aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/OdePlugin/ODERayCastRequestManager.cs
blob: c4cb25048e734527a79230650c1b6128f56a8eaf (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
/*
 * 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 OpenMetaverse;
using OpenSim.Region.Physics.Manager;
using Ode.NET;
using log4net;

namespace OpenSim.Region.Physics.OdePlugin
{
    /// <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 Raycast Requests
        /// </summary>
        protected List<ODERayCastRequest> m_PendingRequests = new List<ODERayCastRequest>();

        /// <summary>
        /// Scene that created this object.
        /// </summary>
        private OdeScene m_scene;

        /// <summary>
        /// ODE contact array to be filled by the collision testing
        /// </summary>
        d.ContactGeom[] contacts = new d.ContactGeom[5];

        /// <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>();


        public ODERayCastRequestManager(OdeScene pScene)
        {
            m_scene = pScene;
            nearCallback = near;
            
        }

        /// <summary>
        /// Queues a raycast
        /// </summary>
        /// <param name="position">Origin of Ray</param>
        /// <param name="direction">Ray normal</param>
        /// <param name="length">Ray length</param>
        /// <param name="retMethod">Return method to send the results</param>
        public void QueueRequest(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
        {
            lock (m_PendingRequests)
            {
                ODERayCastRequest req = new ODERayCastRequest();
                req.callbackMethod = retMethod;
                req.length = length;
                req.Normal = direction;
                req.Origin = position;

                m_PendingRequests.Add(req);
            }
        }

        /// <summary>
        /// Process all queued raycast requests
        /// </summary>
        /// <returns>Time in MS the raycasts took to process.</returns>
        public int ProcessQueuedRequests()
        {
            int time = System.Environment.TickCount;
            lock (m_PendingRequests)
            {
                if (m_PendingRequests.Count > 0)
                {
                    foreach (ODERayCastRequest req in m_PendingRequests)
                    {
                        if (req.callbackMethod != null) // quick optimization here, don't raycast 
                            RayCast(req);               // if there isn't anyone to send results to
                            
                    }

                    m_PendingRequests.Clear();
                }
            }

            lock (m_contactResults)
                m_contactResults.Clear();

            return System.Environment.TickCount - time;
        }

        /// <summary>
        /// Method that actually initiates the raycast
        /// </summary>
        /// <param name="req"></param>
        private void RayCast(ODERayCastRequest req)
        {
            // Create the ray
            IntPtr ray = d.CreateRay(m_scene.space, req.length);
            d.GeomRaySet(ray, req.Origin.X, req.Origin.Y, req.Origin.Z, req.Normal.X, req.Normal.Y, req.Normal.Z);

            // Collide test
            d.SpaceCollide2(m_scene.space, ray, IntPtr.Zero, nearCallback);

            // Remove Ray
            d.GeomDestroy(ray);


            // Define default results
            bool hitYN = false;
            uint hitConsumerID = 0;
            float distance = 999999999999f;
            Vector3 closestcontact = new Vector3(99999f, 99999f, 99999f);

            // Find closest contact and object.
            lock (m_contactResults)
            {
                foreach (ContactResult cResult in m_contactResults)
                {
                    if (Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact))
                    {
                        closestcontact = cResult.Pos;
                        hitConsumerID = cResult.ConsumerID;
                        distance = cResult.Depth;
                        hitYN = true;
                    }
                }

                m_contactResults.Clear();
            }

            // Return results
            if (req.callbackMethod != null)
                req.callbackMethod(hitYN, closestcontact, hitConsumerID, distance);
        }

        // This is the standard Near.   Uses space AABBs to speed up detection.
        private void near(IntPtr space, IntPtr g1, IntPtr g2)
        {

            //Don't test against heightfield Geom, or you'll be sorry!
            
            /*
             terminate called after throwing an instance of 'std::bad_alloc'
                  what():  std::bad_alloc
                Stacktrace:
                 
                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0x00004>
                  at (wrapper managed-to-native) Ode.NET.d.Collide (intptr,intptr,int,Ode.NET.d/ContactGeom[],int) <0xffffffff>
                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0x00280>
                  at (wrapper native-to-managed) OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.near (intptr,intptr,intptr) <0xfff
                fffff>
                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0x00004>
                  at (wrapper managed-to-native) Ode.NET.d.SpaceCollide2 (intptr,intptr,intptr,Ode.NET.d/NearCallback) <0xffffffff>
                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.RayCast (OpenSim.Region.Physics.OdePlugin.ODERayCastRequest) <
                0x00114>
                  at OpenSim.Region.Physics.OdePlugin.ODERayCastRequestManager.ProcessQueuedRequests () <0x000eb>
                  at OpenSim.Region.Physics.OdePlugin.OdeScene.Simulate (single) <0x017e6>
                  at OpenSim.Region.Framework.Scenes.SceneGraph.UpdatePhysics (double) <0x00042>
                  at OpenSim.Region.Framework.Scenes.Scene.Update () <0x0039e>
                  at OpenSim.Region.Framework.Scenes.Scene.Heartbeat (object) <0x00019>
                  at (wrapper runtime-invoke) object.runtime_invoke_void__this___object (object,intptr,intptr,intptr) <0xffffffff>
                 
                Native stacktrace:
                 
                        mono [0x80d2a42]
                        [0xb7f5840c]
                        /lib/i686/cmov/libc.so.6(abort+0x188) [0xb7d1a018]
                        /usr/lib/libstdc++.so.6(_ZN9__gnu_cxx27__verbose_terminate_handlerEv+0x158) [0xb45fc988]
                        /usr/lib/libstdc++.so.6 [0xb45fa865]
                        /usr/lib/libstdc++.so.6 [0xb45fa8a2]
                        /usr/lib/libstdc++.so.6 [0xb45fa9da]
                        /usr/lib/libstdc++.so.6(_Znwj+0x83) [0xb45fb033]
                        /usr/lib/libstdc++.so.6(_Znaj+0x1d) [0xb45fb11d]
                        libode.so(_ZN13dxHeightfield23dCollideHeightfieldZoneEiiiiP6dxGeomiiP12dContactGeomi+0xd04) [0xb46678e4]
                        libode.so(_Z19dCollideHeightfieldP6dxGeomS0_iP12dContactGeomi+0x54b) [0xb466832b]
                        libode.so(dCollide+0x102) [0xb46571b2]
                        [0x95cfdec9]
                        [0x8ea07fe1]
                        [0xab260146]
                        libode.so [0xb465a5c4]
                        libode.so(_ZN11dxHashSpace8collide2EPvP6dxGeomPFvS0_S2_S2_E+0x75) [0xb465bcf5]
                        libode.so(dSpaceCollide2+0x177) [0xb465ac67]
                        [0x95cf978e]
                        [0x8ea07945]
                        [0x95cf2bbc]
                        [0xab2787e7]
                        [0xab419fb3]
                        [0xab416657]
                        [0xab415bda]
                        [0xb609b08e]
                        mono(mono_runtime_delegate_invoke+0x34) [0x8192534]
                        mono [0x81a2f0f]
                        mono [0x81d28b6]
                        mono [0x81ea2c6]
                        /lib/i686/cmov/libpthread.so.0 [0xb7e744c0]
                        /lib/i686/cmov/libc.so.6(clone+0x5e) [0xb7dcd6de]             
             */

            // Exclude heightfield geom
            if (g1 == m_scene.LandGeom)
                return;
            if (g2 == m_scene.LandGeom)
                return;
            if (g1 == m_scene.WaterGeom)
                return;
            if (g2 == m_scene.WaterGeom)
                return;
            
            
            
            // Raytest against AABBs of spaces first, then dig into the spaces it hits for actual geoms.
            if (d.GeomIsSpace(g1) || d.GeomIsSpace(g2))
            {
                if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
                    return;
                
                // Separating static prim geometry spaces.
                // We'll be calling near recursivly if one
                // of them is a space to find all of the
                // contact points in the space
                try
                {
                    d.SpaceCollide2(g1, g2, IntPtr.Zero, nearCallback);
                }
                catch (AccessViolationException)
                {
                    m_log.Warn("[PHYSICS]: Unable to collide test a space");
                    return;
                }
                //Colliding a space or a geom with a space or a geom. so drill down

                //Collide all geoms in each space..
                //if (d.GeomIsSpace(g1)) d.SpaceCollide(g1, IntPtr.Zero, nearCallback);
                //if (d.GeomIsSpace(g2)) d.SpaceCollide(g2, IntPtr.Zero, nearCallback);
                return;
            }

            if (g1 == IntPtr.Zero || g2 == IntPtr.Zero)
                return;

            int count = 0;
            try
            {
                
                if (g1 == g2)
                    return; // Can't collide with yourself

                lock (contacts)
                {
                    count = d.Collide(g1, g2, contacts.GetLength(0), contacts, d.ContactGeom.SizeOf);
                }
            }
            catch (SEHException)
            {
                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.");
            }
            catch (Exception e)
            {
                m_log.WarnFormat("[PHYSICS]: Unable to collide test an object: {0}", e.Message);
                return;
            }

            PhysicsActor p1 = null;
            PhysicsActor p2 = null;

            if (g1 != IntPtr.Zero)
                m_scene.actor_name_map.TryGetValue(g1, out p1);

            if (g2 != IntPtr.Zero)
                m_scene.actor_name_map.TryGetValue(g1, out p2);

            // Loop over contacts, build results.
            for (int i = 0; i < count; i++)
            {
                if (p1 != null) { 
                    if (p1 is OdePrim)
                    {
                        ContactResult collisionresult = new ContactResult();
                    
                        collisionresult.ConsumerID = ((OdePrim)p1).m_localID;
                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
                        collisionresult.Depth = contacts[i].depth;
                        
                        lock (m_contactResults)
                            m_contactResults.Add(collisionresult);
                    }
                }

                if (p2 != null)
                {
                    if (p2 is OdePrim)
                    {
                        ContactResult collisionresult = new ContactResult();

                        collisionresult.ConsumerID = ((OdePrim)p2).m_localID;
                        collisionresult.Pos = new Vector3(contacts[i].pos.X, contacts[i].pos.Y, contacts[i].pos.Z);
                        collisionresult.Depth = contacts[i].depth;

                        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;
        }
    }

    public struct ODERayCastRequest
    {
        public Vector3 Origin;
        public Vector3 Normal;
        public float length;
        public RaycastCallback callbackMethod;
    }

    public struct ContactResult
    {
        public Vector3 Pos;
        public float Depth;
        public uint ConsumerID;
    }
}