humanMoveAlongController.h

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/*******************************************************************************
** Copyright (c) 2012 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

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

class DtCgf;
class DtHumanStateRepository;
class DtSimMessage;
class DtHumanMoveAlongPSR;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtLocalVectorIterator;
class DtCollisionInputPort;
class DtInputPortGroup;
class DtHumanMoveAlongControllerDescriptor;

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

   virtual ~DtHumanMoveAlongController();

   virtual bool init();

   virtual DtString type() const;

   virtual void preFirstTickInit();

   virtual void tick();

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

   virtual void processMoveAlongTask(DtSimMessage * msg);

   static void routeChangedCallback(DtVrfObject* obj, void * usr);
   virtual void processRouteChanged(DtVrfObject* obj);

   virtual void registerTaskMsgCallbacks();

   virtual bool setupRoute();

   virtual bool setupDestination();

   virtual double findDesiredSpeed();

   virtual void stop();

   static void objectAddedCb(DtVrfObject * vrfObject, void * usr);

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

   virtual bool createPorts();

   virtual bool createPortGroups();

   virtual bool createPSR();

   virtual void doMoving();

   virtual double findDesiredHeading();

   virtual bool destinationIsInsideObstruction(
      const DtVector& localDestination) const;

   virtual bool decideToGiveUpTask() const;

protected:

   virtual void buildLocalRoute();

   virtual void emptyVertexList();

   virtual void processObjectAdded(DtVrfObject * vrfObject);

   virtual void clearTask();

   virtual void moveToDestination();

   virtual void invalidateDestinationVector() const;
   virtual double distanceToDestination() const;

   virtual bool atDestination();

   virtual bool passedDestination();

   virtual bool getDestination(DtVector & destination);

   virtual const DtVector& destinationVector() const;

   virtual void setupDestinationVector() const;

   virtual double atDistance() const;

   virtual bool stayOnRoute() const;

   virtual double minCorrectionDistance() const;

   virtual double maxCorrectionDistance() const;

   virtual double maxCorrectionAngle() const;

   virtual bool getCurrentRouteSegment(DtVector& routeSegmentStart, 
      DtVector& routeSegmentEnd) const;

protected:


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;


   DtHumanStateRepository* myHumanStateRepository;

   DtHumanMoveAlongPSR* myProcessState;

   DtHumanMoveAlongControllerDescriptor* myHumanMoveAlongControllerDescriptor;

   DtVrfObject* myRoute;

   bool myRouteHasChanged;
   bool               myResetVertex;

   int myPreviousVertex;

   bool              myAtDestination;
   bool              myNearDestination;
   bool              myPassedDestination;

   double            myDistanceSquared;
   DtVector          myLocalDestination;
   DtVector          myWorldDestination;
   double            myCurrentSpeed;
   mutable bool      myDestinationVectorIsValid;
   mutable DtVector  myDestinationVector;
};

void registerDtHumanMoveAlongController(DtCgf* cgf);