public void handleUpdateWorldNode(long oid, WorldManagerClient.UpdateWorldNodeMessage wnodeMsg) {
PerceiverData perceiverData = perceiverDataMap.get(oid);
if (perceiverData == null) {
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.handleMessage: ignoring updateWNMsg for oid "
+ oid
+ " because PerceptionData for oid not found");
return;
}
BasicWorldNode bwnode = wnodeMsg.getWorldNode();
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.handleMessage: UpdateWnode for "
+ oid
+ ", loc "
+ bwnode.getLoc()
+ ", dir "
+ bwnode.getDir());
if (perceiverData.wnode != null) {
perceiverData.previousLoc = perceiverData.lastLoc;
perceiverData.wnode.setDirLocOrient(bwnode);
perceiverData.wnode.setInstanceOid(bwnode.getInstanceOid());
perceiverData.lastLoc = perceiverData.wnode.getLoc();
} else
Log.error(
"ProximityTracker.handleMessage: In UpdateWorldNodeMessage for oid "
+ oid
+ ", perceiverData.wnode is null!");
updateEntity(perceiverData);
}
protected void update() {
Log.debug("Updater.update: in update");
List<Long> perceiverOids = null;
lock.lock();
try {
perceiverOids = new ArrayList<Long>(perceiverDataMap.keySet());
} finally {
lock.unlock();
}
// We loop over the copied perceiverOids causing
// interpolation to happen, and capturing the location in
// the PerceiverData, so we can later do comparisons
// cheaply. Note that underlying map can change while
// we're doing so, so we don't raise errors if it happens.
for (long perceiverOid : perceiverOids) {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData != null) {
perceiverData.previousLoc = perceiverData.lastLoc;
// long lastInterp = perceiverData.wnode.getLastInterp();
perceiverData.lastLoc = perceiverData.wnode.getLoc();
// if (Log.loggingDebug)
// Log.debug("Updater.update: perceiverOid " + perceiverOid + ",
// previousLoc " + perceiverData.previousLoc +
// ", lastLoc " + perceiverData.lastLoc + ", time since interp
// " + (System.currentTimeMillis() - lastInterp));
}
}
// Now actually do the double loop to check if inRange has
// changed
for (long perceiverOid : perceiverOids) {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData == null) continue;
// If the perceiver hasn't moved much, no need to
// iterate over it's perceived entities
if (perceiverData.previousLoc != null
&& Point.distanceToSquared(perceiverData.previousLoc, perceiverData.lastLoc) < 100f)
continue;
ArrayList<Long> perceivedOids = new ArrayList<Long>(perceiverData.perceivedOids);
for (long perceivedOid : perceivedOids) {
PerceiverData perceivedData = perceiverDataMap.get(perceivedOid);
if (perceivedData == null) continue;
// Invoke the testProximity method but tell it not
// to interpolate, but instead get its location
// from the PerceptionData.lastLoc members
testProximity(perceiverData, perceivedData, false, false);
}
}
}