||||
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;
|
||||
}
|
||||
|
||||
ang = Math.Atan2(-rayDir.Y, -rayDir.X);
|
||||
ang *= 0.5d;
|
||||
s = (float)Math.Sin(ang);
|
||||
c = (float)Math.Cos(ang);
|
||||
else if (norm.Z > 0.866f)
|
||||
{
|
||||
float toCamBaseX = avCameraPosition.X - pivot.X;
|
||||
float toCamBaseY = avCameraPosition.Y - pivot.Y;
|
||||
float toCamX = toCamBaseX;
|
||||
float toCamY = toCamBaseY;
|
||||
|
||||
ori = new Quaternion(0, 0, s, c);
|
||||
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;
|
||||
|
||||
|
|
|
@ -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);
|
||||
lock (SyncObject)
|
||||
{
|
||||
ourresults = results;
|
||||
Monitor.PulseAll(SyncObject);
|
||||
}
|
||||
};
|
||||
int waitTime = 0;
|
||||
m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
|
||||
while (ourResults == null && waitTime < 1000)
|
||||
|
||||
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)
|
||||
{
|
||||
Thread.Sleep(1);
|
||||
waitTime++;
|
||||
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
|
||||
|
@ -2641,73 +2681,163 @@ 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)
|
||||
return new List<ContactResult>();
|
||||
|
||||
IntPtr geom;
|
||||
if (actor is OdePrim)
|
||||
geom = ((OdePrim)actor).prim_geom;
|
||||
else if (actor is OdeCharacter)
|
||||
geom = ((OdePrim)actor).prim_geom;
|
||||
else
|
||||
return new List<ContactResult>();
|
||||
|
||||
if (geom == IntPtr.Zero)
|
||||
return new List<ContactResult>();
|
||||
|
||||
List<ContactResult> ourResults = null;
|
||||
object SyncObject = new object();
|
||||
|
||||
RayCallback retMethod = delegate(List<ContactResult> results)
|
||||
{
|
||||
lock (SyncObject)
|
||||
{
|
||||
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 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)
|
||||
{
|
||||
IntPtr geom;
|
||||
if (actor is OdePrim)
|
||||
geom = ((OdePrim)actor).prim_geom;
|
||||
else if (actor is OdeCharacter)
|
||||
geom = ((OdePrim)actor).prim_geom;
|
||||
else
|
||||
return new List<ContactResult>();
|
||||
if (geom == IntPtr.Zero)
|
||||
return new List<ContactResult>();
|
||||
|
||||
ContactResult[] ourResults = null;
|
||||
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)
|
||||
{
|
||||
Thread.Sleep(1);
|
||||
waitTime++;
|
||||
}
|
||||
if (ourResults == null)
|
||||
return new List<ContactResult>();
|
||||
return new List<ContactResult>(ourResults);
|
||||
}
|
||||
return new List<ContactResult>();
|
||||
|
||||
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)
|
||||
|
|
Loading…
Reference in New Issue