DtObstructionSensor models a sensor able to detect potential collisions with other entities and/or terrain vector data. More...

Inheritance diagram for DtObstructionSensor:

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List of all members.

Public Member Functions
	DtObstructionSensor (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtObstructionSensor ()
	destructor
virtual bool	init ()
	Initializes the Obstruction sensor for use.
virtual void	tick ()
	Determines if the entity is currently colliding with any of the specified potential Obstructions.
virtual DtString	type () const
	Returns a string identifies the class type of component.
Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
Protected Member Functions
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual bool	createCollisionDetector ()
	Creates the collision detector.
virtual bool	setObstructionIDsInCollisionDetector ()
	Sets the obstruction IDs in the collision detector based on the descriptor and the PSR.
virtual bool	initializeCollisionBV ()
	Initializes the collision bounding volume.
virtual bool	calculateStoppingDistance (const DtObstructionSensorDescriptor &obstructionSensorDesc, double &stoppingDistance)
	Calculates the current stopping distance of the entity.
virtual bool	calculateCollisionBV ()
	Calculates the bounding volume representing the potential collision volume occupied by the entity.
virtual void	registerMessageCallbacks ()
	Registers for DtSetCollisionAvoidTypes messages.
virtual void	processCollisionAvoidTypes (DtSimMessage *msg)
	Modifies the current obstruction detection types based on the contents of the message.
virtual bool	addVectorObstructionType (const DtRwVectorObstructionType &obsId)
	Adds the specified obstruction type to the PSR's vector obstruction list unless this type of obstruction is already being checked for.
virtual bool	removeVectorObstructionType (const DtRwVectorObstructionType &obsId)
	Removes the specified obstruction type from the PSR's vector obstruction list unless this type of obstruction if it is currently being checked for.
virtual DtRwVectorObstructionType	buildingVectorObstructionType () const
	Returns the vector obstruction type that will be added/removed when a DtSetCollisionAvoidTypes message arrives that adds/removes building avoidance.
virtual DtRwVectorObstructionType	treeVectorObstructionType () const
	Returns the vector obstruction type that will be added/removed when a DtSetCollisionAvoidTypes message arrives that adds/removes trees avoidance.
virtual double	decelerationSoilFactor () const
virtual bool	createPorts ()
	Creates, initializes, and adds to the port group, all the ports for this component.
virtual bool	createPortGroups ()
	Creates and adds all port groups for this component.
Static Protected Member Functions
static void	setCollisionAvoidTypesCallback (DtSimMessage msg, void usr)
	Calls processCollisionAvoidTypes().
Protected Attributes
Dt3dBoundingVolume *	myCollisionBV
DtCollisionDetector *	myCollisionDetector
DtCollisionDetector::DtObjectObstructionIDContainer	myObjectObstructionIDs
DtCollisionDetector::DtVectorObstructionIDContainer	myVectorObstructionIDs
const DtObstructionSensorDescriptor *	myObstructionSensorDesc
DtObstructionSensorPSR *	myProcessState
	Container for state data associated with this component.
bool	myFirstTick
DtCollision *	myPotentialCollision
Ports and Port Groups
DtCollisionOutputPort *	myPotentialCollisionInfoPort
	Output Port Name: potential-collision-info Output Port Description: Information about an impending potential collision with an entity or terrain vector data feature.
DtOutputPortGroup *	myObstructionInfoPortGroup
	Output Port Group Name: obstruction-info Output Port Group Description:
Private Member Functions
	DtObstructionSensor (const DtObstructionSensor &orig)
	copy constructor; not implemented
DtObstructionSensor &	operator= (const DtObstructionSensor &orig)
	assignment operator; not implemented

Detailed Description

DtObstructionSensor models a sensor able to detect potential collisions with other entities and/or terrain vector data.

Uses Descriptor Type: DtObstructionSensorDescriptor

Constructor & Destructor Documentation

DtObstructionSensor::DtObstructionSensor	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtObstructionSensor::~DtObstructionSensor ( ) [virtual]

destructor

DtObstructionSensor::DtObstructionSensor ( const DtObstructionSensor & orig ) [private]

copy constructor; not implemented

Member Function Documentation

DtObstructionSensor& DtObstructionSensor::operator= ( const DtObstructionSensor & orig ) [private]

assignment operator; not implemented

Reimplemented in DtHumanObstructionSensor.

virtual bool DtObstructionSensor::init ( ) [virtual]

Initializes the Obstruction sensor for use.

This involves calculating the initial collision bounding volume.

Returns:: A boolean signifying success or failure.

See also:: initializeCollisionBV()

Reimplemented from DtSimComponent.

virtual void DtObstructionSensor::tick ( ) [virtual]

Determines if the entity is currently colliding with any of the specified potential Obstructions.

If so, it fills the myPotentialCollisionInfoPort with the potential collision data if it can activate the ports. Otherwise, it releases any active ports.

See also:: calculateCollisionBV(); detectCollision()

Reimplemented from DtSimComponent.

virtual DtString DtObstructionSensor::type ( ) const [virtual]

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns:: DtObstructionSensorType

Reimplemented from DtSimComponent.

Reimplemented in DtHumanObstructionSensor.

virtual bool DtObstructionSensor::createPSR ( ) [protected, virtual]

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual bool DtObstructionSensor::createCollisionDetector ( ) [protected, virtual]

Creates the collision detector.

virtual bool DtObstructionSensor::setObstructionIDsInCollisionDetector ( ) [protected, virtual]

Sets the obstruction IDs in the collision detector based on the descriptor and the PSR.

PSR values take precedence over values in the descriptor.

Returns:: a boolean indicating success or failure.

virtual bool DtObstructionSensor::initializeCollisionBV ( ) [protected, virtual]

Initializes the collision bounding volume.

Returns:: A boolean signifying success or failure.

virtual bool DtObstructionSensor::calculateStoppingDistance	(	const DtObstructionSensorDescriptor &	obstructionSensorDesc,
		double &	stoppingDistance
	)		`[protected, virtual]`

Calculates the current stopping distance of the entity.

To get this, it queries the ground auto controller component, if specified, and returns the current braking distance that that component calculates.

Returns:: true if the stopping distance was calculated. false if the distance could not be calculated for any reason. This includes if the ground auto controller component member of the descriptor is not specified or if the component can't be found in the component manager (by name).

Note:: If the function returns false, the stoppingDistance parameter is not modified.; To decouple this from any use of a ground auto controller component derive a child class and override this function.

Reimplemented in DtHumanObstructionSensor.

virtual bool DtObstructionSensor::calculateCollisionBV ( ) [protected, virtual]

Calculates the bounding volume representing the potential collision volume occupied by the entity.

The entities oriented bounding volume is extended in the direction of travel. It represents a prediction of the entity's future movement for some period of time.

Returns:: A boolean signifying success or failure. If the function fails, the bounding volume value is not defined to be correct.

virtual void DtObstructionSensor::registerMessageCallbacks ( ) [protected, virtual]

Registers for DtSetCollisionAvoidTypes messages.

static void DtObstructionSensor::setCollisionAvoidTypesCallback	(	DtSimMessage *	msg,
		void *	usr
	)		`[static, protected]`

Calls processCollisionAvoidTypes().

virtual void DtObstructionSensor::processCollisionAvoidTypes ( DtSimMessage * msg ) [protected, virtual]

Modifies the current obstruction detection types based on the contents of the message.

virtual bool DtObstructionSensor::addVectorObstructionType ( const DtRwVectorObstructionType & obsId ) [protected, virtual]

Adds the specified obstruction type to the PSR's vector obstruction list unless this type of obstruction is already being checked for.

Returns:: True if the list was modified.

virtual bool DtObstructionSensor::removeVectorObstructionType ( const DtRwVectorObstructionType & obsId ) [protected, virtual]

Removes the specified obstruction type from the PSR's vector obstruction list unless this type of obstruction if it is currently being checked for.

Returns:: True if the list was modified.

virtual DtRwVectorObstructionType DtObstructionSensor::buildingVectorObstructionType ( ) const [protected, virtual]

Returns the vector obstruction type that will be added/removed when a DtSetCollisionAvoidTypes message arrives that adds/removes building avoidance.

By default, returns a spec of layer MAK000.

virtual DtRwVectorObstructionType DtObstructionSensor::treeVectorObstructionType ( ) const [protected, virtual]

Returns the vector obstruction type that will be added/removed when a DtSetCollisionAvoidTypes message arrives that adds/removes trees avoidance.

By default, returns a spec of layer MAK040.

virtual double DtObstructionSensor::decelerationSoilFactor ( ) const [protected, virtual]

static DtSimComponent* DtObstructionSensor::creator	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)		`[static]`

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns:: New instance of this class.

Reimplemented in DtHumanObstructionSensor.

virtual bool DtObstructionSensor::createPorts ( ) [protected, virtual]

Creates, initializes, and adds to the port group, all the ports for this component.

Returns:: A boolean signifying success or failure.

Reimplemented from DtSimComponent.

virtual bool DtObstructionSensor::createPortGroups ( ) [protected, virtual]

Creates and adds all port groups for this component.

Returns:: A boolean signifying success or failure.

Reimplemented from DtSimComponent.

Member Data Documentation

DtCollisionOutputPort* DtObstructionSensor::myPotentialCollisionInfoPort [protected]

Output Port Name: potential-collision-info
Output Port Description: Information about an impending potential collision with an entity or terrain vector data feature.

Output Port Range:
Output Port Default Value:
Output Group Parent: obstruction-info

DtOutputPortGroup* DtObstructionSensor::myObstructionInfoPortGroup [protected]

Output Port Group Name: obstruction-info
Output Port Group Description:

Dt3dBoundingVolume* DtObstructionSensor::myCollisionBV [protected]

DtCollisionDetector* DtObstructionSensor::myCollisionDetector [protected]

DtCollisionDetector::DtObjectObstructionIDContainer DtObstructionSensor::myObjectObstructionIDs [protected]

DtCollisionDetector::DtVectorObstructionIDContainer DtObstructionSensor::myVectorObstructionIDs [protected]

const DtObstructionSensorDescriptor* DtObstructionSensor::myObstructionSensorDesc [protected]

DtObstructionSensorPSR* DtObstructionSensor::myProcessState [protected]

Container for state data associated with this component.

This state is saved and restored as part of a scenario (or checkpoint).

bool DtObstructionSensor::myFirstTick [protected]