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-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs384
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diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/ChOdePlugin/ODERayCastRequestManager.cs
deleted file mode 100644
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@@ -1,384 +0,0 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Reflection;
31using System.Runtime.InteropServices;
32using System.Text;
33using OpenMetaverse;
34using OpenSim.Region.Physics.Manager;
35using Ode.NET;
36using log4net;
37
38namespace OpenSim.Region.Physics.OdePlugin
39{
40 /// <summary>
41 /// Processes raycast requests as ODE is in a state to be able to do them.
42 /// This ensures that it's thread safe and there will be no conflicts.
43 /// Requests get returned by a different thread then they were requested by.
44 /// </summary>
45 public class ODERayCastRequestManager
46 {
47 /// <summary>
48 /// Pending Raycast Requests
49 /// </summary>
50 protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();
51
52 /// <summary>
53 /// Scene that created this object.
54 /// </summary>
55 private OdeScene m_scene;
56
57 /// <summary>
58 /// ODE contact array to be filled by the collision testing
59 /// </summary>
60 d.ContactGeom[] contacts = new d.ContactGeom[5];
61
62 /// <summary>
63 /// ODE near callback delegate
64 /// </summary>
65 private d.NearCallback nearCallback;
66 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
67 private List<ContactResult> m_contactResults = new List<ContactResult>();
68
69
70 public ODERayCastRequestManager(OdeScene pScene)
71 {
72 m_scene = pScene;
73 nearCallback = near;
74
75 }
76
77 /// <summary>
78 /// Queues a raycast
79 /// </summary>
80 /// <param name="position">Origin of Ray</param>
81 /// <param name="direction">Ray normal</param>
82 /// <param name="length">Ray length</param>
83 /// <param name="retMethod">Return method to send the results</param>
84 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
85 {
86 lock (m_PendingRequests)
87 {
88 ODERayCastRequest req = new ODERayCastRequest();
89 req.callbackMethod = retMethod;
90 req.length = length;
91 req.Normal = direction;
92 req.Origin = position;
93
94 m_PendingRequests.Add(req);
95 }
96 }
97
98 /// <summary>
99 /// Process all queued raycast requests
100 /// </summary>
101 /// <returns>Time in MS the raycasts took to process.</returns>
102 public int ProcessQueuedRequests()
103 {
104 int time = System.Environment.TickCount;
105 lock (m_PendingRequests)
106 {
107 if (m_PendingRequests.Count > 0)
108 {
109 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
110 for (int i = 0; i < reqs.Length; i++)
111 {
112 try
113 {
114 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
115 RayCast(reqs[i]); // if there isn't anyone to send results
116 }
117 catch
118 {
119 //Fail silently
120 //This can genuinely happen because raycast requests are queued, and the actor may have
121 //been removed from the scene since it was queued
122 }
123 }
124 /*
125 foreach (ODERayCastRequest req in m_PendingRequests)
126 {
127 if (req.callbackMethod != null) // quick optimization here, don't raycast
128 RayCast(req); // if there isn't anyone to send results to
129
130 }
131 */
132 m_PendingRequests.Clear();
133 }
134 }
135
136 lock (m_contactResults)
137 m_contactResults.Clear();
138
139 return System.Environment.TickCount - time;
140 }
141
142 /// <summary>
143 /// Method that actually initiates the raycast
144 /// </summary>
145 /// <param name="req"></param>
146 private void RayCast(ODERayCastRequest req)
147 {
148 // Create the ray
149 IntPtr ray = d.CreateRay(m_scene.space, req.length);
150 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
151
152 // Collide test
153 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
154
155 // Remove Ray
156 d.GeomDestroy(ray);
157
158
159 // Define default results
160 bool hitYN = false;
161 uint hitConsumerID = 0;
162 float distance = 999999999999f;
163 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
164 Vector3 snormal = Vector3.Zero;
165
166 // Find closest contact and object.
167 lock (m_contactResults)
168 {
169 foreach (ContactResult cResult in m_contactResults)
170 {
171 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
172 {
173 closestcontact = cResult.Pos;
174 hitConsumerID = cResult.ConsumerID;
175 distance = cResult.Depth;
176 hitYN = true;
177 snormal = cResult.Normal;
178 }
179 }
180
181 m_contactResults.Clear();
182 }
183
184 // Return results
185 if (req.callbackMethod != null)
186 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
187 }
188
189 // This is the standard Near. Uses space AABBs to speed up detection.
190 private void near(IntPtr space, IntPtr g1, IntPtr g2)
191 {
192
193 //Don't test against heightfield Geom, or you'll be sorry!
194
195 /*
196 terminate called after throwing an instance of 'std::bad_alloc'
197 what(): std::bad_alloc
198 Stacktrace:
199
200 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
201 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
202 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
203 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
204 fffff>
205 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
206 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
207 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
208 0x00114>
209 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
210 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
211 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
212 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
213 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
214 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
215
216 Native stacktrace:
217
218 mono [0x80d2a42]
219 [0xb7f5840c]
220 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
221 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
222 /usr/lib/libstdc++.so.6 [0xb45fa865]
223 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
224 /usr/lib/libstdc++.so.6 [0xb45fa9da]
225 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
226 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
227 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
228 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
229 libode.so(dCollide+0x102) [0xb46571b2]
230 [0x95cfdec9]
231 [0x8ea07fe1]
232 [0xab260146]
233 libode.so [0xb465a5c4]
234 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
235 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
236 [0x95cf978e]
237 [0x8ea07945]
238 [0x95cf2bbc]
239 [0xab2787e7]
240 [0xab419fb3]
241 [0xab416657]
242 [0xab415bda]
243 [0xb609b08e]
244 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
245 mono [0x81a2f0f]
246 mono [0x81d28b6]
247 mono [0x81ea2c6]
248 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
249 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
250 */
251
252 // Exclude heightfield geom
253
254 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
255 return;
256 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
257 return;
258
259 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
260 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
261 {
262 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
263 return;
264
265 // Separating static prim geometry spaces.
266 // We'll be calling near recursivly if one
267 // of them is a space to find all of the
268 // contact points in the space
269 try
270 {
271 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
272 }
273 catch (AccessViolationException)
274 {
275 m_log.Warn("[PHYSICS]: Unable to collide test a space");
276 return;
277 }
278 //Colliding a space or a geom with a space or a geom. so drill down
279
280 //Collide all geoms in each space..
281 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
282 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
283 return;
284 }
285
286 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
287 return;
288
289 int count = 0;
290 try
291 {
292
293 if (g1 == g2)
294 return; // Can't collide with yourself
295
296 lock (contacts)
297 {
298 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
299 }
300 }
301 catch (SEHException)
302 {
303 m_log.Error("[PHYSICS]: The Operating system shut down ODE because of corrupt memory. This could be a result of really irregular terrain. If this repeats continuously, restart using Basic Physics and terrain fill your terrain. Restarting the sim.");
304 }
305 catch (Exception e)
306 {
307 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
308 return;
309 }
310
311 PhysicsActor p1 = null;
312 PhysicsActor p2 = null;
313
314 if (g1 != IntPtr.Zero)
315 m_scene.actor_name_map.TryGetValue(g1, out p1);
316
317 if (g2 != IntPtr.Zero)
318 m_scene.actor_name_map.TryGetValue(g1, out p2);
319
320 // Loop over contacts, build results.
321 for (int i = 0; i < count; i++)
322 {
323 if (p1 != null) {
324 if (p1 is OdePrim)
325 {
326 ContactResult collisionresult = new ContactResult();
327
328 collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
329 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
330 collisionresult.Depth = contacts[i].depth;
331 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
332 contacts[i].normal.Z);
333 lock (m_contactResults)
334 m_contactResults.Add(collisionresult);
335 }
336 }
337
338 if (p2 != null)
339 {
340 if (p2 is OdePrim)
341 {
342 ContactResult collisionresult = new ContactResult();
343
344 collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
345 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
346 collisionresult.Depth = contacts[i].depth;
347 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
348 contacts[i].normal.Z);
349
350 lock (m_contactResults)
351 m_contactResults.Add(collisionresult);
352 }
353 }
354
355
356 }
357
358 }
359
360 /// <summary>
361 /// Dereference the creator scene so that it can be garbage collected if needed.
362 /// </summary>
363 internal void Dispose()
364 {
365 m_scene = null;
366 }
367 }
368
369 public struct ODERayCastRequest
370 {
371 public Vector3 Origin;
372 public Vector3 Normal;
373 public float length;
374 public RaycastCallback callbackMethod;
375 }
376
377 public struct ContactResult
378 {
379 public Vector3 Pos;
380 public float Depth;
381 public uint ConsumerID;
382 public Vector3 Normal;
383 }
384}
generated by cgit v1.1 at 2024-07-16 17:42:56 +0000