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author | Charles Krinke | 2008-11-27 05:16:47 +0000 |
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committer | Charles Krinke | 2008-11-27 05:16:47 +0000 |
commit | 921692a15f7b793da55cd4ddc4d85eae4393964e (patch) | |
tree | ebe7565de552bedbd856cd6615bd8107363eea79 /OpenSim/Region/Environment/Scenes/ScenePresence.cs | |
parent | Unconditionally set the slam bit oon all object to agent inventory transfers. (diff) | |
download | opensim-SC_OLD-921692a15f7b793da55cd4ddc4d85eae4393964e.zip opensim-SC_OLD-921692a15f7b793da55cd4ddc4d85eae4393964e.tar.gz opensim-SC_OLD-921692a15f7b793da55cd4ddc4d85eae4393964e.tar.bz2 opensim-SC_OLD-921692a15f7b793da55cd4ddc4d85eae4393964e.tar.xz |
Thank you kindly, Nlin for a patch that:
Adds a new method to IClientAPI to allow adding message handlers
for GenericMessages (of which "autopilot" is one). Part 2 adds a
specific autopilot handler in ScenePresence.cs.
2) Removing unused variables and functions.
3) Simplifying the navigation logic in ScenePresence.cs. The
original patch was somewhat complex because it included orientation
logic for a future enhancement of orienting the avatar to point
towards the direction being walked. Currently this isn't working,
though, so I removed the orientation code, which leaves just the
smaller and hopefully simpler-to-understand movement code.
Diffstat (limited to 'OpenSim/Region/Environment/Scenes/ScenePresence.cs')
-rw-r--r-- | OpenSim/Region/Environment/Scenes/ScenePresence.cs | 132 |
1 files changed, 132 insertions, 0 deletions
diff --git a/OpenSim/Region/Environment/Scenes/ScenePresence.cs b/OpenSim/Region/Environment/Scenes/ScenePresence.cs index 29c7c3e..998140f 100644 --- a/OpenSim/Region/Environment/Scenes/ScenePresence.cs +++ b/OpenSim/Region/Environment/Scenes/ScenePresence.cs | |||
@@ -175,6 +175,12 @@ namespace OpenSim.Region.Environment.Scenes | |||
175 | 175 | ||
176 | private string m_nextSitAnimation = String.Empty; | 176 | private string m_nextSitAnimation = String.Empty; |
177 | 177 | ||
178 | //PauPaw:Proper PID Controler for autopilot************ | ||
179 | private bool m_moveToPositionInProgress = false; | ||
180 | private Vector3 m_moveToPositionTarget = Vector3.Zero; | ||
181 | private int m_moveToPositionStateStatus = 0; | ||
182 | //***************************************************** | ||
183 | |||
178 | // Agent's Draw distance. | 184 | // Agent's Draw distance. |
179 | protected float m_DrawDistance = 0f; | 185 | protected float m_DrawDistance = 0f; |
180 | 186 | ||
@@ -550,6 +556,7 @@ namespace OpenSim.Region.Environment.Scenes | |||
550 | m_controllingClient.OnStopAnim += HandleStopAnim; | 556 | m_controllingClient.OnStopAnim += HandleStopAnim; |
551 | m_controllingClient.OnForceReleaseControls += HandleForceReleaseControls; | 557 | m_controllingClient.OnForceReleaseControls += HandleForceReleaseControls; |
552 | m_controllingClient.OnAutoPilotGo += DoAutoPilot; | 558 | m_controllingClient.OnAutoPilotGo += DoAutoPilot; |
559 | m_controllingClient.AddGenericPacketHandler("autopilot", DoMoveToPosition); | ||
553 | 560 | ||
554 | // ControllingClient.OnChildAgentStatus += new StatusChange(this.ChildStatusChange); | 561 | // ControllingClient.OnChildAgentStatus += new StatusChange(this.ChildStatusChange); |
555 | // ControllingClient.OnStopMovement += new GenericCall2(this.StopMovement); | 562 | // ControllingClient.OnStopMovement += new GenericCall2(this.StopMovement); |
@@ -1063,10 +1070,13 @@ namespace OpenSim.Region.Environment.Scenes | |||
1063 | 1070 | ||
1064 | if (m_parentID == 0) | 1071 | if (m_parentID == 0) |
1065 | { | 1072 | { |
1073 | bool bAllowUpdateMoveToPosition = false; | ||
1074 | bool bResetMoveToPosition = false; | ||
1066 | foreach (Dir_ControlFlags DCF in Enum.GetValues(typeof (Dir_ControlFlags))) | 1075 | foreach (Dir_ControlFlags DCF in Enum.GetValues(typeof (Dir_ControlFlags))) |
1067 | { | 1076 | { |
1068 | if ((flags & (uint) DCF) != 0) | 1077 | if ((flags & (uint) DCF) != 0) |
1069 | { | 1078 | { |
1079 | bResetMoveToPosition = true; | ||
1070 | DCFlagKeyPressed = true; | 1080 | DCFlagKeyPressed = true; |
1071 | try | 1081 | try |
1072 | { | 1082 | { |
@@ -1090,9 +1100,100 @@ namespace OpenSim.Region.Environment.Scenes | |||
1090 | m_movementflag -= (byte) (uint) DCF; | 1100 | m_movementflag -= (byte) (uint) DCF; |
1091 | update_movementflag = true; | 1101 | update_movementflag = true; |
1092 | } | 1102 | } |
1103 | else | ||
1104 | { | ||
1105 | bAllowUpdateMoveToPosition = true; | ||
1106 | } | ||
1093 | } | 1107 | } |
1094 | i++; | 1108 | i++; |
1095 | } | 1109 | } |
1110 | |||
1111 | //Paupaw:Do Proper PID for Autopilot here | ||
1112 | if (bResetMoveToPosition) | ||
1113 | { | ||
1114 | m_moveToPositionTarget = Vector3.Zero; | ||
1115 | m_moveToPositionInProgress = false; | ||
1116 | update_movementflag = true; | ||
1117 | bAllowUpdateMoveToPosition = false; | ||
1118 | } | ||
1119 | |||
1120 | if (bAllowUpdateMoveToPosition && (m_moveToPositionInProgress && !m_autopilotMoving)) | ||
1121 | { | ||
1122 | //Check the error term of the current position in relation to the target position | ||
1123 | if (Util.GetDistanceTo(AbsolutePosition, m_moveToPositionTarget) <= 1.5) | ||
1124 | { | ||
1125 | // we are close enough to the target | ||
1126 | m_moveToPositionTarget = Vector3.Zero; | ||
1127 | m_moveToPositionInProgress = false; | ||
1128 | update_movementflag = true; | ||
1129 | } | ||
1130 | else | ||
1131 | { | ||
1132 | try | ||
1133 | { | ||
1134 | // move avatar in 2D at one meter/second towards target, in avatar coordinate frame. | ||
1135 | // This movement vector gets added to the velocity through AddNewMovement(). | ||
1136 | // Theoretically we might need a more complex PID approach here if other | ||
1137 | // unknown forces are acting on the avatar and we need to adaptively respond | ||
1138 | // to such forces, but the following simple approach seems to works fine. | ||
1139 | Vector3 LocalVectorToTarget3D = | ||
1140 | (m_moveToPositionTarget - AbsolutePosition) // vector from cur. pos to target in global coords | ||
1141 | * Matrix4.CreateFromQuaternion(Quaternion.Inverse(bodyRotation)); // change to avatar coords | ||
1142 | // Ignore z component of vector | ||
1143 | Vector3 LocalVectorToTarget2D = new Vector3((float)(LocalVectorToTarget3D.X), (float)(LocalVectorToTarget3D.Y), 0f); | ||
1144 | LocalVectorToTarget2D.Normalize(); | ||
1145 | agent_control_v3 += LocalVectorToTarget2D; | ||
1146 | |||
1147 | // update avatar movement flags. the avatar coordinate system is as follows: | ||
1148 | // | ||
1149 | // +X (forward) | ||
1150 | // | ||
1151 | // ^ | ||
1152 | // | | ||
1153 | // | | ||
1154 | // | | ||
1155 | // | | ||
1156 | // (left) +Y <--------o--------> -Y | ||
1157 | // avatar | ||
1158 | // | | ||
1159 | // | | ||
1160 | // | | ||
1161 | // | | ||
1162 | // v | ||
1163 | // -X | ||
1164 | // | ||
1165 | |||
1166 | // based on the above avatar coordinate system, classify the movement into | ||
1167 | // one of left/right/back/forward. | ||
1168 | if (LocalVectorToTarget2D.Y > 0)//MoveLeft | ||
1169 | { | ||
1170 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT; | ||
1171 | update_movementflag = true; | ||
1172 | } | ||
1173 | else if (LocalVectorToTarget2D.Y < 0) //MoveRight | ||
1174 | { | ||
1175 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT; | ||
1176 | update_movementflag = true; | ||
1177 | } | ||
1178 | if (LocalVectorToTarget2D.X < 0) //MoveBack | ||
1179 | { | ||
1180 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK; | ||
1181 | update_movementflag = true; | ||
1182 | } | ||
1183 | else if (LocalVectorToTarget2D.X > 0) //Move Forward | ||
1184 | { | ||
1185 | m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD; | ||
1186 | update_movementflag = true; | ||
1187 | } | ||
1188 | } | ||
1189 | catch (Exception) | ||
1190 | { | ||
1191 | |||
1192 | //Avoid system crash, can be slower but... | ||
1193 | } | ||
1194 | |||
1195 | } | ||
1196 | } | ||
1096 | } | 1197 | } |
1097 | 1198 | ||
1098 | // Cause the avatar to stop flying if it's colliding | 1199 | // Cause the avatar to stop flying if it's colliding |
@@ -1158,6 +1259,37 @@ namespace OpenSim.Region.Environment.Scenes | |||
1158 | // } | 1259 | // } |
1159 | } | 1260 | } |
1160 | 1261 | ||
1262 | public void DoMoveToPosition(Object sender, string method, List<String> args) | ||
1263 | { | ||
1264 | try | ||
1265 | { | ||
1266 | float locx = 0f; | ||
1267 | float locy = 0f; | ||
1268 | float locz = 0f; | ||
1269 | uint regionX = 0; | ||
1270 | uint regionY = 0; | ||
1271 | try | ||
1272 | { | ||
1273 | Utils.LongToUInts(Scene.RegionInfo.RegionHandle, out regionX, out regionY); | ||
1274 | locx = Convert.ToSingle(args[0]) - (float)regionX; | ||
1275 | locy = Convert.ToSingle(args[1]) - (float)regionY; | ||
1276 | locz = Convert.ToSingle(args[2]); | ||
1277 | } | ||
1278 | catch (InvalidCastException) | ||
1279 | { | ||
1280 | m_log.Error("[CLIENT]: Invalid autopilot request"); | ||
1281 | return; | ||
1282 | } | ||
1283 | m_moveToPositionInProgress = true; | ||
1284 | m_moveToPositionTarget = new Vector3(locx, locy, locz); | ||
1285 | } | ||
1286 | catch (Exception ex) | ||
1287 | { | ||
1288 | //Why did I get this error? | ||
1289 | System.Diagnostics.Debug.WriteLine(ex.ToString()); | ||
1290 | } | ||
1291 | } | ||
1292 | |||
1161 | private void CheckAtSitTarget() | 1293 | private void CheckAtSitTarget() |
1162 | { | 1294 | { |
1163 | //m_log.Debug("[AUTOPILOT]: " + Util.GetDistanceTo(AbsolutePosition, m_autoPilotTarget).ToString()); | 1295 | //m_log.Debug("[AUTOPILOT]: " + Util.GetDistanceTo(AbsolutePosition, m_autoPilotTarget).ToString()); |