include/vrfmodel/objectSensor.h

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/*******************************************************************************
** Copyright (c) 2005 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: objectSensor.h,v $ $Revision: 1.36 $ $State: Exp $
*******************************************************************************/



#ifndef objectSensor_H_
#define objectSensor_H_

#include "vrfobjcore/simCmpnt.h"
#include "vrfobjcore/filteredObjList.h"
#include "vrfmodel/vrfmodelDefines.h"

class DtSensorContactListOutputPort;
class DtObjectTypesListMultiInputPort;
class DtObjectSensorDescriptor;
class DtObjectSensorPSR;
class DtRwSensorContactInfo;
class DtObjectSensorMonitor;
class DtSpatialFilterEvaluator;
class DtCompositePredicate;
class DtObjectType;
class DtNLengthIntegerVector;
class DtOrientationInputPort;
class DtVectorInputPort;
class DtInputPortGroup;

class DT_DLL_vrfmodel DtObjectSensor : public DtSimComponent
{
private:
   DtObjectSensor();

   DtObjectSensor(const DtObjectSensor & 
      orig);

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

public:

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

   virtual ~DtObjectSensor();

   virtual bool init();

   virtual DtString type() const;

   virtual void tick();

   virtual bool tickWhileDestroyed() const;

   virtual int sensorType() const;

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

protected:

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual DtObjectSensorPSR* createPSR();

   virtual const char* defaultPSRType() const;

   virtual void updateDetectableObjectsList();



   DtCompositePredicate objectTypeForcePredicate(const DtObjectType&, 
      const DtNLengthIntegerVector& forceTypes);
   DtCompositePredicate objectTypeForcePredicate(const DtObjectType&, 
      const std::list<DtU8>& forceTypes);

   virtual bool initSensorGeometry();

   virtual void setupGeometryForDetection();

   virtual DtVector localSensorPosition() const;

   virtual DtTaitBryan localSensorOrientation() const;

   virtual bool processObjects();

   virtual bool detectObject(DtVrfObject* object, 
      DtRwSensorContactInfo* contactInfo);

   virtual bool continueDetectingObject(DtVrfObject* object, 
      DtRwSensorContactInfo* contactInfo, bool& contactInfoModified);

   virtual bool objectWithinSensorGeometry(DtVrfObject* object) const;

   virtual double rangeSquaredToObject(const DtVrfObject* object) const;

   virtual double rangeToObject(const DtVrfObject* object) const;

   virtual void clearObjectRangeCache() const;

   virtual void printTargets() const;

   virtual void updateDetectedObjectListPort();

   virtual bool createAndInitSensorMonitor();

   virtual bool objectInDetectableList(DtVrfObject*) const;

   static void hostilitiesChangedCallback(DtU8 force, void* usr);
   virtual void processHostilitiesChanged(DtU8 force);

protected:









   DtSensorContactListOutputPort * myDetectedObjectListPort;
   DtObjectTypesListMultiInputPort* myObjectsToDetectInputPort;

   

   DtInputPortGroup* mySensorOffsetInputPortGroup;

   DtOrientationInputPort* myOrientationInputPort;

   DtVectorInputPort* myPositionInputPort;


   DtManagedObjectListConstPtr myDetectableObjectList;
   const DtObjectSensorDescriptor* myObjectSensorDescriptor;

   DtObjectSensorPSR* myProcessState;

   DtObjectSensorMonitor* myMonitor;
   DtSpatialFilterEvaluator* mySensorGeometryEvaluator;

   mutable const DtVrfObject* myMutableObjectCached;
   mutable bool myMutableObjectRangeCalculated;
   mutable double myMutableObjectRangeCache;
   mutable bool myMutableObjectRangeSquaredCalculated;
   mutable double myMutableObjectRangeSquaredCache;
   
};

#endif