include/vrfmodel/humanFollowController.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: humanFollowController.h,v $ $Revision: 1.4 $ $State: Exp $
*******************************************************************************/




#ifndef humanFollowController_H_
#define humanFollowController_H_

#include <vrfobjcore/singleTaskControllerComponent.h>
#include "vrfmodel/vrfmodelDefines.h"

class DtHumanStateRepository;
class DtHumanFollowPSR;
class DtInputPortGroup;
class DtCollisionInputPort;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;

class DT_DLL_vrfmodel DtHumanFollowController : public DtSingleTaskControllerComponent
{

public:

   DtHumanFollowController(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual ~DtHumanFollowController();

   virtual DtString type() const;

   virtual bool init();

   virtual bool createPSR();

   virtual void tick();

   static void followEntityCallback(DtSimMessage* msg, void* usrData);

   virtual void processFollowEntityTask(DtSimMessage* msg);

   virtual const DtString& entityToFollow();
   virtual void setEntityToFollow(const DtString& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

   static DtSimComponent * creator(const DtString& name, 
      DtVrfObject* owner,
      DtSimManager* simManager, 
      DtComponentDescriptor* desc = 0,
      DtReaderWriterRegistry* parentRegistry = 0);

   virtual void registerTaskMsgCallbacks();

   virtual bool setupDestination();

   virtual bool passedDestination();

   virtual double findDesiredSpeed();

   virtual double findDesiredHeading();
   
   virtual void setupDestinationVector() const;

   virtual void stop();

   virtual void clearTask();

protected:

   DtHumanFollowController(const DtHumanFollowController & 
      orig);

   const DtHumanFollowController & operator=(const 
      DtHumanFollowController & orig);

   virtual void invalidateDestinationVector() const;

   virtual bool nearDestination();

   virtual bool getDestination(DtVector & destination);

   virtual const DtVector& destinationVector() const;

   virtual bool atDestination();

   virtual void doMoving();

   virtual bool destinationIsInsideObstruction(
      const DtVector& localDestination) const;

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void moveToDestination();

   virtual double distanceToDestination() const;

protected:

   DtVrfObject* myEntityToFollow;

   DtHumanStateRepository* myHumanStateRepository;

   DtHumanFollowPSR* myProcessState;


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;


   DtVector          myLocalDestination;
   DtVector          myWorldDestination;
   mutable DtVector  myDestinationVector;
   mutable bool      myDestinationVectorIsValid;
   bool              myNearDestination;
   bool              myPassedDestination;
   bool              myAtDestination;
   double            myDistanceSquared;
   bool myDestinationIsInsideObstruction;
   double            myCurrentSpeed;

   double myAtDistanceSquared;

   double myNearDistanceSquared;

   double myApproachSpeed;

   double myPassedSlowDownFactor;

   double myFarCatchUpFactor;

   double myNearCatchUpFactor; 
};

#endif