bool LLLandmark::getGlobalPos(LLVector3d& pos)
{
if(mGlobalPositionKnown)
{
pos = mGlobalPos;
}
else if(mRegionID.notNull())
{
F32 g_x = -1.0;
F32 g_y = -1.0;
if(mRegionID == mLocalRegion.first)
{
from_region_handle(mLocalRegion.second, &g_x, &g_y);
}
else
{
region_map_t::iterator it = mRegions.find(mRegionID);
if(it != mRegions.end())
{
from_region_handle((*it).second.mRegionHandle, &g_x, &g_y);
}
}
if((g_x > 0.f) && (g_y > 0.f))
{
pos.mdV[0] = g_x + mRegionPos.mV[0];
pos.mdV[1] = g_y + mRegionPos.mV[1];
pos.mdV[2] = mRegionPos.mV[2];
setGlobalPos(pos);
}
}
return mGlobalPositionKnown;
}
void NDynamicObject::updateFromVision(VisionSense vs)
{
setDistance(vs.distanceToSelf);
setLocalPos(vs.localPos);
if (WM.CanLocalize())
setGlobalPos(WM.getVisionPerceptorMatrix()*pos_local);
}
