include/vrfmodel/humanMoveToController.h

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/*******************************************************************************
** Generated by VR-Forces Component Code Generator
** WARNING: Changes to this file WILL BE LOST if file is regenerated.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: humanMoveToController.h,v $ $Revision: 1.7 $ $State: Exp $
*******************************************************************************/



#ifndef DtHumanMoveToController_H_
#define DtHumanMoveToController_H_

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

class DtCgf;
class DtHumanStateRepository;
class DtSimMessage;
class DtHumanMoveToPSR;
class DtCollisionInputPort;
class DtInputPortGroup;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtHumanMoveToControllerDescriptor;

class DT_DLL_vrfmodel DtHumanMoveToController : public DtSingleTaskControllerComponent
{
private:
   DtHumanMoveToController();
   DtHumanMoveToController(const DtHumanMoveToController& orig);
   DtHumanMoveToController& operator=(const DtHumanMoveToController& orig);
public:
   DtHumanMoveToController(const DtString& name, DtVrfObject* owner, DtSimManager* simManager, DtComponentDescriptor* desc=0, DtReaderWriterRegistry *parentRegistry=0);

   virtual ~DtHumanMoveToController();

   virtual bool init();

   virtual DtString type() const;

   virtual void tick();

   static void moveToCallback(DtSimMessage * msg, void * usr);

   static void setLocationCallback(DtSimMessage* msg, void* usr);

   static void moveToLocationCallback(DtSimMessage * msg, void * usr);

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

   static void modifyVrfObjectCallback(DtSimMessage* msg, void* usr);

protected:

   virtual void processMoveToTask(DtSimMessage * msg);


   virtual void processMoveToLocationTask(DtSimMessage * msg);

   virtual void processDestinationChanged();

   virtual bool setupDestination();

   virtual void setupDestinationVector() const;

   virtual void invalidateDestinationVector() const;

   virtual bool atDestination();

   virtual void doMoving();

   virtual double findDesiredHeading();

   virtual void moveToDestination();

   virtual void stop();

   virtual void registerTaskMsgCallbacks();

   virtual void processModifyVrfObject(DtSimMessage* msg);

   virtual void processSetLocation(DtSimMessage* msg);

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual bool createPSR();

   virtual double distanceToDestination() const;

   virtual void clearTask();

   virtual bool destinationIsInsideObstruction(
      const DtVector& localDestination) const;

   virtual bool decideToGiveUpTask() const;

   virtual double atDistance() const;

protected:


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;


   DtVrfObject*     myControlPoint;

   DtVector          myLocalDestination;
   DtVector          myWorldDestination;

   mutable DtVector  myDestinationVector;
   mutable bool      myDestinationVectorIsValid;

   bool              myAtDestination;
   double            myDistanceSquared;

   DtHumanStateRepository* myHumanStateRepository;

   DtHumanMoveToPSR* myProcessState;

   DtHumanMoveToControllerDescriptor* myHumanMoveToControllerDescriptor;
};

void registerDtHumanMoveToController(DtCgf* cgf);
#endif