2 files changed, 196 insertions, 2 deletions

diff --git a/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs b/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
new file mode 100644
index 0000000..225bff8
--- /dev/null
+++ b/OpenSim/Region/Physics/UbitOdePlugin/ODESitAvatar.cs
@@ -0,0 +1,183 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+// Ubit 2012
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using OpenSim.Framework;
+using OpenSim.Region.Physics.Manager;
+using OdeAPI;
+using log4net;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.OdePlugin
+{
+    /// <summary>
+    /// </summary>
+    public class ODESitAvatar
+    {
+        private OdeScene m_scene;
+        private ODERayCastRequestManager m_raymanager;
+
+        public ODESitAvatar(OdeScene pScene, ODERayCastRequestManager raymanager)
+        {
+            m_scene = pScene;
+            m_raymanager = raymanager;
+        }
+
+        private static Vector3 SitAjust = new Vector3(0, 0, 0.4f);
+
+        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)
+            {
+                PhysicsSitResponse(-1, actor.LocalID, offset, Quaternion.Identity);
+                return;
+            }
+
+            IntPtr geom = ((OdePrim)actor).prim_geom;
+
+            d.Vector3 dtmp = d.GeomGetPosition(geom);
+            Vector3 geopos;
+            geopos.X = dtmp.X;
+            geopos.Y = dtmp.Y;
+            geopos.Z = dtmp.Z;
+
+
+            d.AABB aabb;
+            Quaternion ori;
+            d.Quaternion qtmp;
+            d.GeomCopyQuaternion(geom, out qtmp);
+            Quaternion geomOri;
+            geomOri.X = qtmp.X;
+            geomOri.Y = qtmp.Y;
+            geomOri.Z = qtmp.Z;
+            geomOri.W = qtmp.W;
+            Quaternion geomInvOri;
+            geomInvOri.X = -qtmp.X;
+            geomInvOri.Y = -qtmp.Y;
+            geomInvOri.Z = -qtmp.Z;
+            geomInvOri.W = qtmp.W;
+
+            Vector3 target = geopos + offset;
+            Vector3 rayDir = target - avCameraPosition;
+            float raylen = rayDir.Length();
+            float t = 1 / raylen;
+            rayDir.X *= t;
+            rayDir.Y *= t;
+            rayDir.Z *= t;
+
+            raylen += 0.5f;
+            List<ContactResult> rayResults;
+
+            rayResults = m_scene.RaycastActor(actor, avCameraPosition, rayDir , raylen, 1);
+            if (rayResults.Count == 0 || rayResults[0].ConsumerID != actor.LocalID)
+            {
+                d.GeomGetAABB(geom,out aabb);
+                offset = new Vector3(avOffset.X, 0, aabb.MaxZ + avOffset.Z - geopos.Z);
+                ori = geomInvOri;
+                offset *= geomInvOri;
+
+                PhysicsSitResponse(1, actor.LocalID, offset, ori);
+                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);              
+
+                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);
+
+                if (r < 0.4f)
+                {
+                    offset = new Vector3(0, 0, r);
+                }
+                else 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;
+                }
+
+                offset += avOffset * ori;
+
+                ori = geomInvOri * ori;
+                offset *= geomInvOri;
+
+                PhysicsSitResponse(1, actor.LocalID, offset, ori);
+                return;
+            }
+
+            Vector3 norm = rayResults[0].Normal;
+
+            if (norm.Z < 0)
+            {
+                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);
+
+            ori = new Quaternion(0, 0, s, c);
+
+            offset += avOffset * ori;
+
+            ori = geomInvOri * ori;
+            offset *= geomInvOri;
+
+            PhysicsSitResponse(1, actor.LocalID, offset, ori);
+            return;
+        }
+    }
+}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
index 15eb01f..fbf2f0d 100644
--- a/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
+++ b/OpenSim/Region/Physics/UbitOdePlugin/OdeScene.cs
@@ -362,8 +362,7 @@ namespace OpenSim.Region.Physics.OdePlugin
 
             nearCallback = near;
 
-            m_rayCastManager = new ODERayCastRequestManager(this);
-            
+            m_rayCastManager = new ODERayCastRequestManager(this);         
 
             lock (OdeLock)
                 {
@@ -2711,5 +2710,17 @@ namespace OpenSim.Region.Physics.OdePlugin
             }
             return new List<ContactResult>();
         }
+
+        public override int SitAvatar(PhysicsActor actor, Vector3 AbsolutePosition, Vector3 CameraPosition, Vector3 offset, Vector3 AvatarSize, SitAvatarCallback PhysicsSitResponse)
+        {
+            Util.FireAndForget( delegate
+            {
+                ODESitAvatar sitAvatar = new ODESitAvatar(this, m_rayCastManager);
+                if(sitAvatar != null)
+                    sitAvatar.Sit(actor, AbsolutePosition, CameraPosition, offset, AvatarSize, PhysicsSitResponse);
+            });
+            return 1;
+        }
+
     }
 }