1 files changed, 689 insertions, 0 deletions

diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs b/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
new file mode 100644
index 0000000..f671722
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODERayCastRequestManager.cs
@@ -0,0 +1,689 @@
+/*
+ * 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.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using System.Runtime.InteropServices;
+using System.Text;
+using OpenSim.Framework;
+using OpenSim.Region.PhysicsModules.SharedBase;
+using OdeAPI;
+using log4net;
+using OpenMetaverse;
+
+namespace OpenSim.Region.PhysicsModule.ubOde
+{
+    /// <summary>
+    /// Processes raycast requests as ODE is in a state to be able to do them.
+    /// This ensures that it's thread safe and there will be no conflicts.
+    /// Requests get returned by a different thread then they were requested by.
+    /// </summary>
+    public class ODERayCastRequestManager
+    {
+        /// <summary>
+        /// Pending ray requests
+        /// </summary>
+        protected OpenSim.Framework.LocklessQueue<ODERayRequest> m_PendingRequests = new OpenSim.Framework.LocklessQueue<ODERayRequest>();
+
+        /// <summary>
+        /// Scene that created this object.
+        /// </summary>
+        private ODEScene m_scene;
+
+        IntPtr ray; // the ray. we only need one for our lifetime
+        IntPtr Sphere;
+        IntPtr Box;
+        IntPtr Plane;
+
+        private int CollisionContactGeomsPerTest = 25;
+        private const int DefaultMaxCount = 25;
+        private const int MaxTimePerCallMS = 30;
+
+        /// <summary>
+        /// ODE near callback delegate
+        /// </summary>
+        private d.NearCallback nearCallback;
+        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+        private List<ContactResult> m_contactResults = new List<ContactResult>();
+        private RayFilterFlags CurrentRayFilter;
+        private int CurrentMaxCount;
+
+        public ODERayCastRequestManager(ODEScene pScene)
+        {
+            m_scene = pScene;
+            nearCallback = near;
+            ray = d.CreateRay(IntPtr.Zero, 1.0f);
+            d.GeomSetCategoryBits(ray, 0);
+            Box = d.CreateBox(IntPtr.Zero, 1.0f, 1.0f, 1.0f);
+            d.GeomSetCategoryBits(Box, 0);
+            Sphere = d.CreateSphere(IntPtr.Zero,1.0f);
+            d.GeomSetCategoryBits(Sphere, 0);
+            Plane = d.CreatePlane(IntPtr.Zero, 0f,0f,1f,1f);
+            d.GeomSetCategoryBits(Sphere, 0);
+        }
+
+        public void QueueRequest(ODERayRequest req)
+        {
+            if (req.Count == 0)
+                req.Count = DefaultMaxCount;
+
+            m_PendingRequests.Enqueue(req);
+        }
+
+        /// <summary>
+        /// Process all queued raycast requests
+        /// </summary>
+        /// <returns>Time in MS the raycasts took to process.</returns>
+        public int ProcessQueuedRequests()
+        {
+
+            if (m_PendingRequests.Count <= 0)
+                return 0;
+
+            if (m_scene.ContactgeomsArray == IntPtr.Zero || ray == IntPtr.Zero)
+                // oops something got wrong or scene isn't ready still
+            {
+                m_PendingRequests.Clear();
+                return 0;
+            }
+
+            int time = Util.EnvironmentTickCount();
+
+            ODERayRequest req;
+            int closestHit;
+            int backfacecull;
+            CollisionCategories catflags;
+
+            while (m_PendingRequests.Dequeue(out req))
+            {
+                if (req.callbackMethod != null)
+                {
+                    IntPtr geom = IntPtr.Zero;
+                    if (req.actor != null)
+                    {
+                        if (m_scene.haveActor(req.actor))
+                        {
+                            if (req.actor is OdePrim)
+                                geom = ((OdePrim)req.actor).prim_geom;
+                            else if (req.actor is OdeCharacter)
+                                geom = ((OdePrim)req.actor).prim_geom;
+                        }
+                        if (geom == IntPtr.Zero)
+                        {
+                            NoContacts(req);
+                            continue;
+                        }
+                    }
+
+                    CurrentRayFilter = req.filter;
+                    CurrentMaxCount = req.Count;
+
+                    CollisionContactGeomsPerTest = req.Count & 0xffff;
+
+                    closestHit = ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0 ? 0 : 1);
+                    backfacecull = ((CurrentRayFilter & RayFilterFlags.BackFaceCull) == 0 ? 0 : 1);
+
+                    if (req.callbackMethod is ProbeBoxCallback)
+                    {
+                        if (CollisionContactGeomsPerTest > 80)
+                            CollisionContactGeomsPerTest = 80;
+                        d.GeomBoxSetLengths(Box, req.Normal.X, req.Normal.Y, req.Normal.Z);
+                        d.GeomSetPosition(Box, req.Origin.X, req.Origin.Y, req.Origin.Z);
+                        d.Quaternion qtmp;
+                        qtmp.X = req.orientation.X;
+                        qtmp.Y = req.orientation.Y;
+                        qtmp.Z = req.orientation.Z;
+                        qtmp.W = req.orientation.W;
+                        d.GeomSetQuaternion(Box, ref qtmp);
+                    }
+                    else if (req.callbackMethod is ProbeSphereCallback)
+                    {
+                        if (CollisionContactGeomsPerTest > 80)
+                            CollisionContactGeomsPerTest = 80;
+
+                        d.GeomSphereSetRadius(Sphere, req.length);
+                        d.GeomSetPosition(Sphere, req.Origin.X, req.Origin.Y, req.Origin.Z);
+                    }
+                    else if (req.callbackMethod is ProbePlaneCallback)
+                    {
+                        if (CollisionContactGeomsPerTest > 80)
+                            CollisionContactGeomsPerTest = 80;
+
+                        d.GeomPlaneSetParams(Plane, req.Normal.X, req.Normal.Y, req.Normal.Z, req.length);
+                    }
+
+                    else
+                    {
+                        if (CollisionContactGeomsPerTest > 25)
+                            CollisionContactGeomsPerTest = 25;
+
+                        d.GeomRaySetLength(ray, req.length);
+                        d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);
+                        d.GeomRaySetParams(ray, 0, backfacecull);
+
+                        if (req.callbackMethod is RaycastCallback)
+                        {
+                            // if we only want one get only one per Collision pair saving memory
+                            CurrentRayFilter |= RayFilterFlags.ClosestHit;
+                            d.GeomRaySetClosestHit(ray, 1);
+                        }
+                        else
+                            d.GeomRaySetClosestHit(ray, closestHit);
+                    }
+
+                    if ((CurrentRayFilter & RayFilterFlags.ContactsUnImportant) != 0)
+                        unchecked
+                        {
+                            CollisionContactGeomsPerTest |= (int)d.CONTACTS_UNIMPORTANT;
+                        }
+
+                    if (geom == IntPtr.Zero)
+                    {
+                        // translate ray filter to Collision flags
+                        catflags = 0;
+                        if ((CurrentRayFilter & RayFilterFlags.volumedtc) != 0)
+                            catflags |= CollisionCategories.VolumeDtc;
+                        if ((CurrentRayFilter & RayFilterFlags.phantom) != 0)
+                            catflags |= CollisionCategories.Phantom;
+                        if ((CurrentRayFilter & RayFilterFlags.agent) != 0)
+                            catflags |= CollisionCategories.Character;
+                        if ((CurrentRayFilter & RayFilterFlags.PrimsNonPhantom) != 0)
+                            catflags |= CollisionCategories.Geom;
+                        if ((CurrentRayFilter & RayFilterFlags.land) != 0)
+                            catflags |= CollisionCategories.Land;
+                        if ((CurrentRayFilter & RayFilterFlags.water) != 0)
+                            catflags |= CollisionCategories.Water;
+
+                        if (catflags != 0)
+                        {
+                            if (req.callbackMethod is ProbeBoxCallback)
+                            {
+                                catflags |= CollisionCategories.Space;
+                                d.GeomSetCollideBits(Box, (uint)catflags);
+                                d.GeomSetCategoryBits(Box, (uint)catflags);
+                                doProbe(req, Box);
+                            }
+                            else if (req.callbackMethod is ProbeSphereCallback)
+                            {
+                                catflags |= CollisionCategories.Space;
+                                d.GeomSetCollideBits(Sphere, (uint)catflags);
+                                d.GeomSetCategoryBits(Sphere, (uint)catflags);
+                                doProbe(req, Sphere);
+                            }
+                            else if (req.callbackMethod is ProbePlaneCallback)
+                            {
+                                catflags |= CollisionCategories.Space;
+                                d.GeomSetCollideBits(Plane, (uint)catflags);
+                                d.GeomSetCategoryBits(Plane, (uint)catflags);
+                                doPlane(req,IntPtr.Zero);
+                            }
+                            else
+                            {
+                                d.GeomSetCollideBits(ray, (uint)catflags);
+                                doSpaceRay(req);
+                            }
+                        }
+                    }
+                    else
+                    {
+                        // if we select a geom don't use filters
+
+                        if (req.callbackMethod is ProbePlaneCallback)
+                        {
+                            d.GeomSetCollideBits(Plane, (uint)CollisionCategories.All);
+                            doPlane(req,geom);
+                        }
+                        else
+                        {
+                            d.GeomSetCollideBits(ray, (uint)CollisionCategories.All);
+                            doGeomRay(req,geom);
+                        }
+                    }
+                }
+
+                if (Util.EnvironmentTickCountSubtract(time) > MaxTimePerCallMS)
+                    break;
+            }
+
+            lock (m_contactResults)
+                m_contactResults.Clear();
+
+            return Util.EnvironmentTickCountSubtract(time);
+        }
+        /// <summary>
+        /// Method that actually initiates the raycast with spaces
+        /// </summary>
+        /// <param name="req"></param>
+        ///
+
+        private void NoContacts(ODERayRequest req)
+        {
+            if (req.callbackMethod is RaycastCallback)
+            {
+                ((RaycastCallback)req.callbackMethod)(false, Vector3.Zero, 0, 0, Vector3.Zero);
+                return;
+            }
+            List<ContactResult> cresult = new List<ContactResult>();
+
+            if (req.callbackMethod is RayCallback)
+                ((RayCallback)req.callbackMethod)(cresult);
+            else if (req.callbackMethod is ProbeBoxCallback)
+                ((ProbeBoxCallback)req.callbackMethod)(cresult);
+            else if (req.callbackMethod is ProbeSphereCallback)
+                ((ProbeSphereCallback)req.callbackMethod)(cresult);
+        }
+
+        private const RayFilterFlags FilterActiveSpace = RayFilterFlags.agent | RayFilterFlags.physical | RayFilterFlags.LSLPhantom;
+//        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.land | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhanton;
+        private const RayFilterFlags FilterStaticSpace = RayFilterFlags.water | RayFilterFlags.nonphysical | RayFilterFlags.LSLPhantom;
+
+        private void doSpaceRay(ODERayRequest req)
+        {
+            // Collide tests
+            if ((CurrentRayFilter & FilterActiveSpace) != 0)
+            {
+                d.SpaceCollide2(ray, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
+                d.SpaceCollide2(ray, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
+            }
+            if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                d.SpaceCollide2(ray, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
+            if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
+            {
+                // current ode land to ray collisions is very bad
+                // so for now limit its range badly
+                if (req.length > 60.0f)
+                {
+                    Vector3 t = req.Normal * req.length;
+                    float tmp = t.X * t.X + t.Y * t.Y;
+                    if(tmp > 2500)
+                    {
+                        float tmp2 = req.length * req.length - tmp + 2500;
+                        tmp2 = (float)Math.Sqrt(tmp2);
+                        d.GeomRaySetLength(ray, tmp2);
+                    }
+
+                }
+                d.SpaceCollide2(ray, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
+            }
+
+            if (req.callbackMethod is RaycastCallback)
+            {
+                // Define default results
+                bool hitYN = false;
+                uint hitConsumerID = 0;
+                float distance = float.MaxValue;
+                Vector3 closestcontact = Vector3.Zero;
+                Vector3 snormal = Vector3.Zero;
+
+                // Find closest contact and object.
+                lock (m_contactResults)
+                {
+                    foreach (ContactResult cResult in m_contactResults)
+                    {
+                        if(cResult.Depth < distance)
+                        {
+                            closestcontact = cResult.Pos;
+                            hitConsumerID = cResult.ConsumerID;
+                            distance = cResult.Depth;
+                            snormal = cResult.Normal;
+                        }
+                    }
+                    m_contactResults.Clear();
+                }
+
+                if (distance > 0 && distance < float.MaxValue)
+                    hitYN = true;
+                ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
+            }
+            else
+            {
+                List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
+                lock (m_PendingRequests)
+                {
+                    cresult.AddRange(m_contactResults);
+                    m_contactResults.Clear();
+                }
+                ((RayCallback)req.callbackMethod)(cresult);
+            }
+        }
+
+        private void doProbe(ODERayRequest req, IntPtr probe)
+        {
+            // Collide tests
+            if ((CurrentRayFilter & FilterActiveSpace) != 0)
+            {
+                d.SpaceCollide2(probe, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
+                d.SpaceCollide2(probe, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
+            }
+            if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                d.SpaceCollide2(probe, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
+            if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                d.SpaceCollide2(probe, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
+
+            List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
+            lock (m_PendingRequests)
+            {
+                cresult.AddRange(m_contactResults);
+                m_contactResults.Clear();
+            }
+            if (req.callbackMethod is ProbeBoxCallback)
+                ((ProbeBoxCallback)req.callbackMethod)(cresult);
+            else if (req.callbackMethod is ProbeSphereCallback)
+                ((ProbeSphereCallback)req.callbackMethod)(cresult);
+        }
+
+        private void doPlane(ODERayRequest req,IntPtr geom)
+        {
+            // Collide tests
+            if (geom == IntPtr.Zero)
+            {
+                if ((CurrentRayFilter & FilterActiveSpace) != 0)
+                {
+                    d.SpaceCollide2(Plane, m_scene.ActiveSpace, IntPtr.Zero, nearCallback);
+                    d.SpaceCollide2(Plane, m_scene.CharsSpace, IntPtr.Zero, nearCallback);
+                }
+                if ((CurrentRayFilter & FilterStaticSpace) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                    d.SpaceCollide2(Plane, m_scene.StaticSpace, IntPtr.Zero, nearCallback);
+                if ((CurrentRayFilter & RayFilterFlags.land) != 0 && (m_contactResults.Count < CurrentMaxCount))
+                    d.SpaceCollide2(Plane, m_scene.GroundSpace, IntPtr.Zero, nearCallback);
+            }
+            else
+            {
+                d.SpaceCollide2(Plane, geom, IntPtr.Zero, nearCallback);
+            }
+
+            List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
+            lock (m_PendingRequests)
+            {
+                cresult.AddRange(m_contactResults);
+                m_contactResults.Clear();
+            }
+
+            ((ProbePlaneCallback)req.callbackMethod)(cresult);
+        }
+
+        /// <summary>
+        /// Method that actually initiates the raycast with a geom
+        /// </summary>
+        /// <param name="req"></param>
+        private void doGeomRay(ODERayRequest req, IntPtr geom)
+        {
+            // Collide test
+            d.SpaceCollide2(ray, geom, IntPtr.Zero, nearCallback); // still do this to have full AABB pre test
+
+            if (req.callbackMethod is RaycastCallback)
+            {
+                // Define default results
+                bool hitYN = false;
+                uint hitConsumerID = 0;
+                float distance = float.MaxValue;
+                Vector3 closestcontact = Vector3.Zero;
+                Vector3 snormal = Vector3.Zero;
+
+                // Find closest contact and object.
+                lock (m_contactResults)
+                {
+                    foreach (ContactResult cResult in m_contactResults)
+                    {
+                        if(cResult.Depth < distance )
+                        {
+                            closestcontact = cResult.Pos;
+                            hitConsumerID = cResult.ConsumerID;
+                            distance = cResult.Depth;
+                            snormal = cResult.Normal;
+                        }
+                    }
+                    m_contactResults.Clear();
+                }
+
+                if (distance > 0 && distance < float.MaxValue)
+                    hitYN = true;
+
+                ((RaycastCallback)req.callbackMethod)(hitYN, closestcontact, hitConsumerID, distance, snormal);
+            }
+            else
+            {
+                List<ContactResult> cresult = new List<ContactResult>(m_contactResults.Count);
+                lock (m_PendingRequests)
+                {
+                    cresult.AddRange(m_contactResults);
+                    m_contactResults.Clear();
+                }
+                ((RayCallback)req.callbackMethod)(cresult);
+            }
+        }
+
+        private bool GetCurContactGeom(int index, ref d.ContactGeom newcontactgeom)
+        {
+            IntPtr ContactgeomsArray = m_scene.ContactgeomsArray;
+            if (ContactgeomsArray == IntPtr.Zero || index >= CollisionContactGeomsPerTest)
+                return false;
+
+            IntPtr contactptr = new IntPtr(ContactgeomsArray.ToInt64() + (Int64)(index * d.ContactGeom.unmanagedSizeOf));
+            newcontactgeom = (d.ContactGeom)Marshal.PtrToStructure(contactptr, typeof(d.ContactGeom));
+            return true;
+        }
+
+        // This is the standard Near. g1 is the ray
+        private void near(IntPtr space, IntPtr g1, IntPtr g2)
+        {
+             if (g2 == IntPtr.Zero || g1 == g2)
+                return;
+
+             if (m_contactResults.Count >= CurrentMaxCount)
+                return;
+
+            if (d.GeomIsSpace(g2))
+            {
+                try
+                {
+                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
+                }
+                catch (Exception e)
+                {
+                    m_log.WarnFormat("[PHYSICS Ray]: Unable to Space collide test an object: {0}", e.Message);
+                }
+                return;
+            }
+
+            int count = 0;
+            try
+            {
+                count = d.CollidePtr(g1, g2, CollisionContactGeomsPerTest, m_scene.ContactgeomsArray, d.ContactGeom.unmanagedSizeOf);
+            }
+            catch (Exception e)
+            {
+                m_log.WarnFormat("[PHYSICS Ray]: Unable to collide test an object: {0}", e.Message);
+                return;
+            }
+
+            if (count == 0)
+                return;
+/*
+            uint cat1 = d.GeomGetCategoryBits(g1);
+            uint cat2 = d.GeomGetCategoryBits(g2);
+            uint col1 = d.GeomGetCollideBits(g1);
+            uint col2 = d.GeomGetCollideBits(g2);
+*/
+
+            uint ID = 0;
+            PhysicsActor p2 = null;
+
+            m_scene.actor_name_map.TryGetValue(g2, out p2);
+
+            if (p2 == null)
+                return;
+
+            switch (p2.PhysicsActorType)
+            {
+                case (int)ActorTypes.Prim:
+
+                    RayFilterFlags thisFlags;
+
+                    if (p2.IsPhysical)
+                        thisFlags = RayFilterFlags.physical;
+                    else
+                        thisFlags = RayFilterFlags.nonphysical;
+
+                    if (p2.Phantom)
+                        thisFlags |= RayFilterFlags.phantom;
+
+                    if (p2.IsVolumeDtc)
+                        thisFlags |= RayFilterFlags.volumedtc;
+
+                    if ((thisFlags & CurrentRayFilter) == 0)
+                        return;
+
+                    ID = ((OdePrim)p2).LocalID;
+                    break;
+
+                case (int)ActorTypes.Agent:
+
+                    if ((CurrentRayFilter & RayFilterFlags.agent) == 0)
+                        return;
+                    else
+                        ID = ((OdeCharacter)p2).LocalID;
+                    break;
+
+                case (int)ActorTypes.Ground:
+
+                    if ((CurrentRayFilter & RayFilterFlags.land) == 0)
+                        return;
+                    break;
+
+                case (int)ActorTypes.Water:
+
+                    if ((CurrentRayFilter & RayFilterFlags.water) == 0)
+                        return;
+                    break;
+
+                default:
+                    break;
+            }
+
+            d.ContactGeom curcontact = new d.ContactGeom();
+
+            // closestHit for now only works for meshs, so must do it for others
+            if ((CurrentRayFilter & RayFilterFlags.ClosestHit) == 0)
+            {
+                // Loop all contacts, build results.
+                for (int i = 0; i < count; i++)
+                {
+                    if (!GetCurContactGeom(i, ref curcontact))
+                        break;
+
+                    ContactResult collisionresult = new ContactResult();
+                    collisionresult.ConsumerID = ID;
+                    collisionresult.Pos.X = curcontact.pos.X;
+                    collisionresult.Pos.Y = curcontact.pos.Y;
+                    collisionresult.Pos.Z = curcontact.pos.Z;
+                    collisionresult.Depth = curcontact.depth;
+                    collisionresult.Normal.X = curcontact.normal.X;
+                    collisionresult.Normal.Y = curcontact.normal.Y;
+                    collisionresult.Normal.Z = curcontact.normal.Z;
+                    lock (m_contactResults)
+                    {
+                        m_contactResults.Add(collisionresult);
+                        if (m_contactResults.Count >= CurrentMaxCount)
+                            return;
+                    }
+                }
+            }
+            else
+            {
+                // keep only closest contact
+                ContactResult collisionresult = new ContactResult();
+                collisionresult.ConsumerID = ID;
+                collisionresult.Depth = float.MaxValue;
+
+                for (int i = 0; i < count; i++)
+                {
+                    if (!GetCurContactGeom(i, ref curcontact))
+                        break;
+
+                    if (curcontact.depth < collisionresult.Depth)
+                    {
+                        collisionresult.Pos.X = curcontact.pos.X;
+                        collisionresult.Pos.Y = curcontact.pos.Y;
+                        collisionresult.Pos.Z = curcontact.pos.Z;
+                        collisionresult.Depth = curcontact.depth;
+                        collisionresult.Normal.X = curcontact.normal.X;
+                        collisionresult.Normal.Y = curcontact.normal.Y;
+                        collisionresult.Normal.Z = curcontact.normal.Z;
+                    }
+                }
+
+                if (collisionresult.Depth != float.MaxValue)
+                {
+                    lock (m_contactResults)
+                        m_contactResults.Add(collisionresult);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Dereference the creator scene so that it can be garbage collected if needed.
+        /// </summary>
+        internal void Dispose()
+        {
+            m_scene = null;
+            if (ray != IntPtr.Zero)
+            {
+                d.GeomDestroy(ray);
+                ray = IntPtr.Zero;
+            }
+            if (Box != IntPtr.Zero)
+            {
+                d.GeomDestroy(Box);
+                Box = IntPtr.Zero;
+            }
+            if (Sphere != IntPtr.Zero)
+            {
+                d.GeomDestroy(Sphere);
+                Sphere = IntPtr.Zero;
+            }
+            if (Plane != IntPtr.Zero)
+            {
+                d.GeomDestroy(Plane);
+                Plane = IntPtr.Zero;
+            }
+        }
+    }
+
+    public struct ODERayRequest
+    {
+        public PhysicsActor actor;
+        public Vector3 Origin;
+        public Vector3 Normal;
+        public int Count;
+        public float length;
+        public object callbackMethod;
+        public RayFilterFlags filter;
+        public Quaternion orientation;
+    }
+}