// Avatar parameter and texture definitions can change over time.
// This function returns true if parameters or textures have been added or removed
// since this wearable was created.
BOOL LLWearable::isOldVersion()
{
LLVOAvatar* avatar = gAgent.getAvatarObject();
llassert( avatar );
if( !avatar )
{
return FALSE;
}
if( LLWearable::sCurrentDefinitionVersion < mDefinitionVersion )
{
llwarns << "Wearable asset has newer version (" << mDefinitionVersion << ") than XML (" << LLWearable::sCurrentDefinitionVersion << ")" << llendl;
llassert(0);
}
if( LLWearable::sCurrentDefinitionVersion != mDefinitionVersion )
{
return TRUE;
}
S32 param_count = 0;
for( LLViewerVisualParam* param = (LLViewerVisualParam*) avatar->getFirstVisualParam();
param;
param = (LLViewerVisualParam*) avatar->getNextVisualParam() )
{
if( (param->getWearableType() == mType) && (param->getGroup() == VISUAL_PARAM_GROUP_TWEAKABLE ) )
{
param_count++;
if( !is_in_map(mVisualParamMap, param->getID() ) )
{
return TRUE;
}
}
}
if( param_count != mVisualParamMap.size() )
{
return TRUE;
}
S32 te_count = 0;
for( S32 te = 0; te < LLVOAvatar::TEX_NUM_ENTRIES; te++ )
{
if( LLVOAvatar::getTEWearableType( te ) == mType )
{
te_count++;
if( !is_in_map(mTEMap, te ) )
{
return TRUE;
}
}
}
if( te_count != mTEMap.size() )
{
return TRUE;
}
return FALSE;
}
static void
add_clear_point(int x, int y, carmen_map_p true_map, carmen_map_p modify_map)
{
int num_points = scan_size[current_data_set];
grid_cell_p cell_list;
double value;
if (!is_in_map(x, y, modify_map))
return;
value = true_map->map[x][y];
/* if (is_empty(value)) */
/* return; */
if (point_exists(x, y, EMPTY))
return;
if (num_points == max_scan_size[current_data_set]) {
max_scan_size[current_data_set] *= 2;
laser_scan[current_data_set] =
realloc(laser_scan[current_data_set],
max_scan_size[current_data_set]*sizeof(grid_cell_t));
carmen_test_alloc(laser_scan[current_data_set]);
}
cell_list = laser_scan[current_data_set];
value = EMPTY;
cell_list[num_points].x = x;
cell_list[num_points].y = y;
cell_list[num_points].value = value;
scan_size[current_data_set]++;
modify_map->map[x][y] = value;
}
//-----------------------------------------------------------------------------
// addMotion()
//-----------------------------------------------------------------------------
BOOL LLMotionRegistry::registerMotion( const LLUUID& id, LLMotionConstructor constructor )
{
// llinfos << "Registering motion: " << name << llendl;
if (!is_in_map(mMotionTable, id))
{
mMotionTable[id] = constructor;
return TRUE;
}
return FALSE;
}
int is_entity_ok (int x, int y)
{
// On vérifie si aucune autre entité n'est sur la case visée
if (is_occupied(x, y))
return 0;
// On vérifie si le personnage n'essaye pas de sortir de la map
if (!is_in_map(x, y))
return 0;
// On vérifie si le personnage peut marcher si le tile visé
if (is_bloquant(x, y))
return 0;
if (is_object(x, y))
return 0;
return 1;
}
void
trace_laser(int x_1, int y_1, int x_2, int y_2, carmen_map_p true_map,
carmen_map_p modify_map)
{
carmen_bresenham_param_t params;
int X, Y;
double true_map_value;
double modified_map_value;
carmen_get_bresenham_parameters(x_1, y_1, x_2, y_2, ¶ms);
do {
carmen_get_current_point(¶ms, &X, &Y);
if (!is_in_map(X, Y, modify_map))
break;
true_map_value = true_map->map[X][Y];
modified_map_value = modify_map->map[X][Y];
if (!is_empty(modified_map_value) && is_empty(true_map_value))
add_clear_point(X, Y, true_map, modify_map);
} while (carmen_get_next_point(¶ms));
}
// returns 1 if point is in map
static int map_filter(double x, double y, double r) {
carmen_world_point_t wp;
carmen_map_point_t mp;
double d;
int md, i, j;
wp.map = &static_map;
wp.pose.x = x;
wp.pose.y = y;
carmen_world_to_map(&wp, &mp);
d = (map_diff_threshold + r*map_diff_threshold_scalar)/static_map.config.resolution;
md = carmen_round(d);
for (i = mp.x-md; i <= mp.x+md; i++)
for (j = mp.y-md; j <= mp.y+md; j++)
if (is_in_map(i, j) && dist(i-mp.x, j-mp.y) <= d &&
exp(localize_map.gprob[i][j]) >= map_occupied_threshold)
return 1;
return 0;
}
static void
add_filled_point(int x, int y, carmen_map_p true_map, carmen_map_p modify_map)
{
int num_points;
grid_cell_p cell_list;
double value;
if (!is_in_map(x, y, modify_map))
return;
value = true_map->map[x][y];
if (is_filled(value))
return;
/* if (point_exists(x, y, FILLED)) */
/* return; */
num_points = scan_size[current_data_set];
if (num_points == max_scan_size[current_data_set]) {
max_scan_size[current_data_set] *= 2;
laser_scan[current_data_set] =
realloc(laser_scan[current_data_set],
max_scan_size[current_data_set]*sizeof(grid_cell_t));
carmen_test_alloc(laser_scan[current_data_set]);
}
cell_list = laser_scan[current_data_set];
value = FILLED;
/* carmen_warn("Filling point %d (%d) %d %d\n", num_points, */
/* current_data_set, x, y); */
cell_list[num_points].x = x;
cell_list[num_points].y = y;
cell_list[num_points].value = value;
scan_size[current_data_set]++;
modify_map->map[x][y] = 2.0;
}
void
map_modify_update(carmen_robot_laser_message *laser_msg,
carmen_navigator_config_t *config,
carmen_world_point_p world_point,
carmen_map_p true_map,
carmen_map_p modify_map)
{
int index;
double angle, separation;
int laser_x, laser_y;
double dist;
int increment;
carmen_map_point_t map_point;
int count;
int maxrange_beam;
if (!config->map_update_freespace && !config->map_update_obstacles)
return;
if (true_map == NULL || modify_map == NULL)
{
carmen_warn("%s called with NULL map argument.\n", __FUNCTION__);
return;
}
if (laser_scan == NULL) {
laser_scan = (grid_cell_p *)calloc(LASER_HISTORY_LENGTH, sizeof(grid_cell_p));
carmen_test_alloc(laser_scan);
scan_size = (int *)calloc(LASER_HISTORY_LENGTH, sizeof(int));
carmen_test_alloc(scan_size);
max_scan_size = (int *)calloc(LASER_HISTORY_LENGTH, sizeof(int));
carmen_test_alloc(max_scan_size);
}
update_existing_data(true_map, modify_map);
if (laser_msg->num_readings < config->num_lasers_to_use) {
increment = 1;
separation = laser_msg->config.angular_resolution;
}
else {
increment = laser_msg->num_readings / config->num_lasers_to_use;
if (increment != 1)
separation = carmen_normalize_theta(laser_msg->config.fov / (config->num_lasers_to_use+1));
else
separation = laser_msg->config.angular_resolution;
}
angle = carmen_normalize_theta(world_point->pose.theta +
laser_msg->config.start_angle);
carmen_world_to_map(world_point, &map_point);
count = 0;
for (index = 0; index < laser_msg->num_readings; index += increment) {
if (laser_msg->range[index] < laser_msg->config.maximum_range )
maxrange_beam = 0;
else
maxrange_beam = 1;
if (config->map_update_freespace) {
dist = laser_msg->range[index] - modify_map->config.resolution;
if (dist < 0)
dist = 0;
if (dist > config->map_update_radius)
dist = config->map_update_radius;
laser_x = carmen_round(map_point.x + (cos(angle)*dist)/
modify_map->config.resolution);
laser_y = carmen_round(map_point.y + (sin(angle)*dist)/
modify_map->config.resolution);
trace_laser(map_point.x, map_point.y, laser_x, laser_y, true_map, modify_map);
}
if (config->map_update_obstacles) {
// add obstacle only if it is not a maxrange reading!
if (!maxrange_beam) {
dist = laser_msg->range[index];
laser_x = carmen_round(map_point.x + (cos(angle)*dist)/
modify_map->config.resolution);
laser_y = carmen_round(map_point.y + (sin(angle)*dist)/
modify_map->config.resolution);
if (is_in_map(laser_x, laser_y, modify_map) &&
dist < config->map_update_radius &&
dist < (laser_msg->config.maximum_range - 2*modify_map->config.resolution)) {
count++;
add_filled_point(laser_x, laser_y, true_map, modify_map);
}
}
}
angle += separation;
}
}
