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Thank you kindly, Nlin for a patch that:

Browse Source 
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.
This commit is contained in:
Charles Krinke
2008-11-27 05:16:47 +00:00
parent 714ca971d6
commit 921692a15f
6 changed files with 200 additions and 16 deletions
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10
OpenSim/Region/Environment/Modules/World/NPC/NPCAvatar.cs
View File

@@ -991,5 +991,15 @@ namespace OpenSim.Region.Environment.Modules.World.NPC
public void SendTerminateFriend(UUID exFriendID)
{
}
#region IClientAPI Members
public bool AddGenericPacketHandler(string MethodName, GenericMessage handler)
{
throw new NotImplementedException();
}
#endregion
}
}

132
OpenSim/Region/Environment/Scenes/ScenePresence.cs
View File

@@ -175,6 +175,12 @@ namespace OpenSim.Region.Environment.Scenes
private string m_nextSitAnimation = String.Empty;
//PauPaw:Proper PID Controler for autopilot************
private bool m_moveToPositionInProgress = false;
private Vector3 m_moveToPositionTarget = Vector3.Zero;
private int m_moveToPositionStateStatus = 0;
//*****************************************************
// Agent's Draw distance.
protected float m_DrawDistance = 0f;
@@ -550,6 +556,7 @@ namespace OpenSim.Region.Environment.Scenes
m_controllingClient.OnStopAnim += HandleStopAnim;
m_controllingClient.OnForceReleaseControls += HandleForceReleaseControls;
m_controllingClient.OnAutoPilotGo += DoAutoPilot;
m_controllingClient.AddGenericPacketHandler("autopilot", DoMoveToPosition);
// ControllingClient.OnChildAgentStatus += new StatusChange(this.ChildStatusChange);
// ControllingClient.OnStopMovement += new GenericCall2(this.StopMovement);
@@ -1063,10 +1070,13 @@ namespace OpenSim.Region.Environment.Scenes
if (m_parentID == 0)
{
bool bAllowUpdateMoveToPosition = false;
bool bResetMoveToPosition = false;
foreach (Dir_ControlFlags DCF in Enum.GetValues(typeof (Dir_ControlFlags)))
{
if ((flags & (uint) DCF) != 0)
{
bResetMoveToPosition = true;
DCFlagKeyPressed = true;
try
{
@@ -1090,9 +1100,100 @@ namespace OpenSim.Region.Environment.Scenes
m_movementflag -= (byte) (uint) DCF;
update_movementflag = true;
}
else
{
bAllowUpdateMoveToPosition = true;
}
}
i++;
}
//Paupaw:Do Proper PID for Autopilot here
if (bResetMoveToPosition)
{
m_moveToPositionTarget = Vector3.Zero;
m_moveToPositionInProgress = false;
update_movementflag = true;
bAllowUpdateMoveToPosition = false;
}
if (bAllowUpdateMoveToPosition && (m_moveToPositionInProgress && !m_autopilotMoving))
{
//Check the error term of the current position in relation to the target position
if (Util.GetDistanceTo(AbsolutePosition, m_moveToPositionTarget) <= 1.5)
{
// we are close enough to the target
m_moveToPositionTarget = Vector3.Zero;
m_moveToPositionInProgress = false;
update_movementflag = true;
}
else
{
try
{
// move avatar in 2D at one meter/second towards target, in avatar coordinate frame.
// This movement vector gets added to the velocity through AddNewMovement().
// Theoretically we might need a more complex PID approach here if other
// unknown forces are acting on the avatar and we need to adaptively respond
// to such forces, but the following simple approach seems to works fine.
Vector3 LocalVectorToTarget3D =
(m_moveToPositionTarget - AbsolutePosition) // vector from cur. pos to target in global coords
* Matrix4.CreateFromQuaternion(Quaternion.Inverse(bodyRotation)); // change to avatar coords
// Ignore z component of vector
Vector3 LocalVectorToTarget2D = new Vector3((float)(LocalVectorToTarget3D.X), (float)(LocalVectorToTarget3D.Y), 0f);
LocalVectorToTarget2D.Normalize();
agent_control_v3 += LocalVectorToTarget2D;
// update avatar movement flags. the avatar coordinate system is as follows:
//
// +X (forward)
//
// ^
// |
// |
// |
// |
// (left) +Y <--------o--------> -Y
// avatar
// |
// |
// |
// |
// v
// -X
//
// based on the above avatar coordinate system, classify the movement into
// one of left/right/back/forward.
if (LocalVectorToTarget2D.Y > 0)//MoveLeft
{
m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_LEFT;
update_movementflag = true;
}
else if (LocalVectorToTarget2D.Y < 0) //MoveRight
{
m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_RIGHT;
update_movementflag = true;
}
if (LocalVectorToTarget2D.X < 0) //MoveBack
{
m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_BACK;
update_movementflag = true;
}
else if (LocalVectorToTarget2D.X > 0) //Move Forward
{
m_movementflag += (byte)(uint)Dir_ControlFlags.DIR_CONTROL_FLAG_FORWARD;
update_movementflag = true;
}
}
catch (Exception)
{
//Avoid system crash, can be slower but...
}
}
}
}
// Cause the avatar to stop flying if it's colliding
@@ -1158,6 +1259,37 @@ namespace OpenSim.Region.Environment.Scenes
// }
}
public void DoMoveToPosition(Object sender, string method, List<String> args)
{
try
{
float locx = 0f;
float locy = 0f;
float locz = 0f;
uint regionX = 0;
uint regionY = 0;
try
{
Utils.LongToUInts(Scene.RegionInfo.RegionHandle, out regionX, out regionY);
locx = Convert.ToSingle(args[0]) - (float)regionX;
locy = Convert.ToSingle(args[1]) - (float)regionY;
locz = Convert.ToSingle(args[2]);
}
catch (InvalidCastException)
{
m_log.Error("[CLIENT]: Invalid autopilot request");
return;
}
m_moveToPositionInProgress = true;
m_moveToPositionTarget = new Vector3(locx, locy, locz);
}
catch (Exception ex)
{
//Why did I get this error?
System.Diagnostics.Debug.WriteLine(ex.ToString());
}
}
private void CheckAtSitTarget()
{
//m_log.Debug("[AUTOPILOT]: " + Util.GetDistanceTo(AbsolutePosition, m_autoPilotTarget).ToString());

6
OpenSim/Region/Environment/Scenes/Tests/TestClient.cs
View File

@@ -939,5 +939,11 @@ namespace OpenSim.Region.Environment.Scenes.Tests
public void SendTerminateFriend(UUID exFriendID)
{
}
public bool AddGenericPacketHandler(string MethodName, GenericMessage handler)
{
throw new NotImplementedException();
}
}
}