Port implementation of llCastRay() from Aurora.

I haven't been able to test this since the viewer won't parse the llCastRay() function.  Maybe some activation cap is missing.  Could wait until it is activated by default in the viewer.

3 files changed, 126 insertions, 18 deletions

diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 13ea084..0de4626 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -37,6 +37,18 @@ namespace OpenSim.Region.Physics.Manager
     public delegate void physicsCrash();
 
     public delegate void RaycastCallback(bool hitYN, Vector3 collisionPoint, uint localid, float distance, Vector3 normal);
+    public delegate void RayCallback(List<ContactResult> list);
+
+    /// <summary>
+    /// Contact result from a raycast.
+    /// </summary>
+    public struct ContactResult
+    {
+        public Vector3 Pos;
+        public float Depth;
+        public uint ConsumerID;
+        public Vector3 Normal;
+    }
 
     public abstract class PhysicsScene
     {
@@ -61,7 +73,6 @@ namespace OpenSim.Region.Physics.Manager
             }
         }
 
-
         public abstract void Initialise(IMesher meshmerizer, IConfigSource config);
 
         public abstract PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying);
@@ -225,6 +236,17 @@ namespace OpenSim.Region.Physics.Manager
                 retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
         }
 
+        public virtual void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+                retMethod(new List<ContactResult>());
+        }
+
+        public virtual List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            return new List<ContactResult>();
+        }
+
         private class NullPhysicsScene : PhysicsScene
         {
             private static int m_workIndicator;
diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
index ba77dae..6c2bdde 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
@@ -45,11 +45,16 @@ namespace OpenSim.Region.Physics.OdePlugin
     public class ODERayCastRequestManager
     {
         /// <summary>
-        /// Pending Raycast Requests
+        /// Pending raycast requests
         /// </summary>
         protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
 
         /// <summary>
+        /// Pending ray requests
+        /// </summary>
+        protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
+
+        /// <summary>
         /// Scene that created this object.
         /// </summary>
         private OdeScene m_scene;
@@ -96,6 +101,29 @@ namespace OpenSim.Region.Physics.OdePlugin
         }
 
         /// <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)
+        {
+            lock (m_PendingRequests)
+            {
+                ODERayRequest req = new ODERayRequest();
+                req.callbackMethod = retMethod;
+                req.length = length;
+                req.Normal = direction;
+                req.Origin = position;
+                req.Count = count;
+
+                m_PendingRayRequests.Add(req);
+            }
+        }
+
+        /// <summary>
         /// Process all queued raycast requests
         /// </summary>
         /// <returns>Time in MS the raycasts took to process.</returns>
@@ -112,15 +140,23 @@ namespace OpenSim.Region.Physics.OdePlugin
                         if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
                             RayCast(reqs[i]);               // if there isn't anyone to send results
                     }
-                    /*
-                    foreach (ODERayCastRequest req in m_PendingRequests)
+
+                    m_PendingRequests.Clear();
+                }
+            }
+
+            lock (m_PendingRayRequests)
+            {
+                if (m_PendingRayRequests.Count > 0)
+                {
+                    ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
+                    for (int i = 0; i < reqs.Length; i++)
                     {
-                        if (req.callbackMethod != null) // quick optimization here, don't raycast 
-                            RayCast(req);               // if there isn't anyone to send results to
-                            
+                        if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast 
+                            RayCast(reqs[i]);               // if there isn't anyone to send results
                     }
-                    */
-                    m_PendingRequests.Clear();
+
+                    m_PendingRayRequests.Clear();
                 }
             }
 
@@ -146,7 +182,6 @@ namespace OpenSim.Region.Physics.OdePlugin
             // Remove Ray
             d.GeomDestroy(ray);
 
-
             // Define default results
             bool hitYN = false;
             uint hitConsumerID = 0;
@@ -177,6 +212,31 @@ namespace OpenSim.Region.Physics.OdePlugin
                 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
         }
 
+        /// <summary>
+        /// Method that actually initiates the raycast
+        /// </summary>
+        /// <param name="req"></param>
+        private void RayCast(ODERayRequest req)
+        {
+            // Create the ray
+            IntPtr ray = d.CreateRay(m_scene.space, req.length);
+            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+
+            // Collide test
+            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
+
+            // Remove Ray
+            d.GeomDestroy(ray);
+
+            // Find closest contact and object.
+            lock (m_contactResults)
+            {
+                // Return results
+                if (req.callbackMethod != null)
+                    req.callbackMethod(m_contactResults);
+            }
+        }
+        
         // This is the standard Near.   Uses space AABBs to speed up detection.
         private void near(IntPtr space, IntPtr g1, IntPtr g2)
         {
@@ -342,10 +402,7 @@ namespace OpenSim.Region.Physics.OdePlugin
                             m_contactResults.Add(collisionresult);
                     }
                 }
-
-                
             }
-
         }
 
         /// <summary>
@@ -365,11 +422,12 @@ namespace OpenSim.Region.Physics.OdePlugin
         public RaycastCallback callbackMethod;
     }
 
-    public struct ContactResult
+    public struct ODERayRequest
     {
-        public Vector3 Pos;
-        public float Depth;
-        public uint ConsumerID;
+        public Vector3 Origin;
         public Vector3 Normal;
+        public int Count;
+        public float length;
+        public RayCallback callbackMethod;
     }
-}
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
index 7b8a80c..ba8cba4 100644
--- a/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/OdePlugin/OdeScene.cs
@@ -3736,6 +3736,34 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
             }
         }
 
+        public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayCallback retMethod)
+        {
+            if (retMethod != null)
+            {
+                m_rayCastManager.QueueRequest(position, direction, length, Count, retMethod);
+            }
+        }
+
+        public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+        {
+            ContactResult[] ourResults = null;
+            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)
+            {
+                Thread.Sleep(1);
+                waitTime++;
+            }
+            if (ourResults == null)
+                return new List<ContactResult> ();
+            return new List<ContactResult>(ourResults);
+        }
+
 #if USE_DRAWSTUFF
         // Keyboard callback
         public void command(int cmd)