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);
}
}
}
/**
* Test if the perceived object has come in or out of range of the perceiver object; if so, we
* change the inRangeOids set for the perceiver, and notify the perceiver.
*/
protected void testProximity(
PerceiverData perceiverData,
PerceiverData perceivedData,
boolean interpolatePerceiver,
boolean interpolatePerceived) {
Point perceiverLoc =
interpolatePerceiver ? perceiverData.wnode.getLoc() : perceiverData.lastLoc;
Point perceivedLoc =
interpolatePerceived ? perceivedData.wnode.getLoc() : perceivedData.lastLoc;
float distance = Point.distanceTo(perceiverLoc, perceivedLoc);
float reactionRadius = perceiverData.reactionRadius;
long perceiverInstance = perceiverData.wnode.getInstanceOid();
long perceivedInstance = perceivedData.wnode.getInstanceOid();
boolean sameInstance = perceiverInstance == perceivedInstance;
boolean inRadius = sameInstance && (distance < reactionRadius);
boolean wasInRadius = perceiverData.inRangeOids.contains(perceivedData.perceiverOid);
// if (Log.loggingDebug)
// Log.debug("ProximityTracker.testProximity: perceiver " +
// perceiverData.perceiverOid + ", perceiverLoc = " + perceiverLoc +
// ", perceived " + perceivedData.perceiverOid + ", perceivedLoc = " +
// perceivedLoc +
// ", distance " + distance + ", reactionRadius " + reactionRadius + ",
// perceiverInstance " + perceiverInstance +
// ", perceivedInstance " + perceivedInstance + ", inRadius " + inRadius + ",
// wasInRadius " + wasInRadius);
if (inRadius == wasInRadius) return;
if (sameInstance && hystericalMargin != 0f) {
if (wasInRadius) inRadius = distance < (reactionRadius + hystericalMargin);
else inRadius = distance < (reactionRadius - hystericalMargin);
// If they are the same after hysteresis was applied, skip.
if (inRadius == wasInRadius) return;
}
if (inRadius) {
perceiverData.inRangeOids.add(perceivedData.perceiverOid);
perceivedData.inRangeOids.add(perceiverData.perceiverOid);
} else {
perceiverData.inRangeOids.remove(perceivedData.perceiverOid);
perceivedData.inRangeOids.remove(perceiverData.perceiverOid);
}
performNotification(
perceiverData.perceiverOid, perceivedData.perceiverOid, inRadius, wasInRadius);
}