fixed up in world command handling somewhat, added parser

Flocking/Boid.cs

@@ -28,6 +28,7 @@ using System;
 using System.Collections.Generic;
 using log4net;
 using OpenMetaverse;
+using Utils = OpenSim.Framework.Util;
 
 namespace Flocking
 {
@@ -74,7 +75,7 @@ namespace Flocking
 		public Vector3 Velocity {
 			get { return m_vel;}
 		}
-		
+
 		public String Id {
 			get {return m_id;}
 		}
@@ -85,10 +86,11 @@ namespace Flocking
 		/// <param name='boids'>
 		/// Boids. all the other chaps in the scene
 		/// </param>
-		public void MoveInSceneRelativeToFlock (List<Boid> boids)
+		public void MoveInSceneRelativeToFlock ()
 		{
+			List<Boid> neighbours = m_model.GetNeighbours(this);
 			// we would like to stay with our mates
-			Flock (boids);
+			Flock (neighbours);
 
 			// our first priority is to not hurt ourselves
 			// so adjust where we would like to go to avoid hitting things
@@ -102,10 +104,9 @@ namespace Flocking
 			UpdatePositionInScene ();
 			
 		}
-
+		
 		/// <summary>
-		/// Move within our flock
+		/// Move within our local flock
-		/// 
 		/// We accumulate a new acceleration each time based on three rules
 		/// these are:
 		/// our separation from our closest neighbours,
@@ -113,28 +114,22 @@ namespace Flocking
 		/// our desire to move towards the flock centre
 		/// 
 		/// </summary>
-		void Flock (List<Boid> boids)
+		void Flock (List<Boid> neighbours)
 		{
 	
 			// calc the force vectors on this boid 		
-			Vector3 sep = Separate (boids);   // Separation
+			Vector3 sep = Separate (neighbours);   // Separation
-			Vector3 ali = Align (boids);      // Alignment
+			Vector3 ali = Align (neighbours);      // Alignment
-			Vector3 coh = Cohesion (boids);   // Cohesion
+			Vector3 coh = Cohesion (neighbours);   // Cohesion
 			
 			// Arbitrarily weight these forces
-			//TODO: expose these consts		
+			sep *= m_model.SeparationWeighting; 
-			sep *= 1.5f; //.mult(1.5);
+			ali *= m_model.AlignmentWeighting;
-			//ali.mult(1.0);
+			coh *= m_model.CohesionWeighting;
-			ali *= 1.0f;
-			//coh.mult(1.0);
-			coh *= 1.0f;
 			
 			// Add the force vectors to the current acceleration of the boid
-			//acc.add(sep);
 			m_acc += sep;
-			//acc.add(ali);
 			m_acc += ali;
-			//acc.add(coh);
 			m_acc += coh;
 		}
 		
@@ -149,10 +144,8 @@ namespace Flocking
 		void UpdatePositionInScene ()
 		{
 			// Update velocity
-			//vel.add(acc);
 			m_vel += m_acc;
 			// Limit speed
-			//m_vel.limit(maxspeed);
 			m_vel = Util.Limit (m_vel, m_model.MaxSpeed);
 			m_loc += m_vel;
 			// Reset accelertion to 0 each cycle
@@ -186,27 +179,24 @@ namespace Flocking
 		/// Takes a second argument, if true, it slows down as it approaches the target
 		Vector3 Steer (Vector3 target, bool slowdown)
 		{
-			Vector3 steer;  // The steering vector
+			Vector3 steer = Vector3.Zero;  // The steering vector
-			Vector3 desired = Vector3.Subtract(target, m_loc);  // A vector pointing from the location to the target
+			Vector3 desired = target - m_loc;  // A vector pointing from the location to the target
-			float d = desired.Length (); // Distance from the target is the magnitude of the vector
+			float distance = desired.Length (); // Distance from the target is the magnitude of the vector
 			// If the distance is greater than 0, calc steering (otherwise return zero vector)
-			if (d > 0) {
+			if (distance > 0) {
 				// Normalize desired
 				desired.Normalize ();
 				// Two options for desired vector magnitude (1 -- based on distance, 2 -- maxspeed)
-				if ((slowdown) && (d < 100.0f)) { 
+				if ((slowdown) && (distance < m_model.LookaheadDistance )) { 
-					desired *= (m_model.MaxSpeed * (d / 100.0f)); // This damping is somewhat arbitrary
+					desired *= (m_model.MaxSpeed * (distance / m_model.LookaheadDistance)); // This damping is somewhat arbitrary
 				} else { 
 					desired *= m_model.MaxSpeed;
 				}
 				// Steering = Desired minus Velocity
-				//steer = target.sub(desired,m_vel);
+				steer = desired - m_vel;
-				steer = Vector3.Subtract (desired, m_vel);
 				//steer.limit(maxforce);  // Limit to maximum steering force
 				steer = Util.Limit (steer, m_model.MaxForce);
-			} else {
+			} 
-				steer = Vector3.Zero;
-			}
 			return steer;
 		}
 
@@ -226,40 +216,37 @@ namespace Flocking
 		/// keeps us a respectable distance from our closest neighbours whilst still 
 		/// being part of our local flock
 		/// </summary>
-		/// <param name='boids'>
+		/// <param name='neighbours'>
 		/// Boids. all the boids in the scene
 		/// </param>
-		Vector3 Separate (List<Boid> boids)
+		Vector3 Separate (List<Boid> neighbours)
 		{
-			Vector3 steer = new Vector3 (0, 0, 0);
-			int count = 0;
 			// For every boid in the system, check if it's too close
-			foreach (Boid other in boids) {
+			float desired = m_model.DesiredSeparation;
-				float d = Vector3.Distance (m_loc, other.Location);
+			//who are we too close to at the moment
-				// If the distance is greater than 0 and less than an arbitrary amount (0 when you are yourself)
+			List<Boid> tooCloseNeighbours = neighbours.FindAll( delegate(Boid neighbour) {
-				if ((d > 0) && (d < m_model.DesiredSeparation)) {
+				// Is the distance is less than an arbitrary amount
-					// Calculate vector pointing away from neighbor
+				return Utils.GetDistanceTo (m_loc, neighbour.Location) < desired;
-					Vector3 diff = Vector3.Subtract (m_loc, other.Location);
+			});
-					diff.Normalize ();
+			
-					diff = Vector3.Divide (diff, d);
+			// move a bit away from them
-					steer = Vector3.Add (steer, diff);			
+			Vector3 steer = Vector3.Zero;
-					count++;            // Keep track of how many
+			tooCloseNeighbours.ForEach( delegate(Boid neighbour) {
-				}
+				// Calculate vector pointing away from neighbor
-			}
+				Vector3 diff = m_loc - neighbour.Location;
-			// Average -- divide by how many
+				steer += Utils.GetNormalizedVector(diff) / (float)Utils.GetDistanceTo (m_loc, neighbour.Location);			
-			if (count > 0) {
+			});
-				steer /= (float)count;
+			
-			}
+			if( steer.Length () > 0 ) {
-
+				// Average -- divide by how many
-			// As long as the vector is greater than 0
+				steer /= (float)tooCloseNeighbours.Count;
-			if (steer.Length () > 0) {
 				// Implement Reynolds: Steering = Desired - Velocity
 				steer.Normalize ();
 				steer *= m_model.MaxSpeed;
 				steer -= m_vel;
-				//steer.limit(maxforce);
+				//don't go too fast;
 				steer = Util.Limit (steer, m_model.MaxForce);
-			}
+			} 
 			return steer;
 		}
 
@@ -273,15 +260,14 @@ namespace Flocking
 		/// </param>
 		Vector3 Align (List<Boid> boids)
 		{
-			Vector3 steer = new Vector3 (0, 0, 0);
+			Vector3 steer = Vector3.Zero;
-			int count = 0;
+			
-			foreach (Boid other in boids) {
+			boids.ForEach( delegate( Boid other ) {
-				float d = Vector3.Distance (m_loc, other.Location);
+				steer += other.Velocity;
-				if ((d > 0) && (d < m_model.NeighbourDistance)) {
+			});
-					steer += other.Velocity;
+				
-					count++;
+			int count = boids.Count;
-				}
+			
-			}
 			if (count > 0) {
 				steer /= (float)count;
 			}
@@ -303,22 +289,19 @@ namespace Flocking
 		/// MAintain the cohesion of our local flock
 		/// For the average location (i.e. center) of all nearby boids, calculate our steering vector towards that location
 		/// </summary>
-		/// <param name='boids'>
+		/// <param name='neighbours'>
 		/// Boids. the boids in the scene
 		/// </param>
-		Vector3 Cohesion (List<Boid> boids)
+		Vector3 Cohesion (List<Boid> neighbours)
 		{
     
 			Vector3 sum = Vector3.Zero;   // Start with empty vector to accumulate all locations
-			int count = 0;
 			
-			foreach (Boid other in boids) {
+			neighbours.ForEach( delegate(Boid other) {
-				float d = Vector3.Distance (m_loc, other.Location);
+				sum += other.Location; // Add location
-				if ((d > 0) && (d < m_model.NeighbourDistance)) {
+			});	
-					sum += other.Location; // Add location
+			
-					count++;
+			int count = neighbours.Count;
-				}
-			}
 			if (count > 0) {
 				sum /= (float)count;
 				return Steer (sum, false);  // Steer towards the location

Flocking/ChatCommandParser.cs

@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Generic;
+using log4net;
+using OpenMetaverse;
+using OpenSim.Framework;
+using OpenSim.Region.Framework.Scenes;
+using OpenSim.Framework.Console;
+using OpenSim.Region.Framework.Interfaces;
+
+namespace Flocking
+{
+	public delegate void BoidCmdDelegate (string module,string[] args);
+	
+	public class BoidCmdDefn
+	{
+		public string Help = "";
+		public string Args = "";
+		public int NumParams = 0;
+		string m_name;
+
+		public BoidCmdDefn (string name, string args, string help)
+		{
+			Help = help;
+			Args = args;
+			m_name = name;
+			
+			if (args.Trim ().Length > 0) {
+				NumParams = args.Split (", ".ToCharArray ()).Length;
+			} else {
+				NumParams = 0;
+			}
+		}
+		
+		public string GetSyntax ()
+		{ 
+			return m_name + " " + Args + " (" + Help + ")"; 
+		}
+	}
+
+	public class ChatCommandParser
+	{
+		private static readonly ILog m_log = LogManager.GetLogger (System.Reflection.MethodBase.GetCurrentMethod ().DeclaringType);
+		private string m_name;
+		private Scene m_scene;
+		private int m_chatChannel;
+		private Dictionary<string, BoidCmdDelegate> m_commandMap = new Dictionary<string, BoidCmdDelegate> ();
+		private Dictionary<string, BoidCmdDefn> m_syntaxMap = new Dictionary<string, BoidCmdDefn> ();
+		
+		public ChatCommandParser (IRegionModuleBase module, Scene scene, int channel)
+		{
+			m_name = module.Name;
+			m_scene = scene;
+			m_chatChannel = channel;
+		}
+
+		public void AddCommand (string cmd, string args, string help, CommandDelegate fn)
+		{
+			m_commandMap.Add (cmd, new BoidCmdDelegate (fn));
+			m_syntaxMap.Add (cmd, new BoidCmdDefn (cmd, args, help));
+		}
+		
+		public void SimChatSent (Object x, OSChatMessage msg)
+		{
+			if (m_scene.ConsoleScene () != m_scene || msg.Channel != m_chatChannel)
+				return; // not for us
+
+			// try and parse a valid cmd from this msg
+			string cmd = msg.Message.ToLower ();
+			
+			//stick ui in the args so we know to respond in world
+			//bit of a hack - but lets us use CommandDelegate inWorld
+			string[] args = (cmd + " <ui>").Split (" ".ToCharArray ());
+			
+			BoidCmdDefn defn = null;
+			if (m_syntaxMap.TryGetValue (args [0], out defn)) {
+				if (CorrectSignature (args, defn)) {
+					
+					// we got the signature of the command right
+					BoidCmdDelegate del = null;
+					if (m_commandMap.TryGetValue (args [0], out del)) {
+						del (m_name, args);
+					} else {
+						// we don't understand this command
+						// shouldn't happen
+						m_log.ErrorFormat ("Unable to invoke command {0}", args [0]);
+						RespondToMessage (msg, "Unable to invoke command " + args [0]);
+					}
+
+				} else {
+					//	we recognise the command, but we got the call wrong
+					RespondToMessage (msg, "wrong syntax:  " + defn.GetSyntax ());
+				}
+			} else {
+				// this is not a command we recognise
+				RespondToMessage (msg, args [0] + " is not a valid command for osboids");
+			}
+			
+		}
+
+		private bool CorrectSignature (string[] args, BoidCmdDefn defn)
+		{
+			// args contain cmd name at 0 and <ui> tagged in last pos
+			return args.Length - 2 == defn.NumParams;
+		}
+
+		public void RespondToMessage (OSChatMessage msg, string message)
+		{
+			m_log.Debug ("sending response -> " + message);
+			IClientAPI sender = msg.Sender;
+			sender.SendChatMessage (message, (byte)ChatTypeEnum.Say, msg.Position, "osboids", msg.SenderUUID, (byte)ChatSourceType.Agent, (byte)ChatAudibleLevel.Fully);
+		}
+
+		public void SendMessage (ScenePresence recipient, string message)
+		{
+			IClientAPI ownerAPI = recipient.ControllingClient;
+			ownerAPI.SendChatMessage (message, 
+				(byte)ChatTypeEnum.Say, 
+				recipient.AbsolutePosition, 
+				"osboids", 
+				recipient.UUID, 
+				(byte)ChatSourceType.Agent, 
+				(byte)ChatAudibleLevel.Fully
+			);
+		}
+	}
+}
+

Flocking/Flocking.dll.build

@@ -24,6 +24,7 @@
 				  <include name="FlowFieldTest.cs" />
 				  <include name="FlowMap.cs" />
 				  <include name="Util.cs" />
+				  <include name="VectorTest.cs" />
 			  </sources>
 			  <references basedir="${project::get-base-directory()}">
 				  <lib>

Flocking/FlockingModel.cs

@@ -27,6 +27,7 @@
 using System;
 using System.Collections.Generic;
 using OpenMetaverse;
+using Utils = OpenSim.Framework.Util;
 
 namespace Flocking
 {
@@ -39,6 +40,11 @@ namespace Flocking
 		private float m_neighbourDistance;
 		private float m_desiredSeparation;
 		private float m_tolerance;
+		private float m_separationWeighting = 1.5f;
+		private float m_alignmentWeighting = 1f;
+		private float m_cohesionWeighting = 1f;
+		private float m_lookaheadDistance = 100f;
+
 		
 		private Random m_rnd = new Random(Environment.TickCount);
 		
@@ -95,6 +101,26 @@ namespace Flocking
 			get {return m_tolerance;}
 		}
 				
+		public float SeparationWeighting {
+			get{ return m_separationWeighting; }
+			set{ m_separationWeighting = value;}
+		}
+		
+		public float AlignmentWeighting {
+			get{ return m_alignmentWeighting; }
+			set{ m_alignmentWeighting = value;}
+		}
+		
+		public float CohesionWeighting {
+			get{ return m_cohesionWeighting; }
+			set{ m_cohesionWeighting = value;}
+		}
+		
+		public float LookaheadDistance {
+			get { return m_lookaheadDistance; }
+			set { m_lookaheadDistance = value;}
+		}
+		
 
 		public void Initialise (int num, FlowField flowField)
 		{
@@ -103,12 +129,19 @@ namespace Flocking
 				AddBoid ("boid"+i );
   			}
 		}
+		
+		public List<Boid> GetNeighbours(Boid boid) {
+			return m_flock.FindAll(delegate(Boid other) {
+				return (boid != other) && (Utils.GetDistanceTo (boid.Location, other.Location) < m_neighbourDistance);
+			});
+		}
+
 
 		public List<Boid> UpdateFlockPos ()
 		{
-    		foreach (Boid b in m_flock) {
+			m_flock.ForEach( delegate(Boid boid) {
-      			b.MoveInSceneRelativeToFlock(m_flock);  // Passing the entire list of boids to each boid individually
+				boid.MoveInSceneRelativeToFlock();	
-    		}
+			} );
 			
 			return m_flock;
 		}

Flocking/FlockingModule.cs

@@ -60,6 +60,11 @@ namespace Flocking
 		private float m_neighbourDistance;
 		private float m_desiredSeparation;
 		private float m_tolerance;
+		private float m_separationWeighting = 1.5f;
+		private float m_alignmentWeighting = 1f;
+		private float m_cohesionWeighting = 1f;
+		private float m_lookaheadDistance = 100f;
+		private ChatCommandParser m_chatCommandParser;
 
 		private UUID m_owner;
 
@@ -81,6 +86,10 @@ namespace Flocking
 				m_neighbourDistance = config.GetFloat("neighbour-dist", 25f);
 				m_desiredSeparation = config.GetFloat("desired-separation", 20f);
 				m_tolerance = config.GetFloat("tolerance", 5f);
+				m_separationWeighting = config.GetFloat("separation-weighting", 1.5f);
+				m_alignmentWeighting = config.GetFloat("alignment-weighting", 1f);
+				m_cohesionWeighting = config.GetFloat("cohesion-weighting", 1f);
+				m_lookaheadDistance = config.GetFloat("lookahead-dist",100f);
 				
 				
 				// we're in the config - so turn on this module
@@ -94,27 +103,33 @@ namespace Flocking
 			m_scene = scene;
 			if (m_enabled) {
 				//register commands
+				m_chatCommandParser = new ChatCommandParser(this, scene, m_chatChannel);
 				RegisterCommands ();
 				
 				//register handlers
 				m_scene.EventManager.OnFrame += FlockUpdate;
-				m_scene.EventManager.OnChatFromClient += SimChatSent; //listen for commands sent from the client
+				m_scene.EventManager.OnChatFromClient += m_chatCommandParser.SimChatSent; //listen for commands sent from the client
 
 				// init module
 				m_model = new FlockingModel (m_maxSpeed, m_maxForce, m_neighbourDistance, m_desiredSeparation, m_tolerance);
+				m_model.SeparationWeighting = m_separationWeighting;
+				m_model.AlignmentWeighting = m_alignmentWeighting;
+				m_model.CohesionWeighting = m_cohesionWeighting;
+				m_model.LookaheadDistance = m_lookaheadDistance;
 				m_view = new FlockingView (m_scene);
 				m_view.BoidPrim = m_boidPrim;
 			}
 		}
 
+		void chatCom (object sender, OSChatMessage chat)
+		{
+			
+		}
+
 		public void RegionLoaded (Scene scene)
 		{
 			if (m_enabled) {
 				
-				//make a flow map for this scene
-				//FlowMap flowMap = new FlowMap(scene );
-				//flowMap.Initialise();
-				
 				//build a proper flow field based on the scene
 				FlowField field = new FlowField(scene, new Vector3(128f, 128f, 128f), 200, 200, 200);
 				
@@ -134,7 +149,7 @@ namespace Flocking
 		{
 			if (m_enabled) {
 				m_scene.EventManager.OnFrame -= FlockUpdate;
-				m_scene.EventManager.OnChatFromClient -= SimChatSent;
+				m_scene.EventManager.OnChatFromClient -= m_chatCommandParser.SimChatSent;
 			}
 		}
 
@@ -155,9 +170,6 @@ namespace Flocking
 			if (((m_frame++ % m_frameUpdateRate) != 0) || !m_ready || !m_enabled) {
 				return;
 			}
-			
-			//m_log.InfoFormat("update my boids");
-			
 			// work out where everyone has moved to
 			// and tell the scene to render the new positions
 			lock( m_sync ) {
@@ -166,34 +178,6 @@ namespace Flocking
 			}
 		}
 		
-		protected void SimChatSent (Object x, OSChatMessage msg)
-		{
-			if (m_scene.ConsoleScene () != m_scene || msg.Channel != m_chatChannel)
-				return; // not for us
-
-			// try and parse a valid cmd from this msg
-			string cmd = msg.Message.ToLower ();
-			
-			//stick ui in the args so we know to respond in world
-			//bit of a hack - but lets us use CommandDelegate inWorld
-			string[] args = (cmd + " <ui>").Split (" ".ToCharArray ());
-			
-			if (cmd.StartsWith ("stop")) {
-				HandleStopCmd ("flock", args);
-			} else if (cmd.StartsWith ("start")) {
-				HandleStartCmd ("flock", args);
-			} else if (cmd.StartsWith ("size")) {
-				HandleSetSizeCmd ("flock", args);
-			} else if (cmd.StartsWith ("stats")) {
-				HandleShowStatsCmd ("flock", args);
-			} else if (cmd.StartsWith ("prim")) {
-				HandleSetPrimCmd ("flock", args);
-			} else if (cmd.StartsWith ("framerate")) {
-				HandleSetFrameRateCmd ("flock", args);
-			}
-			
-		}
-
 		#endregion
 		
 		#region Command Handling
@@ -205,6 +189,7 @@ namespace Flocking
 				argStr = " <" + args + "> ";
 			}
 			m_scene.AddCommand (this, "flock-" + cmd, "flock-" + cmd + argStr, help, fn);
+			m_chatCommandParser.AddCommand(cmd, args, help, fn);
 		}
 
 		private void RegisterCommands ()
@@ -215,6 +200,7 @@ namespace Flocking
 			AddCommand ("stats", "", "show flocking stats", HandleShowStatsCmd);
 			AddCommand ("prim", "name", "set the prim used for each boid to that passed in", HandleSetPrimCmd);
 			AddCommand ("framerate", "num", "[debugging] only update boids every <num> frames", HandleSetFrameRateCmd);
+			AddCommand ("set", "name, value", "change the flock dynamics", HandleSetParameterCmd);
 		}
 		
 		private bool ShouldHandleCmd ()
@@ -235,15 +221,19 @@ namespace Flocking
 		private void ShowResponse (string response, bool inWorld)
 		{
 			if (inWorld) {
-				IClientAPI ownerAPI = null;
+					ScenePresence owner = m_scene.GetScenePresence(m_owner);
-				if (m_scene.TryGetClient (m_owner, out ownerAPI)) {
+					m_chatCommandParser.SendMessage(owner, response);
-					ownerAPI.SendBlueBoxMessage (m_owner, "osboids", response);
-				}
 			} else {
 				MainConsole.Instance.Output (response);
 			}
 		}
 		
+		public void HandleSetParameterCmd(string module, string[] args)
+		{
+			if (ShouldHandleCmd ()) {
+			}
+		}
+		
 		public void HandleStopCmd (string module, string[] args)
 		{
 			if (ShouldHandleCmd ()) {

Flocking/FlockingView.cs

@@ -57,25 +57,24 @@ namespace Flocking
 		public void Clear ()
 		{
             //trash everything we have
-            foreach (string name in m_sogMap.Keys)
+			List<string> current = new List<string> (m_sogMap.Keys);
-            {
+            current.ForEach (delegate(string name) {
-                RemoveSOGFromScene(name);
+                 RemoveSOGFromScene(name);
-            }
+            });
             m_sogMap.Clear();
  		}
 
 		public void Render (List<Boid> boids)
 		{
-			foreach (Boid boid in boids) {
+			boids.ForEach(delegate( Boid boid ) {
-				DrawBoid (boid);
+					DrawBoid (boid);
-			}
+			});
 		}
 		
 		private void DrawBoid (Boid boid)
 		{
 			SceneObjectPart existing = m_scene.GetSceneObjectPart (boid.Id);
 
-
 			SceneObjectGroup sog;
 			if (existing == null) {
 				SceneObjectGroup group = findByName (m_boidPrim);
@@ -86,20 +85,24 @@ namespace Flocking
 				sog = existing.ParentGroup;
 			}
 			
-			Quaternion rotation = CalcRotationToEndpoint (sog, sog.AbsolutePosition, boid.Location);
+			Quaternion rotation = CalcRotationToEndpoint (sog, boid.Location);
 			sog.UpdateGroupRotationPR( boid.Location, rotation);
 		}
 		
-		private static Quaternion CalcRotationToEndpoint (SceneObjectGroup copy, Vector3 sv, Vector3 ev)
+		private static Quaternion CalcRotationToEndpoint (SceneObjectGroup sog, Vector3 ev)
 		{
 			//llSetRot(llRotBetween(<1,0,0>,llVecNorm(targetPosition - llGetPos())));
 			// boid wil fly x forwards and Z up
+			Vector3 sv = sog.AbsolutePosition;
 			
 			Vector3 currDirVec = Vector3.UnitX;
 			Vector3 desiredDirVec = Vector3.Subtract (ev, sv);
 			desiredDirVec.Normalize ();
 
 			Quaternion rot = Vector3.RotationBetween (currDirVec, desiredDirVec);
+			
+			//TODO: if we turn upside down, flip us over by rotating along Y
+			
 			return rot;
 		}
 		
@@ -113,13 +116,9 @@ namespace Flocking
 		
 		private SceneObjectGroup findByName (string name)
 		{
-			SceneObjectGroup retVal = null;
+			SceneObjectGroup retVal = (SceneObjectGroup)m_scene.Entities.Find (delegate( EntityBase e ) {
-			foreach (EntityBase e in m_scene.GetEntities()) {
+				return (e.Name == name) && (e is  SceneObjectGroup);
-				if (e.Name == name) {
+			});
-					retVal = (SceneObjectGroup)e;
-					break;
-				}
-			}
 			
 			// can't find it so make a default one
 			if (retVal == null) {

Flocking/FlowField.cs

@@ -64,11 +64,9 @@ namespace Flocking
 				for( int x = 0; x < size.X; x++ ) {
 					for( int y = 0; y < size.Y; y++ ) {
 						for( int z = 0; z < size.Z; z++ ) {
-							if( IsWithinFlowField( 
 						}
 					}
 				}
-					
 			}
 		}
 

Flocking/VectorTest.cs

@@ -0,0 +1,23 @@
+using System;
+using OpenMetaverse;
+using NUnit.Framework;
+
+namespace Flocking
+{
+	[TestFixture()]
+	public class VectorTest
+	{
+		[Test()]
+		public void TestCase ()
+		{
+			Vector3 [,] field =  new Vector3[3,3];
+			Vector2 start = new Vector2(0f, 0f);
+			Assert.That( field[1,1].Z == 0 );
+			
+			field[1,0] = Vector3.UnitZ;
+			
+			
+		}
+	}
+}
+