diff options
author | Justin Clark-Casey (justincc) | 2011-08-03 00:46:46 +0100 |
---|---|---|
committer | Justin Clark-Casey (justincc) | 2011-08-03 00:46:46 +0100 |
commit | f9689f5cc96a937ba592487102e3a04535ca4739 (patch) | |
tree | 209ea37ff97fc0e55cf9df55214051f78504797d | |
parent | Fix Flotsam cache so it will use the disk cache if the memory cache is enabled (diff) | |
download | opensim-SC-f9689f5cc96a937ba592487102e3a04535ca4739.zip opensim-SC-f9689f5cc96a937ba592487102e3a04535ca4739.tar.gz opensim-SC-f9689f5cc96a937ba592487102e3a04535ca4739.tar.bz2 opensim-SC-f9689f5cc96a937ba592487102e3a04535ca4739.tar.xz |
refactor: move out code from HandleAgentUpdate() which processes updates to move to a set position
Also comment out the really spammy log message I accidentally left in on the last commit.
-rw-r--r-- | OpenSim/Region/Framework/Scenes/ScenePresence.cs | 214 |
1 files changed, 116 insertions, 98 deletions
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs index a508813..06b27ca 100644 --- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs +++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs | |||
@@ -1483,105 +1483,8 @@ namespace OpenSim.Region.Framework.Scenes | |||
1483 | i++; | 1483 | i++; |
1484 | } | 1484 | } |
1485 | 1485 | ||
1486 | //Paupaw:Do Proper PID for Autopilot here | 1486 | if (DoMoveToPositionUpdate(ref agent_control_v3, bodyRotation, bResetMoveToPosition, bAllowUpdateMoveToPosition)) |
1487 | if (bResetMoveToPosition) | ||
1488 | { | ||
1489 | m_moveToPositionTarget = Vector3.Zero; | ||
1490 | m_moveToPositionInProgress = false; | ||
1491 | update_movementflag = true; | 1487 | update_movementflag = true; |
1492 | bAllowUpdateMoveToPosition = false; | ||
1493 | } | ||
1494 | |||
1495 | m_log.DebugFormat( | ||
1496 | "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}", | ||
1497 | bAllowUpdateMoveToPosition, m_moveToPositionInProgress, m_autopilotMoving); | ||
1498 | |||
1499 | if (bAllowUpdateMoveToPosition && (m_moveToPositionInProgress && !m_autopilotMoving)) | ||
1500 | { | ||
1501 | double distanceToTarget = Util.GetDistanceTo(AbsolutePosition, m_moveToPositionTarget); | ||
1502 | // m_log.DebugFormat( | ||
1503 | // "[SCENE PRESENCE]: Abs pos of {0} is {1}, target {2}, distance {3}", | ||
1504 | // Name, AbsolutePosition, m_moveToPositionTarget, distanceToTarget); | ||
1505 | |||
1506 | // Check the error term of the current position in relation to the target position | ||
1507 | if (distanceToTarget <= 1) | ||
1508 | { | ||
1509 | // We are close enough to the target | ||
1510 | m_moveToPositionTarget = Vector3.Zero; | ||
1511 | m_moveToPositionInProgress = false; | ||
1512 | update_movementflag = true; | ||
1513 | } | ||
1514 | else | ||
1515 | { | ||
1516 | try | ||
1517 | { | ||
1518 | // move avatar in 2D at one meter/second towards target, in avatar coordinate frame. | ||
1519 | // This movement vector gets added to the velocity through AddNewMovement(). | ||
1520 | // Theoretically we might need a more complex PID approach here if other | ||
1521 | // unknown forces are acting on the avatar and we need to adaptively respond | ||
1522 | // to such forces, but the following simple approach seems to works fine. | ||
1523 | Vector3 LocalVectorToTarget3D = | ||
1524 | (m_moveToPositionTarget - AbsolutePosition) // vector from cur. pos to target in global coords | ||
1525 | * Matrix4.CreateFromQuaternion(Quaternion.Inverse(bodyRotation)); // change to avatar coords | ||
1526 | // Ignore z component of vector | ||
1527 | Vector3 LocalVectorToTarget2D = new Vector3((float)(LocalVectorToTarget3D.X), (float)(LocalVectorToTarget3D.Y), 0f); | ||
1528 | LocalVectorToTarget2D.Normalize(); | ||
1529 | agent_control_v3 += LocalVectorToTarget2D; | ||
1530 | |||
1531 | // update avatar movement flags. the avatar coordinate system is as follows: | ||
1532 | // | ||
1533 | // +X (forward) | ||
1534 | // | ||
1535 | // ^ | ||
1536 | // | | ||
1537 | // | | ||
1538 | // | | ||
1539 | // | | ||
1540 | // (left) +Y <--------o--------> -Y | ||
1541 | // avatar | ||
1542 | // | | ||
1543 | // | | ||
1544 | // | | ||
1545 | // | | ||
1546 | // v | ||
1547 | // -X | ||
1548 | // | ||
1549 | |||
1550 | // based on the above avatar coordinate system, classify the movement into | ||
1551 | // one of left/right/back/forward. | ||
1552 | if (LocalVectorToTarget2D.Y > 0)//MoveLeft | ||
1553 | { | ||
1554 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT; | ||
1555 | //AgentControlFlags | ||
1556 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT; | ||
1557 | update_movementflag = true; | ||
1558 | } | ||
1559 | else if (LocalVectorToTarget2D.Y < 0) //MoveRight | ||
1560 | { | ||
1561 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT; | ||
1562 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT; | ||
1563 | update_movementflag = true; | ||
1564 | } | ||
1565 | if (LocalVectorToTarget2D.X < 0) //MoveBack | ||
1566 | { | ||
1567 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK; | ||
1568 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK; | ||
1569 | update_movementflag = true; | ||
1570 | } | ||
1571 | else if (LocalVectorToTarget2D.X > 0) //Move Forward | ||
1572 | { | ||
1573 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD; | ||
1574 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD; | ||
1575 | update_movementflag = true; | ||
1576 | } | ||
1577 | } | ||
1578 | catch (Exception e) | ||
1579 | { | ||
1580 | //Avoid system crash, can be slower but... | ||
1581 | m_log.DebugFormat("Crash! {0}", e.ToString()); | ||
1582 | } | ||
1583 | } | ||
1584 | } | ||
1585 | } | 1488 | } |
1586 | 1489 | ||
1587 | // Cause the avatar to stop flying if it's colliding | 1490 | // Cause the avatar to stop flying if it's colliding |
@@ -1628,6 +1531,121 @@ namespace OpenSim.Region.Framework.Scenes | |||
1628 | m_scene.StatsReporter.AddAgentTime(Util.EnvironmentTickCountSubtract(m_perfMonMS)); | 1531 | m_scene.StatsReporter.AddAgentTime(Util.EnvironmentTickCountSubtract(m_perfMonMS)); |
1629 | } | 1532 | } |
1630 | 1533 | ||
1534 | /// <summary> | ||
1535 | /// Process moving the avatar if a position has been set. | ||
1536 | /// </summary> | ||
1537 | /// <param value="agent_control_v3">Cumulative agent movement that this method will update.</param> | ||
1538 | /// <param value="bodyRotation">New body rotation of the avatar.</param> | ||
1539 | /// <param value="reset">If true, clear the move to position</param> | ||
1540 | /// <param value="allowUpdate">If true, allow the update in principle.</param> | ||
1541 | /// <returns>True if movement has been updated in some way. False otherwise.</returns> | ||
1542 | protected bool DoMoveToPositionUpdate( | ||
1543 | ref Vector3 agent_control_v3, Quaternion bodyRotation, bool reset, bool allowUpdate) | ||
1544 | { | ||
1545 | bool updated = false; | ||
1546 | |||
1547 | //Paupaw:Do Proper PID for Autopilot here | ||
1548 | if (reset) | ||
1549 | { | ||
1550 | m_moveToPositionTarget = Vector3.Zero; | ||
1551 | m_moveToPositionInProgress = false; | ||
1552 | updated = true; | ||
1553 | } | ||
1554 | |||
1555 | m_log.DebugFormat( | ||
1556 | "[SCENE PRESENCE]: bAllowUpdateMoveToPosition {0}, m_moveToPositionInProgress {1}, m_autopilotMoving {2}", | ||
1557 | allowUpdate, m_moveToPositionInProgress, m_autopilotMoving); | ||
1558 | |||
1559 | if (allowUpdate && (m_moveToPositionInProgress && !m_autopilotMoving)) | ||
1560 | { | ||
1561 | double distanceToTarget = Util.GetDistanceTo(AbsolutePosition, m_moveToPositionTarget); | ||
1562 | // m_log.DebugFormat( | ||
1563 | // "[SCENE PRESENCE]: Abs pos of {0} is {1}, target {2}, distance {3}", | ||
1564 | // Name, AbsolutePosition, m_moveToPositionTarget, distanceToTarget); | ||
1565 | |||
1566 | // Check the error term of the current position in relation to the target position | ||
1567 | if (distanceToTarget <= 1) | ||
1568 | { | ||
1569 | // We are close enough to the target | ||
1570 | m_moveToPositionTarget = Vector3.Zero; | ||
1571 | m_moveToPositionInProgress = false; | ||
1572 | updated = true; | ||
1573 | } | ||
1574 | else | ||
1575 | { | ||
1576 | try | ||
1577 | { | ||
1578 | // move avatar in 2D at one meter/second towards target, in avatar coordinate frame. | ||
1579 | // This movement vector gets added to the velocity through AddNewMovement(). | ||
1580 | // Theoretically we might need a more complex PID approach here if other | ||
1581 | // unknown forces are acting on the avatar and we need to adaptively respond | ||
1582 | // to such forces, but the following simple approach seems to works fine. | ||
1583 | Vector3 LocalVectorToTarget3D = | ||
1584 | (m_moveToPositionTarget - AbsolutePosition) // vector from cur. pos to target in global coords | ||
1585 | * Matrix4.CreateFromQuaternion(Quaternion.Inverse(bodyRotation)); // change to avatar coords | ||
1586 | // Ignore z component of vector | ||
1587 | Vector3 LocalVectorToTarget2D = new Vector3((float)(LocalVectorToTarget3D.X), (float)(LocalVectorToTarget3D.Y), 0f); | ||
1588 | LocalVectorToTarget2D.Normalize(); | ||
1589 | agent_control_v3 += LocalVectorToTarget2D; | ||
1590 | |||
1591 | // update avatar movement flags. the avatar coordinate system is as follows: | ||
1592 | // | ||
1593 | // +X (forward) | ||
1594 | // | ||
1595 | // ^ | ||
1596 | // | | ||
1597 | // | | ||
1598 | // | | ||
1599 | // | | ||
1600 | // (left) +Y <--------o--------> -Y | ||
1601 | // avatar | ||
1602 | // | | ||
1603 | // | | ||
1604 | // | | ||
1605 | // | | ||
1606 | // v | ||
1607 | // -X | ||
1608 | // | ||
1609 | |||
1610 | // based on the above avatar coordinate system, classify the movement into | ||
1611 | // one of left/right/back/forward. | ||
1612 | if (LocalVectorToTarget2D.Y > 0)//MoveLeft | ||
1613 | { | ||
1614 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT; | ||
1615 | //AgentControlFlags | ||
1616 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT; | ||
1617 | updated = true; | ||
1618 | } | ||
1619 | else if (LocalVectorToTarget2D.Y < 0) //MoveRight | ||
1620 | { | ||
1621 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT; | ||
1622 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT; | ||
1623 | updated = true; | ||
1624 | } | ||
1625 | if (LocalVectorToTarget2D.X < 0) //MoveBack | ||
1626 | { | ||
1627 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK; | ||
1628 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK; | ||
1629 | updated = true; | ||
1630 | } | ||
1631 | else if (LocalVectorToTarget2D.X > 0) //Move Forward | ||
1632 | { | ||
1633 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD; | ||
1634 | AgentControlFlags |= (uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD; | ||
1635 | updated = true; | ||
1636 | } | ||
1637 | } | ||
1638 | catch (Exception e) | ||
1639 | { | ||
1640 | //Avoid system crash, can be slower but... | ||
1641 | m_log.DebugFormat("Crash! {0}", e.ToString()); | ||
1642 | } | ||
1643 | } | ||
1644 | } | ||
1645 | |||
1646 | return updated; | ||
1647 | } | ||
1648 | |||
1631 | // public void DoAutoPilot(uint not_used, Vector3 Pos, IClientAPI remote_client) | 1649 | // public void DoAutoPilot(uint not_used, Vector3 Pos, IClientAPI remote_client) |
1632 | // { | 1650 | // { |
1633 | // m_autopilotMoving = true; | 1651 | // m_autopilotMoving = true; |