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-rw-r--r--OpenSim/Region/PhysicsModules/UbitOdePlugin/ODERayCastRequestManager.cs683
1 files changed, 683 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODERayCastRequestManager.cs
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+++ b/OpenSim/Region/PhysicsModules/UbitOdePlugin/ODERayCastRequestManager.cs
@@ -0,0 +1,683 @@
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 OpenSim.Framework;
34using OpenSim.Region.PhysicsModules.SharedBase;
35using OdeAPI;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.PhysicsModules.OdePlugin
40{
41 /// <summary>
42 /// Processes raycast requests as ODE is in a state to be able to do them.
43 /// This ensures that it's thread safe and there will be no conflicts.
44 /// Requests get returned by a different thread then they were requested by.
45 /// </summary>
46 public class ODERayCastRequestManager
47 {
48 /// <summary>
49 /// Pending ray requests
50 /// </summary>
51 protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
52
53 /// <summary>
54 /// Scene that created this object.
55 /// </summary>
56 private OdeScene m_scene;
57
58 IntPtr ray; // the ray. we only need one for our lifetime
59 IntPtr Sphere;
60 IntPtr Box;
61 IntPtr Plane;
62
63 private int CollisionContactGeomsPerTest = 25;
64 private const int DefaultMaxCount = 25;
65 private const int MaxTimePerCallMS = 30;
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 private RayFilterFlags CurrentRayFilter;
74 private int CurrentMaxCount;
75
76 public ODERayCastRequestManager(OdeScene pScene)
77 {
78 m_scene = pScene;
79 nearCallback = near;
80 ray = d.CreateRay(IntPtr.Zero, 1.0f);
81 d.GeomSetCategoryBits(ray, 0);
82 Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f);
83 d.GeomSetCategoryBits(Box, 0);
84 Sphere = d.CreateSphere(IntPtr.Zero,1.0f);
85 d.GeomSetCategoryBits(Sphere, 0);
86 Plane = d.CreatePlane(IntPtr.Zero, 0f,0f,1f,1f);
87 d.GeomSetCategoryBits(Sphere, 0);
88 }
89
90 public void QueueRequest(ODERayRequest req)
91 {
92 if (req.Count == 0)
93 req.Count = DefaultMaxCount;
94
95 m_PendingRequests.Enqueue(req);
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
105 if (m_PendingRequests.Count <= 0)
106 return 0;
107
108 if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero)
109 // oops something got wrong or scene isn't ready still
110 {
111 m_PendingRequests.Clear();
112 return 0;
113 }
114
115 int time = Util.EnvironmentTickCount();
116
117 ODERayRequest req;
118 int closestHit;
119 int backfacecull;
120 CollisionCategories catflags;
121
122 while (m_PendingRequests.Dequeue(out req))
123 {
124 if (req.callbackMethod != null)
125 {
126 IntPtr geom = IntPtr.Zero;
127 if (req.actor != null)
128 {
129 if (m_scene.haveActor(req.actor))
130 {
131 if (req.actor is OdePrim)
132 geom = ((OdePrim)req.actor).prim_geom;
133 else if (req.actor is OdeCharacter)
134 geom = ((OdePrim)req.actor).prim_geom;
135 }
136 if (geom == IntPtr.Zero)
137 {
138 NoContacts(req);
139 continue;
140 }
141 }
142
143
144 CurrentRayFilter = req.filter;
145 CurrentMaxCount = req.Count;
146
147 CollisionContactGeomsPerTest = req.Count & 0xffff;
148
149 closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
150 backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
151
152 if (req.callbackMethod is ProbeBoxCallback)
153 {
154 if (CollisionContactGeomsPerTest > 80)
155 CollisionContactGeomsPerTest = 80;
156 d.GeomBoxSetLengths(Box, req.Normal.X, req.Normal.Y, req.Normal.Z);
157 d.GeomSetPosition(Box, req.Origin.X, req.Origin.Y, req.Origin.Z);
158 d.Quaternion qtmp;
159 qtmp.X = req.orientation.X;
160 qtmp.Y = req.orientation.Y;
161 qtmp.Z = req.orientation.Z;
162 qtmp.W = req.orientation.W;
163 d.GeomSetQuaternion(Box, ref qtmp);
164 }
165 else if (req.callbackMethod is ProbeSphereCallback)
166 {
167 if (CollisionContactGeomsPerTest > 80)
168 CollisionContactGeomsPerTest = 80;
169
170 d.GeomSphereSetRadius(Sphere, req.length);
171 d.GeomSetPosition(Sphere, req.Origin.X, req.Origin.Y, req.Origin.Z);
172 }
173 else if (req.callbackMethod is ProbePlaneCallback)
174 {
175 if (CollisionContactGeomsPerTest > 80)
176 CollisionContactGeomsPerTest = 80;
177
178 d.GeomPlaneSetParams(Plane, req.Normal.X, req.Normal.Y, req.Normal.Z, req.length);
179 }
180
181 else
182 {
183 if (CollisionContactGeomsPerTest > 25)
184 CollisionContactGeomsPerTest = 25;
185
186 d.GeomRaySetLength(ray, req.length);
187 d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
188 d.GeomRaySetParams(ray, 0, backfacecull);
189 d.GeomRaySetClosestHit(ray, closestHit);
190
191 if (req.callbackMethod is RaycastCallback)
192 {
193 // if we only want one get only one per Collision pair saving memory
194 CurrentRayFilter |= RayFilterFlags.ClosestHit;
195 d.GeomRaySetClosestHit(ray, 1);
196 }
197 else
198 d.GeomRaySetClosestHit(ray, closestHit);
199 }
200
201 if ((CurrentRayFilter & RayFilterFlags.ContactsUnImportant) != 0)
202 unchecked
203 {
204 CollisionContactGeomsPerTest |= (int)d.CONTACTS_UNIMPORTANT;
205 }
206
207 if (geom == IntPtr.Zero)
208 {
209 // translate ray filter to Collision flags
210 catflags = 0;
211 if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
212 catflags |= CollisionCategories.VolumeDtc;
213 if ((CurrentRayFilter & RayFilterFlags.phantom) != 0)
214 catflags |= CollisionCategories.Phantom;
215 if ((CurrentRayFilter & RayFilterFlags.agent) != 0)
216 catflags |= CollisionCategories.Character;
217 if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0)
218 catflags |= CollisionCategories.Geom;
219 if ((CurrentRayFilter & RayFilterFlags.land) != 0)
220 catflags |= CollisionCategories.Land;
221 if ((CurrentRayFilter & RayFilterFlags.water) != 0)
222 catflags |= CollisionCategories.Water;
223
224 if (catflags != 0)
225 {
226 if (req.callbackMethod is ProbeBoxCallback)
227 {
228 catflags |= CollisionCategories.Space;
229 d.GeomSetCollideBits(Box, (uint)catflags);
230 d.GeomSetCategoryBits(Box, (uint)catflags);
231 doProbe(req, Box);
232 }
233 else if (req.callbackMethod is ProbeSphereCallback)
234 {
235 catflags |= CollisionCategories.Space;
236 d.GeomSetCollideBits(Sphere, (uint)catflags);
237 d.GeomSetCategoryBits(Sphere, (uint)catflags);
238 doProbe(req, Sphere);
239 }
240 else if (req.callbackMethod is ProbePlaneCallback)
241 {
242 catflags |= CollisionCategories.Space;
243 d.GeomSetCollideBits(Plane, (uint)catflags);
244 d.GeomSetCategoryBits(Plane, (uint)catflags);
245 doPlane(req,IntPtr.Zero);
246 }
247 else
248 {
249 d.GeomSetCollideBits(ray, (uint)catflags);
250 doSpaceRay(req);
251 }
252 }
253 }
254 else
255 {
256 // if we select a geom don't use filters
257
258 if (req.callbackMethod is ProbePlaneCallback)
259 {
260 d.GeomSetCollideBits(Plane, (uint)CollisionCategories.All);
261 doPlane(req,geom);
262 }
263 else
264 {
265 d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
266 doGeomRay(req,geom);
267 }
268 }
269 }
270
271 if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
272 break;
273 }
274
275 lock (m_contactResults)
276 m_contactResults.Clear();
277
278 return Util.EnvironmentTickCountSubtract(time);
279 }
280 /// <summary>
281 /// Method that actually initiates the raycast with spaces
282 /// </summary>
283 /// <param name="req"></param>
284 ///
285
286 private void NoContacts(ODERayRequest req)
287 {
288 if (req.callbackMethod is RaycastCallback)
289 {
290 ((RaycastCallback)req.callbackMethod)(false, Vector3.Zero, 0, 0, Vector3.Zero);
291 return;
292 }
293 List<ContactResult> cresult = new List<ContactResult>();
294
295 if (req.callbackMethod is RayCallback)
296 ((RayCallback)req.callbackMethod)(cresult);
297 else if (req.callbackMethod is ProbeBoxCallback)
298 ((ProbeBoxCallback)req.callbackMethod)(cresult);
299 else if (req.callbackMethod is ProbeSphereCallback)
300 ((ProbeSphereCallback)req.callbackMethod)(cresult);
301 }
302
303 private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhantom;
304// private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
305 private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhantom;
306
307 private void doSpaceRay(ODERayRequest req)
308 {
309 // Collide tests
310 if ((CurrentRayFilter & FilterActiveSpace) != 0)
311 {
312 d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
313 d.SpaceCollide2(ray, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
314 }
315 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
316 d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
317 if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
318 {
319 // current ode land to ray collisions is very bad
320 // so for now limit its range badly
321
322 if (req.length > 30.0f)
323 d.GeomRaySetLength(ray, 30.0f);
324
325 d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
326 }
327
328 if (req.callbackMethod is RaycastCallback)
329 {
330 // Define default results
331 bool hitYN = false;
332 uint hitConsumerID = 0;
333 float distance = float.MaxValue;
334 Vector3 closestcontact = Vector3.Zero;
335 Vector3 snormal = Vector3.Zero;
336
337 // Find closest contact and object.
338 lock (m_contactResults)
339 {
340 foreach (ContactResult cResult in m_contactResults)
341 {
342 if(cResult.Depth < distance)
343 {
344 closestcontact = cResult.Pos;
345 hitConsumerID = cResult.ConsumerID;
346 distance = cResult.Depth;
347 snormal = cResult.Normal;
348 }
349 }
350 m_contactResults.Clear();
351 }
352
353 if (distance > 0 && distance < float.MaxValue)
354 hitYN = true;
355 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
356 }
357 else
358 {
359 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
360 lock (m_PendingRequests)
361 {
362 cresult.AddRange(m_contactResults);
363 m_contactResults.Clear();
364 }
365 ((RayCallback)req.callbackMethod)(cresult);
366 }
367 }
368
369 private void doProbe(ODERayRequest req, IntPtr probe)
370 {
371 // Collide tests
372 if ((CurrentRayFilter & FilterActiveSpace) != 0)
373 {
374 d.SpaceCollide2(probe, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
375 d.SpaceCollide2(probe, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
376 }
377 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
378 d.SpaceCollide2(probe, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
379 if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
380 d.SpaceCollide2(probe, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
381
382 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
383 lock (m_PendingRequests)
384 {
385 cresult.AddRange(m_contactResults);
386 m_contactResults.Clear();
387 }
388 if (req.callbackMethod is ProbeBoxCallback)
389 ((ProbeBoxCallback)req.callbackMethod)(cresult);
390 else if (req.callbackMethod is ProbeSphereCallback)
391 ((ProbeSphereCallback)req.callbackMethod)(cresult);
392 }
393
394 private void doPlane(ODERayRequest req,IntPtr geom)
395 {
396 // Collide tests
397 if (geom == IntPtr.Zero)
398 {
399 if ((CurrentRayFilter & FilterActiveSpace) != 0)
400 {
401 d.SpaceCollide2(Plane, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
402 d.SpaceCollide2(Plane, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
403 }
404 if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
405 d.SpaceCollide2(Plane, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
406 if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
407 d.SpaceCollide2(Plane, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
408 }
409 else
410 {
411 d.SpaceCollide2(Plane, geom, IntPtr.Zero, nearCallback);
412 }
413
414 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
415 lock (m_PendingRequests)
416 {
417 cresult.AddRange(m_contactResults);
418 m_contactResults.Clear();
419 }
420
421 ((ProbePlaneCallback)req.callbackMethod)(cresult);
422 }
423
424 /// <summary>
425 /// Method that actually initiates the raycast with a geom
426 /// </summary>
427 /// <param name="req"></param>
428 private void doGeomRay(ODERayRequest req, IntPtr geom)
429 {
430 // Collide test
431 d.SpaceCollide2(ray, geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
432
433 if (req.callbackMethod is RaycastCallback)
434 {
435 // Define default results
436 bool hitYN = false;
437 uint hitConsumerID = 0;
438 float distance = float.MaxValue;
439 Vector3 closestcontact = Vector3.Zero;
440 Vector3 snormal = Vector3.Zero;
441
442 // Find closest contact and object.
443 lock (m_contactResults)
444 {
445 foreach (ContactResult cResult in m_contactResults)
446 {
447 if(cResult.Depth < distance )
448 {
449 closestcontact = cResult.Pos;
450 hitConsumerID = cResult.ConsumerID;
451 distance = cResult.Depth;
452 snormal = cResult.Normal;
453 }
454 }
455 m_contactResults.Clear();
456 }
457
458 if (distance > 0 && distance < float.MaxValue)
459 hitYN = true;
460
461 ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
462 }
463 else
464 {
465 List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
466 lock (m_PendingRequests)
467 {
468 cresult.AddRange(m_contactResults);
469 m_contactResults.Clear();
470 }
471 ((RayCallback)req.callbackMethod)(cresult);
472 }
473 }
474
475 private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
476 {
477 IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
478 if (ContactgeomsArray == IntPtr.Zero || index >= CollisionContactGeomsPerTest)
479 return false;
480
481 IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
482 newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
483 return true;
484 }
485
486 // This is the standard Near. g1 is the ray
487 private void near(IntPtr space, IntPtr g1, IntPtr g2)
488 {
489 if (g2 == IntPtr.Zero || g1 == g2)
490 return;
491
492 if (m_contactResults.Count >= CurrentMaxCount)
493 return;
494
495 if (d.GeomIsSpace(g2))
496 {
497 try
498 {
499 d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
500 }
501 catch (Exception e)
502 {
503 m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
504 }
505 return;
506 }
507
508 int count = 0;
509 try
510 {
511 count = d.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
512 }
513 catch (Exception e)
514 {
515 m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
516 return;
517 }
518
519 if (count == 0)
520 return;
521/*
522 uint cat1 = d.GeomGetCategoryBits(g1);
523 uint cat2 = d.GeomGetCategoryBits(g2);
524 uint col1 = d.GeomGetCollideBits(g1);
525 uint col2 = d.GeomGetCollideBits(g2);
526*/
527
528 uint ID = 0;
529 PhysicsActor p2 = null;
530
531 m_scene.actor_name_map.TryGetValue(g2, out p2);
532
533 if (p2 == null)
534 return;
535
536 switch (p2.PhysicsActorType)
537 {
538 case (int)ActorTypes.Prim:
539
540 RayFilterFlags thisFlags;
541
542 if (p2.IsPhysical)
543 thisFlags = RayFilterFlags.physical;
544 else
545 thisFlags = RayFilterFlags.nonphysical;
546
547 if (p2.Phantom)
548 thisFlags |= RayFilterFlags.phantom;
549
550 if (p2.IsVolumeDtc)
551 thisFlags |= RayFilterFlags.volumedtc;
552
553 if ((thisFlags & CurrentRayFilter) == 0)
554 return;
555
556 ID = ((OdePrim)p2).LocalID;
557 break;
558
559 case (int)ActorTypes.Agent:
560
561 if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
562 return;
563 else
564 ID = ((OdeCharacter)p2).LocalID;
565 break;
566
567 case (int)ActorTypes.Ground:
568
569 if ((CurrentRayFilter & RayFilterFlags.land) == 0)
570 return;
571 break;
572
573 case (int)ActorTypes.Water:
574
575 if ((CurrentRayFilter & RayFilterFlags.water) == 0)
576 return;
577 break;
578
579 default:
580 break;
581 }
582
583 d.ContactGeom curcontact = new d.ContactGeom();
584
585 // closestHit for now only works for meshs, so must do it for others
586 if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
587 {
588 // Loop all contacts, build results.
589 for (int i = 0; i < count; i++)
590 {
591 if (!GetCurContactGeom(i, ref curcontact))
592 break;
593
594 ContactResult collisionresult = new ContactResult();
595 collisionresult.ConsumerID = ID;
596 collisionresult.Pos.X = curcontact.pos.X;
597 collisionresult.Pos.Y = curcontact.pos.Y;
598 collisionresult.Pos.Z = curcontact.pos.Z;
599 collisionresult.Depth = curcontact.depth;
600 collisionresult.Normal.X = curcontact.normal.X;
601 collisionresult.Normal.Y = curcontact.normal.Y;
602 collisionresult.Normal.Z = curcontact.normal.Z;
603 lock (m_contactResults)
604 {
605 m_contactResults.Add(collisionresult);
606 if (m_contactResults.Count >= CurrentMaxCount)
607 return;
608 }
609 }
610 }
611 else
612 {
613 // keep only closest contact
614 ContactResult collisionresult = new ContactResult();
615 collisionresult.ConsumerID = ID;
616 collisionresult.Depth = float.MaxValue;
617
618 for (int i = 0; i < count; i++)
619 {
620 if (!GetCurContactGeom(i, ref curcontact))
621 break;
622
623 if (curcontact.depth < collisionresult.Depth)
624 {
625 collisionresult.Pos.X = curcontact.pos.X;
626 collisionresult.Pos.Y = curcontact.pos.Y;
627 collisionresult.Pos.Z = curcontact.pos.Z;
628 collisionresult.Depth = curcontact.depth;
629 collisionresult.Normal.X = curcontact.normal.X;
630 collisionresult.Normal.Y = curcontact.normal.Y;
631 collisionresult.Normal.Z = curcontact.normal.Z;
632 }
633 }
634
635 if (collisionresult.Depth != float.MaxValue)
636 {
637 lock (m_contactResults)
638 m_contactResults.Add(collisionresult);
639 }
640 }
641 }
642
643 /// <summary>
644 /// Dereference the creator scene so that it can be garbage collected if needed.
645 /// </summary>
646 internal void Dispose()
647 {
648 m_scene = null;
649 if (ray != IntPtr.Zero)
650 {
651 d.GeomDestroy(ray);
652 ray = IntPtr.Zero;
653 }
654 if (Box != IntPtr.Zero)
655 {
656 d.GeomDestroy(Box);
657 Box = IntPtr.Zero;
658 }
659 if (Sphere != IntPtr.Zero)
660 {
661 d.GeomDestroy(Sphere);
662 Sphere = IntPtr.Zero;
663 }
664 if (Plane != IntPtr.Zero)
665 {
666 d.GeomDestroy(Plane);
667 Plane = IntPtr.Zero;
668 }
669 }
670 }
671
672 public struct ODERayRequest
673 {
674 public PhysicsActor actor;
675 public Vector3 Origin;
676 public Vector3 Normal;
677 public int Count;
678 public float length;
679 public object callbackMethod;
680 public RayFilterFlags filter;
681 public Quaternion orientation;
682 }
683}
generated by cgit v1.1 at 2024-11-05 13:25:55 +0000