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.

6 files changed, 298 insertions, 33 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)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index fd6d64c..c8bce60 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -10309,51 +10309,191 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
             return rq.ToString();
         }
 
+        public LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
+        {
+            m_host.AddScriptLPS(1);
+
+            Vector3 dir = new Vector3((float)(end-start).x, (float)(end-start).y, (float)(end-start).z);
+            Vector3 startvector = new Vector3((float)start.x, (float)start.y, (float)start.z);
+            Vector3 endvector = new Vector3((float)end.x, (float)end.y, (float)end.z);
+
+            int count = 0;
+//            int detectPhantom = 0;
+            int dataFlags = 0;
+            int rejectTypes = 0;
+
+            for (int i = 0; i < options.Length; i += 2)
+            {
+                if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_MAX_HITS)
+                {
+                    count = options.GetLSLIntegerItem(i + 1);
+                }
+//                else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DETECT_PHANTOM)
+//                {
+//                    detectPhantom = options.GetLSLIntegerItem(i + 1);
+//                }
+                else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_DATA_FLAGS)
+                {
+                    dataFlags = options.GetLSLIntegerItem(i + 1);
+                }
+                else if (options.GetLSLIntegerItem(i) == ScriptBaseClass.RC_REJECT_TYPES)
+                {
+                    rejectTypes = options.GetLSLIntegerItem(i + 1);
+                }
+            }
+
+            LSL_List list = new LSL_List();
+            List<ContactResult> results = World.PhysicsScene.RaycastWorld(startvector, dir, dir.Length(), count);
+
+            double distance = Util.GetDistanceTo(startvector, endvector);
+
+            if (distance == 0)
+                distance = 0.001;
+
+            Vector3 posToCheck = startvector;
+            ITerrainChannel channel = World.RequestModuleInterface<ITerrainChannel>();
+
+            bool checkTerrain = !((rejectTypes & ScriptBaseClass.RC_REJECT_LAND) == ScriptBaseClass.RC_REJECT_LAND);
+            bool checkAgents = !((rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) == ScriptBaseClass.RC_REJECT_AGENTS);
+            bool checkNonPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_NONPHYSICAL) == ScriptBaseClass.RC_REJECT_NONPHYSICAL);
+            bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
+
+            for (float i = 0; i <= distance; i += 0.1f)
+            {
+                posToCheck = startvector  + (dir * (i / (float)distance));
+
+                if (checkTerrain && channel[(int)(posToCheck.X + startvector.X), (int)(posToCheck.Y + startvector.Y)] < posToCheck.Z)
+                {
+                    ContactResult result = new ContactResult();
+                    result.ConsumerID = 0;
+                    result.Depth = 0;
+                    result.Normal = Vector3.Zero;
+                    result.Pos = posToCheck;
+                    results.Add(result);
+                    checkTerrain = false;
+                }
+
+                if (checkAgents)
+                {
+                    World.ForEachScenePresence(delegate(ScenePresence sp)
+                    {
+                        if (sp.AbsolutePosition.ApproxEquals(posToCheck, sp.PhysicsActor.Size.X))
+                        {
+                            ContactResult result = new ContactResult ();
+                            result.ConsumerID = sp.LocalId;
+                            result.Depth = 0;
+                            result.Normal = Vector3.Zero;
+                            result.Pos = posToCheck;
+                            results.Add(result);
+                        }
+                    });
+                }
+            }
+
+            int refcount = 0;
+            foreach (ContactResult result in results)
+            {
+                if ((rejectTypes & ScriptBaseClass.RC_REJECT_LAND)
+                    == ScriptBaseClass.RC_REJECT_LAND && result.ConsumerID == 0)
+                    continue;
+
+                ISceneEntity entity = World.GetSceneObjectPart(result.ConsumerID);
+
+                if (entity == null && (rejectTypes & ScriptBaseClass.RC_REJECT_AGENTS) != ScriptBaseClass.RC_REJECT_AGENTS)
+                    entity = World.GetScenePresence(result.ConsumerID); //Only check if we should be looking for agents
+
+                if (entity == null)
+                {
+                    list.Add(UUID.Zero);
+
+                    if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
+                        list.Add(0);
+
+                    list.Add(result.Pos);
+
+                    if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
+                        list.Add(result.Normal);
+
+                    continue; //Can't find it, so add UUID.Zero
+                }
+
+                /*if (detectPhantom == 0 && intersection.obj is ISceneChildEntity &&
+                    ((ISceneChildEntity)intersection.obj).PhysActor == null)
+                    continue;*/ //Can't do this ATM, physics engine knows only of non phantom objects
+
+                if (entity is SceneObjectPart)
+                {
+                    if (((SceneObjectPart)entity).PhysActor != null && ((SceneObjectPart)entity).PhysActor.IsPhysical)
+                    {
+                        if (!checkPhysical)
+                            continue;
+                    }
+                    else
+                    {
+                        if (!checkNonPhysical)
+                            continue;
+                    }
+                }
+
+                refcount++;
+                if ((dataFlags & ScriptBaseClass.RC_GET_ROOT_KEY) == ScriptBaseClass.RC_GET_ROOT_KEY && entity is SceneObjectPart)
+                    list.Add(((SceneObjectPart)entity).ParentGroup.UUID);
+                else
+                    list.Add(entity.UUID);
+
+                if ((dataFlags & ScriptBaseClass.RC_GET_LINK_NUM) == ScriptBaseClass.RC_GET_LINK_NUM)
+                {
+                    if (entity is SceneObjectPart)
+                        list.Add(((SceneObjectPart)entity).LinkNum);
+                    else
+                        list.Add(0);
+                }
+
+                list.Add(result.Pos);
+
+                if ((dataFlags & ScriptBaseClass.RC_GET_NORMAL) == ScriptBaseClass.RC_GET_NORMAL)
+                    list.Add(result.Normal);
+            }
+
+            list.Add(refcount); //The status code, either the # of contacts, RCERR_SIM_PERF_LOW, or RCERR_CAST_TIME_EXCEEDED
+
+            return list;
+        }
+
         #region Not Implemented
         //
         // Listing the unimplemented lsl functions here, please move
         // them from this region as they are completed
         //
-        public void llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options)
-        {
-            m_host.AddScriptLPS(1);
-            NotImplemented("llCastRay");
-
-        }
 
         public void llGetEnv(LSL_String name)
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llGetEnv");
-
         }
 
         public void llGetSPMaxMemory()
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llGetSPMaxMemory");
-
         }
 
         public void llGetUsedMemory()
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llGetUsedMemory");
-
         }
 
-        public void  llRegionSayTo( LSL_Key target, LSL_Integer channel, LSL_String msg )
+        public void  llRegionSayTo(LSL_Key target, LSL_Integer channel, LSL_String msg)
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llRegionSayTo");
-
         }
 
-        public void llScriptProfiler( LSL_Integer flags )
+        public void llScriptProfiler(LSL_Integer flags)
         {
             m_host.AddScriptLPS(1);
             NotImplemented("llScriptProfiler");
-
         }
 
         public void llSetSoundQueueing(int queue)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
index 654ea81..27f9c84 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
@@ -60,6 +60,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
         LSL_String llBase64ToString(string str);
               void llBreakAllLinks();
               void llBreakLink(int linknum);
+          LSL_List llCastRay(LSL_Vector start, LSL_Vector end, LSL_List options);
        LSL_Integer llCeil(double f);
               void llClearCameraParams();
        LSL_Integer llClearPrimMedia(LSL_Integer face);
@@ -404,7 +405,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
         LSL_String llXorBase64StringsCorrect(string str1, string str2);
               void print(string str);
 
-        void SetPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
-        LSL_List GetLinkPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
+              void SetPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
+          LSL_List GetLinkPrimitiveParamsEx(LSL_Key prim, LSL_List rules);
     }
 }
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index 9377cda..3f90788 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -593,5 +593,21 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
 
         public const string URL_REQUEST_GRANTED = "URL_REQUEST_GRANTED";
         public const string URL_REQUEST_DENIED = "URL_REQUEST_DENIED";
+
+        public static readonly LSLInteger RC_REJECT_TYPES = 2;
+        public static readonly LSLInteger RC_DATA_FLAGS = 4;
+        public static readonly LSLInteger RC_MAX_HITS = 8;
+        public static readonly LSLInteger RC_DETECT_PHANTOM = 16;
+
+        public static readonly LSLInteger RC_REJECT_AGENTS = 2;
+        public static readonly LSLInteger RC_REJECT_PHYSICAL = 4;
+        public static readonly LSLInteger RC_REJECT_NONPHYSICAL = 8;
+        public static readonly LSLInteger RC_REJECT_LAND = 16;
+
+        public static readonly LSLInteger RC_GET_NORMAL = 2;
+        public static readonly LSLInteger RC_GET_ROOT_KEY = 4;
+        public static readonly LSLInteger RC_GET_LINK_NUM = 8;
+
+        public static readonly LSLInteger RCERR_CAST_TIME_EXCEEDED = 1;
     }
 }