include/vrfmodel/obstructionSens.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2004 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/
/*******************************************************************************
** $RCSfile: obstructionSens.h,v $ $Revision: 1.20 $ $State: Exp $
*******************************************************************************/



#ifndef obstructionSensor_H_
#define obstructionSensor_H_

#include "vrfobjcore/simCmpnt.h"
#include "vrfutil/vlClock.h"
#include "vrfobjcore/vrfObjMgr.h"
#include <vl/hostStructs.h>
#include <vl/objIdHashLst.h>
#include "vrfobjcore/collisionIOPort.h"
#include "gdb/specification.h"
#include "vrfobjcore/vectorObstructionID.h"
#include "vrfmodel/collisionDetector.h"

#include <list>

class DtString;
class DtSimManager;
class Dt3dBoundingVolume;
class DtVectorObstructionID;
class DtObstructionSensorDescriptor;
class DtObstructionSensorPSR;
class DtRwVectorObstructionType;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtObstructionSensor : public DtSimComponent
{

public:

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

   virtual ~DtObstructionSensor();

private:
   DtObstructionSensor(const DtObstructionSensor& orig);

   DtObstructionSensor& operator=(const DtObstructionSensor& orig);


public:
   virtual bool init();

   virtual void tick();

   virtual DtString type() const;

protected:

   virtual bool createPSR();

   virtual bool createCollisionDetector();

   virtual bool setObstructionIDsInCollisionDetector();

   virtual bool initializeCollisionBV();

   virtual bool calculateStoppingDistance(const DtObstructionSensorDescriptor& obstructionSensorDesc,
                                          double& stoppingDistance);

   virtual bool calculateCollisionBV();

   virtual void registerMessageCallbacks();

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

   virtual void processCollisionAvoidTypes(DtSimMessage* msg);

   virtual bool addVectorObstructionType(const DtRwVectorObstructionType& obsId);

   virtual bool removeVectorObstructionType(const DtRwVectorObstructionType& obsId);

   virtual DtRwVectorObstructionType buildingVectorObstructionType() const;

   virtual DtRwVectorObstructionType treeVectorObstructionType() const; 

   virtual double decelerationSoilFactor() const;

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

protected:

   virtual bool createPorts();

   virtual bool createPortGroups();

protected:


   DtCollisionOutputPort* myPotentialCollisionInfoPort;

   DtOutputPortGroup*     myObstructionInfoPortGroup;


   Dt3dBoundingVolume*      myCollisionBV;
   DtCollisionDetector*   myCollisionDetector;
   DtCollisionDetector::DtObjectObstructionIDContainer myObjectObstructionIDs;
   DtCollisionDetector::DtVectorObstructionIDContainer myVectorObstructionIDs;
   const DtObstructionSensorDescriptor* myObstructionSensorDesc;

   DtObstructionSensorPSR* myProcessState;

   bool myFirstTick;

protected:
   mutable DtCollision*             myPotentialCollision;
};

#endif