include/vrvCore/DtGroundClampingUpdater.h

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/****************************************************************************** 
** Copyright (c) 2012 MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/ 


#pragma once
#include <vrvCore/DtUpdater.h>
#include <matrix/vlVector.h>
#include <matrix/vlTaitBryan.h>

namespace makVrv 
{
   class DtIntersectionCache;

   class DT_DLL_VRVCORE DtGroundClampingUpdater : public DtUpdater
   { 
   public:

      enum GroundClampingMode
      {
         ClampNone         = 0,
         ClampOrientation  = 1,
         ClampPosition     = 2,
         ClampUpright      = 4,
         ClampOrientationAndPosition = ClampOrientation | ClampPosition,
         ClampOrientationAndUpright = ClampOrientation | ClampUpright,
         ClampPositionAndUpright = ClampPosition | ClampUpright,
         ClampAll = ClampOrientation | ClampPosition | ClampUpright
      };

   public:

      DtGroundClampingUpdater(DtDe& de, DtUniqueID id, bool doNotAddToMgr = false );

      virtual ~DtGroundClampingUpdater();

      virtual void update( double simTime );

      virtual void setPosition(const DtVector& position);

      virtual void setOrientation(const DtTaitBryan& ori);

      virtual void setPosition(int index, const DtVector&);

      virtual void setOrientation(int index, const DtTaitBryan&);

      virtual void removeSpatial(int);

      virtual void resetToUnclamped();

      virtual void setEnabled(bool enabled);

      virtual void setMode(GroundClampingMode mode);

      bool isClamping() const;

      inline bool isClampingUp() const
      {
         return myMode & ClampUpright;
      }

      inline bool isClampingOrientation() const
      {
         return myMode & ClampOrientation;
      }

      inline bool isClampingPosition() const
      {
         return myMode & ClampPosition;
      }

      virtual void setCullCylinderRadiusScale(float scale);

      virtual void setClampAlways(bool enabled);

      virtual void setCheckForCulling(bool);

      virtual bool doGroundClamp();

      virtual void setClampTimeThreshold(double);

   protected:

      static void computePerpendicularRotation( const DtVector& pos, 
         const DtVector& hitNormal, const DtTaitBryan& orientation, 
         DtTaitBryan& output );  

      bool computeGroundClampingHit(const DtVector& up,const DtVector& unclampedPosition, DtVector& hitLocation, DtVector& hitNormal);

      void computeIntersectionOrigin(const DtVector& up, const DtVector& unclampedPosition, DtVector& origin) const;

      bool needClampThisTick() const;

      bool targetIsMoving( const DtVector& newPos, const DtVector& lastPos ) const;

      bool targetIsTurning( const DtTaitBryan& newOri, const DtTaitBryan& lastOri ) const;      

      bool checkCulling(const DtVector& up) const;

      // handy helper func to determine the delta between circle angles, 
      static double angleDifference( double prev, double curr );

   protected:

      static const double theClampTimeThreshold;
      static const double theMaxCacheInterval;
      static const double theClampDistThreshold;
      static const double theClampOrientThreshold;
      static const double theIsectLength;    

      typedef std::vector<DtVector> Positions;
      typedef std::vector<DtTaitBryan> Orientations;

      Positions myLastUnclampedPositions;
      Orientations myLastUnclampedOrientations;

      Positions myUnclampedPositions;
      Orientations myUnclampedOrientations;

      double myLastCacheUpdateTime;
      double myLastClampTime;

      float myCullCylinderScale;

      GroundClampingMode myMode;

      DtIntersectionCache* myIntersectionCache;

      bool myEnabledFlag;

      bool myClampAlwaysFlag;

      bool myClampCulledLastFrame;      

      bool myCheckForCull;

      double myClampTimeThreshold;
      bool myBecameEnabledThisTick;
   }; 
}