clockwerk-opensim-stable – Blame information for rev 1
?pathlinks?
Rev | Author | Line No. | Line |
---|---|---|---|
1 | vero | 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 | |||
28 | using System; |
||
29 | using System.Collections.Generic; |
||
30 | using System.Reflection; |
||
31 | using System.Runtime.InteropServices; |
||
32 | using System.Text; |
||
33 | using OpenMetaverse; |
||
34 | using OpenSim.Region.Physics.Manager; |
||
35 | using Ode.NET; |
||
36 | using log4net; |
||
37 | |||
38 | namespace 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 | } |