/// <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
{
callbackMethod = retMethod,
length = length,
Normal = direction,
Origin = position
};
m_PendingRequests.Add(req);
}
}
/// <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)};
Vector3 snormal = Vector3.Zero;
// Find closest contact and object.
lock (m_contactResults)
{
foreach (
ContactResult cResult in
m_contactResults.Where(
cResult =>
Vector3.Distance(req.Origin, cResult.Pos) < Vector3.Distance(req.Origin, closestcontact[0]))
)
{
closestcontact[0] = cResult.Pos;
hitConsumerID = cResult.ConsumerID;
distance = cResult.Depth;
hitYN = true;
snormal = cResult.Normal;
}
m_contactResults.Clear();
}
// Return results
if (req.callbackMethod != null)
req.callbackMethod(hitYN, closestcontact[0], hitConsumerID, distance, snormal);
}
/// <summary>
/// Process all queued raycast requests
/// </summary>
/// <returns>Time in MS the raycasts took to process.</returns>
public int ProcessQueuedRequests()
{
int time = Environment.TickCount;
ODERayCastRequest[] reqs = new ODERayCastRequest[0];
lock (m_PendingRequests)
{
if (m_PendingRequests.Count > 0)
{
reqs = m_PendingRequests.ToArray();
m_PendingRequests.Clear();
}
}
for (int i = 0; i < reqs.Length; i++)
{
if (reqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(reqs[i]); // if there isn't anyone to send results
}
ODERayRequest[] rayReqs = new ODERayRequest[0];
lock (m_PendingRayRequests)
{
if (m_PendingRayRequests.Count > 0)
{
rayReqs = m_PendingRayRequests.ToArray();
m_PendingRayRequests.Clear();
}
}
for (int i = 0; i < rayReqs.Length; i++)
{
if (rayReqs[i].callbackMethod != null) // quick optimization here, don't raycast
RayCast(rayReqs[i]); // if there isn't anyone to send results
}
lock (m_contactResults)
m_contactResults.Clear();
return Environment.TickCount - time;
}