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Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs434
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diff --git a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
deleted file mode 100644
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--- a/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
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@@ -1,434 +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 /// Pending ray requests
54 /// </summary>
55 protected List<ODERayRequest> m_PendingRayRequests = new List<ODERayRequest>();
56
57 /// <summary>
58 /// Scene that created this object.
59 /// </summary>
60 private OdeScene m_scene;
61
62 /// <summary>
63 /// ODE contact array to be filled by the collision testing
64 /// </summary>
65 d.ContactGeom[] contacts = new d.ContactGeom[5];
66
67 /// <summary>
68 /// ODE near callback delegate
69 /// </summary>
70 private d.NearCallback nearCallback;
71 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
72 private List<ContactResult> m_contactResults = new List<ContactResult>();
73
74
75 public ODERayCastRequestManager(OdeScene pScene)
76 {
77 m_scene = pScene;
78 nearCallback = near;
79
80 }
81
82 /// <summary>
83 /// Queues a raycast
84 /// </summary>
85 /// <param name="position">Origin of Ray</param>
86 /// <param name="direction">Ray normal</param>
87 /// <param name="length">Ray length</param>
88 /// <param name="retMethod">Return method to send the results</param>
89 public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
90 {
91 lock (m_PendingRequests)
92 {
93 ODERayCastRequest req = new ODERayCastRequest();
94 req.callbackMethod = retMethod;
95 req.length = length;
96 req.Normal = direction;
97 req.Origin = position;
98
99 m_PendingRequests.Add(req);
100 }
101 }
102
103 /// <summary>
104 /// Queues a raycast
105 /// </summary>
106 /// <param name="position">Origin of Ray</param>
107 /// <param name="direction">Ray normal</param>
108 /// <param name="length">Ray length</param>
109 /// <param name="count"></param>
110 /// <param name="retMethod">Return method to send the results</param>
111 public void QueueRequest(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
112 {
113 lock (m_PendingRequests)
114 {
115 ODERayRequest req = new ODERayRequest();
116 req.callbackMethod = retMethod;
117 req.length = length;
118 req.Normal = direction;
119 req.Origin = position;
120 req.Count = count;
121
122 m_PendingRayRequests.Add(req);
123 }
124 }
125
126 /// <summary>
127 /// Process all queued raycast requests
128 /// </summary>
129 /// <returns>Time in MS the raycasts took to process.</returns>
130 public int ProcessQueuedRequests()
131 {
132 int time = System.Environment.TickCount;
133 lock (m_PendingRequests)
134 {
135 if (m_PendingRequests.Count > 0)
136 {
137 ODERayCastRequest[] reqs = m_PendingRequests.ToArray();
138 for (int i = 0; i < reqs.Length; i++)
139 {
140 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
141 RayCast(reqs[i]); // if there isn't anyone to send results
142 }
143
144 m_PendingRequests.Clear();
145 }
146 }
147
148 lock (m_PendingRayRequests)
149 {
150 if (m_PendingRayRequests.Count > 0)
151 {
152 ODERayRequest[] reqs = m_PendingRayRequests.ToArray();
153 for (int i = 0; i < reqs.Length; i++)
154 {
155 if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
156 RayCast(reqs[i]); // if there isn't anyone to send results
157 }
158
159 m_PendingRayRequests.Clear();
160 }
161 }
162
163 lock (m_contactResults)
164 m_contactResults.Clear();
165
166 return System.Environment.TickCount - time;
167 }
168
169 /// <summary>
170 /// Method that actually initiates the raycast
171 /// </summary>
172 /// <param name="req"></param>
173 private void RayCast(ODERayCastRequest req)
174 {
175 // Create the ray
176 IntPtr ray = d.CreateRay(m_scene.space, req.length);
177 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
178
179 // Collide test
180 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
181
182 // Remove Ray
183 d.GeomDestroy(ray);
184
185 // Define default results
186 bool hitYN = false;
187 uint hitConsumerID = 0;
188 float distance = 999999999999f;
189 Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);
190 Vector3 snormal = Vector3.Zero;
191
192 // Find closest contact and object.
193 lock (m_contactResults)
194 {
195 foreach (ContactResult cResult in m_contactResults)
196 {
197 if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
198 {
199 closestcontact = cResult.Pos;
200 hitConsumerID = cResult.ConsumerID;
201 distance = cResult.Depth;
202 hitYN = true;
203 snormal = cResult.Normal;
204 }
205 }
206
207 m_contactResults.Clear();
208 }
209
210 // Return results
211 if (req.callbackMethod != null)
212 req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance, snormal);
213 }
214
215 /// <summary>
216 /// Method that actually initiates the raycast
217 /// </summary>
218 /// <param name="req"></param>
219 private void RayCast(ODERayRequest req)
220 {
221 // Create the ray
222 IntPtr ray = d.CreateRay(m_scene.space, req.length);
223 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
224
225 // Collide test
226 d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);
227
228 // Remove Ray
229 d.GeomDestroy(ray);
230
231 // Find closest contact and object.
232 lock (m_contactResults)
233 {
234 // Return results
235 if (req.callbackMethod != null)
236 req.callbackMethod(m_contactResults);
237 }
238 }
239
240 // This is the standard Near. Uses space AABBs to speed up detection.
241 private void near(IntPtr space, IntPtr g1, IntPtr g2)
242 {
243
244 //Don't test against heightfield Geom, or you'll be sorry!
245
246 /*
247 terminate called after throwing an instance of 'std::bad_alloc'
248 what(): std::bad_alloc
249 Stacktrace:
250
251 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
252 at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
253 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
254 at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
255 fffff>
256 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
257 at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
258 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
259 0x00114>
260 at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
261 at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
262 at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
263 at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
264 at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
265 at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
266
267 Native stacktrace:
268
269 mono [0x80d2a42]
270 [0xb7f5840c]
271 /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
272 /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
273 /usr/lib/libstdc++.so.6 [0xb45fa865]
274 /usr/lib/libstdc++.so.6 [0xb45fa8a2]
275 /usr/lib/libstdc++.so.6 [0xb45fa9da]
276 /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
277 /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
278 libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
279 libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
280 libode.so(dCollide+0x102) [0xb46571b2]
281 [0x95cfdec9]
282 [0x8ea07fe1]
283 [0xab260146]
284 libode.so [0xb465a5c4]
285 libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
286 libode.so(dSpaceCollide2+0x177) [0xb465ac67]
287 [0x95cf978e]
288 [0x8ea07945]
289 [0x95cf2bbc]
290 [0xab2787e7]
291 [0xab419fb3]
292 [0xab416657]
293 [0xab415bda]
294 [0xb609b08e]
295 mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
296 mono [0x81a2f0f]
297 mono [0x81d28b6]
298 mono [0x81ea2c6]
299 /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
300 /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]
301 */
302
303 // Exclude heightfield geom
304
305 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
306 return;
307 if (d.GeomGetClass(g1) == d.GeomClassID.HeightfieldClass || d.GeomGetClass(g2) == d.GeomClassID.HeightfieldClass)
308 return;
309
310 // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
311 if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
312 {
313 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
314 return;
315
316 // Separating static prim geometry spaces.
317 // We'll be calling near recursivly if one
318 // of them is a space to find all of the
319 // contact points in the space
320 try
321 {
322 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
323 }
324 catch (AccessViolationException)
325 {
326 m_log.Warn("[PHYSICS]: Unable to collide test a space");
327 return;
328 }
329 //Colliding a space or a geom with a space or a geom. so drill down
330
331 //Collide all geoms in each space..
332 //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
333 //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
334 return;
335 }
336
337 if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
338 return;
339
340 int count = 0;
341 try
342 {
343
344 if (g1 == g2)
345 return; // Can't collide with yourself
346
347 lock (contacts)
348 {
349 count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
350 }
351 }
352 catch (SEHException)
353 {
354 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.");
355 }
356 catch (Exception e)
357 {
358 m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
359 return;
360 }
361
362 PhysicsActor p1 = null;
363 PhysicsActor p2 = null;
364
365 if (g1 != IntPtr.Zero)
366 m_scene.actor_name_map.TryGetValue(g1, out p1);
367
368 if (g2 != IntPtr.Zero)
369 m_scene.actor_name_map.TryGetValue(g1, out p2);
370
371 // Loop over contacts, build results.
372 for (int i = 0; i < count; i++)
373 {
374 if (p1 != null)
375 {
376 if (p1 is OdePrim)
377 {
378 ContactResult collisionresult = new ContactResult();
379
380 collisionresult.ConsumerID = p1.LocalID;
381 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
382 collisionresult.Depth = contacts[i].depth;
383 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
384 contacts[i].normal.Z);
385 lock (m_contactResults)
386 m_contactResults.Add(collisionresult);
387 }
388 }
389
390 if (p2 != null)
391 {
392 if (p2 is OdePrim)
393 {
394 ContactResult collisionresult = new ContactResult();
395
396 collisionresult.ConsumerID = p2.LocalID;
397 collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
398 collisionresult.Depth = contacts[i].depth;
399 collisionresult.Normal = new Vector3(contacts[i].normal.X, contacts[i].normal.Y,
400 contacts[i].normal.Z);
401
402 lock (m_contactResults)
403 m_contactResults.Add(collisionresult);
404 }
405 }
406 }
407 }
408
409 /// <summary>
410 /// Dereference the creator scene so that it can be garbage collected if needed.
411 /// </summary>
412 internal void Dispose()
413 {
414 m_scene = null;
415 }
416 }
417
418 public struct ODERayCastRequest
419 {
420 public Vector3 Origin;
421 public Vector3 Normal;
422 public float length;
423 public RaycastCallback callbackMethod;
424 }
425
426 public struct ODERayRequest
427 {
428 public Vector3 Origin;
429 public Vector3 Normal;
430 public int Count;
431 public float length;
432 public RayCallback callbackMethod;
433 }
434} \ No newline at end of file
generated by cgit v1.1 at 2024-12-26 18:39:26 +0000