/// <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; }