DtHumanMovementActuator is a simple movement actuator for lifeforms. More...

Inheritance diagram for DtHumanMovementActuator:

Public Types
typedef std::map < DtLifeformStaticPosture, DtLifeformState >	DtStaticToDynamicPostureMap

Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer

typedef std::vector < DtSymbolString >::iterator	aliasIter

typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter

typedef std::vector< DtFilename >	SearchPaths

typedef std::pair < DtSymbolString, DtString >	DtVariableNameType

typedef DtReaderWriterFactory (	DtReaderWriterFactoryCreatorFcn )()

Public Member Functions
	DtHumanMovementActuator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtHumanMovementActuator ()
	destructor More...

virtual bool	init ()
	to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports. More...

virtual const char *	type () const
	Returns a string identifies the class type of component. More...

virtual bool	createPSR ()
	Creates the PSR to be used by this actuator. More...

virtual void	preFirstTickInit ()
	This function can be overridden to initialize a component before it is ticked for the first time. More...

virtual void	tick ()
	This gives the thread of control to the component. More...

Public Member Functions inherited from DtActuatorComponent
virtual	~DtActuatorComponent ()
	destructor More...

virtual DtSimRadio *	radio ()

virtual bool	tickWhileDestroyed () const
	By default, all actuators tick when the entity is destroyed. More...

Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual	~DtSimComponent ()
	destructor More...

virtual void	setParentSystem (DtComponentSystem *system)
	Sets the parent system of this component. More...

DtComponentSystem *	parentSystem () const

virtual bool	postAddComponentsInit ()
	Called after all components have been created, initialized and added to the component manager. More...

virtual void	registerAttributeFunctions ()
	Called to register functions that provide system attribute values. More...

virtual void	postTick ()
	This function is called immediately after tick() is called. More...

virtual void	timedTick ()
	This version of tick checks to see if the time to tick has arrived. More...

virtual void	setMinTickPeriod (double minTickPeriod)
	specifies a minimum tick period (which can also be thought of as More...

virtual double	minTickPeriod () const
	access the minimum tick period More...

virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
	set the variance in the minimum tick time More...

virtual double	minTickPeriodVariance () const
	access the variance in the minimum tick period More...

virtual void	setNextTickTime (double nextTickTime)
	The next tick time is normally calculated internally. More...

virtual double	nextTickTime () const
	access the next tick time More...

virtual double	calculateNextTickTime () const
	The next tick time is equal to mySimManager->exerciseClock()-> approximateElapsedRealTime() + myMinTickPeriod + a random # between -myMinTickPeriodVariance/2. More...

virtual double	calculateFirstTickTime () const
	Returns the first time value that the component should tick at. More...

virtual void	setEntity (DtVrfObject *entity)
	The entity's state repository is the place that actuator components make updates and other components look to see our current state. More...

virtual DtSimComponent *	nextComponent ()
	List management functions. More...

virtual DtSimComponent *	prevComponent ()

virtual void	setListItem (DtListItem *item)
	Used by DtComponentList. More...

virtual DtListItem *	listItem ()

virtual void	putData (std::string &fp, int indentLevel=0)
	putData writes our type, which is provided by the virtual type accessor of the deriving class. More...

virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
	getData is just used to get us past the type in the data stream, since it's not actual stored. More...

virtual void	addInputPort (DtInputPort *port)
	Adds this input port to the components input port list so that other components can look it up and attach to it. More...

virtual void	removeInputPort (DtInputPort *port)

virtual DtInputPort *	lookupInputPort (const DtString &portName)
	Returns a pointer to the input port registered on this component with the specified name. More...

virtual DtList	inputPortList () const
	Returns the list of DtInputPorts registered on this component. More...

virtual void	addOutputPort (DtOutputPort *port)
	Adds this output port to the components output port list so that other components can look it up and attach to it. More...

virtual void	removeOutputPort (DtOutputPort *port)

virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
	Returns a pointer to the output port registered on this component with the specified name. More...

virtual DtList	outputPortList () const
	Returns the list of DtOutputPorts registered on this component. More...

virtual void	addInputPortGroup (DtInputPortGroup *group)
	Adds this input port to the components input port list so that other components can look it up and attach to it. More...

virtual void	removeInputPortGroup (DtInputPortGroup *group)

virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
	Returns a pointer the input port group registered on this component with the specified name. More...

virtual DtList	inputPortGroupList () const
	Returns the list of DtInputPortGroups registered on this component. More...

virtual void	addOutputPortGroup (DtOutputPortGroup *group)
	Adds this output port group to the components output port group list so that other components can look it up and attach to it. More...

virtual void	removeOutputPortGroup (DtOutputPortGroup *group)

virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
	Returns a pointer the output port group registered on this component with the specified name. More...

virtual DtList	outputPortGroupList () const
	Returns the list of DtOutputPortGroups registered on this component. More...

virtual int	priority () const
	Return the current connection priority for this component. More...

virtual void	setPriority (int priority)
	Sets a new connection priority for this component, and changes all current outgoing connections from this component to the new value. More...

double	dT () const
	This is the delta-t for this component, which may or may not be the same as the exerciseClock dT. More...

virtual void	setDT (double deltaT)
	Note that while dT is calculated internally, this makes it possible to 'lie' to the component about dT if necessary. More...

virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
	The component descriptor specified in the order of battle file or parameter file that was used to create this component. More...

virtual const DtComponentDescriptor *	componentDescriptor () const

DtVrfProcessStateRepositoryManager *	psrManager ()

virtual const DtSymbolString &	componentFullName () const

DtPhysicalWorld *	physicalWorld ()
	Gets the physical world that this component's entity exists in. More...

const DtPhysicalWorld *	physicalWorld () const

DtAttachedTerrain *	terrainAttachedTo ()
	Gets the terrain that this component's entity is attached to, if any. More...

const DtAttachedTerrain *	terrainAttachedTo () const

DtVrfObject *	entity ()
	Gets the entity. More...

const DtVrfObject *	entity () const

const DtVrfObject *	const_entity () const
	You would want to use this call if you could be either a const or non-const entity, and you wanted to be sure you only had const access. More...

DtSimManager *	simManager ()
	Gets the sim manager. More...

const DtSimManager *	simManager () const

const Coordinate_System *	coordinateSystem () const
	Gets the coordinate system, as it should always exist if the physical world is in a valid state! More...

DtVrfObjectStateRepository *	localStateRepository ()
	Gets the local state repository. More...

const DtVrfObjectStateRepository *	localStateRepository () const

const DtVrfObjectStateRepository *	const_localStateRepository () const
	You would want to use this call if you could be either a const or non-const local state repository, and you wanted to be sure you only had const access. More...

virtual DtTaskVisualizationMap &	taskVisualizations ()
	Returns the list of task visualizations for this component. More...

virtual bool	taskVisualizationsActive () const
	Returns true if task visualizations are currently active for this component. More...

virtual bool	taskVisualizationsEnabled () const
	Returns true if task visualizations are enabled for this component. More...

virtual bool	isThreadSafe () const
	Returns true if this component is marked as being thread safe. More...

virtual void	addVRLinkDeferredJob (const boost::function< void()> &callback)
	Adds a deferred job to the VRLink job queue in the DtParallelTickManager, but only if this component is marked at thread safe. More...

virtual void	onRestore ()
	Called whenever a component is restored. Default is no-op. More...

virtual void	enable ()
	Is this component enabled or not. More...

virtual void	disable ()

virtual bool	isEnabled ()

virtual void	setIsEnabled (bool yesNo)

virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const

virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const

virtual DtSimResourceManager &	resourceManager ()

virtual const DtSimResourceManager &	resourceManager () const

Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	default constructor More...

	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	real constructor Setting the readonly flag prevents object from writing itself to the stream. More...

	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)

	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	pseudo-copy constructor More...

	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)

	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
	copy constructor More...

const DtReaderWriter &	operator= (const DtReaderWriter &orig)
	assignment operator More...

bool	operator== (const DtReaderWriter &) const
	Equivalence operator. More...

bool	operator!= (const DtReaderWriter &rhs)

virtual	~DtReaderWriter ()
	destructor More...

virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Top level call to write itself to file. More...

virtual void	postPutSelf ()
	Called after either version of put self (file or environment). Default is no-op. More...

virtual void	prePutSelf ()
	Called before either version of put self (file or environment). Default is no-op. More...

virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Top level to read itself from an input stream. More...

virtual void	postGetSelf ()
	Called after either version of getSelf (mtl or environment). Default is no-op. More...

virtual void	preGetSelf ()
	Called before either version of get self (file or environment). Default is no-op. More...

virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
	Called from putSelf, calls myRegistry.putSelf which in turn calls putSelf on each reader/writer in the registry. More...

virtual DtSymbolString	name () const
	Accessor for name of this readable/writable object. More...

virtual void	addAlias (const DtSymbolString &alias)
	Add an alias as an alternative name for this object. More...

virtual void	addAlias (const DtString &alias)

virtual bool	hasAlias (const DtSymbolString &alias)

virtual const aliasContainer &	aliases () const

virtual void	setReadonly (bool flag)
	Set read-only flag. More...

bool	isReadonly () const

virtual void	reset ()
	For those reader/writer items that support it, resets the reader/writer value to original state Default is no-op. More...

virtual int	alignment () const
	For those items that are sent over the network via HLA, this will give the network alignment. More...

virtual bool	variableIsBound () const

virtual void	unbindVariable ()
	Sets the myVariableIsBound flag to false. More...

virtual void	setName (const DtString &)
	Set the name of the object. More...

virtual const char *	readerWriterType () const
	Used to supply a string type that this reader writer type is. More...

virtual const char *	xmlType () const

virtual DtString	prettyPrint () const
	Routine to return a human readable form of the reader/writer variable. More...

std::string	debugText () const

virtual void	bindVariables (DtVariableBindingsList variableBindings)
	Runs a variable binding pass on this reader writer and any of its children. More...

virtual std::list < DtVariableNameType >	unboundVariables () const

bool	invalid () const

virtual bool	hasChild (const DtReaderWriter *p) const
	Returns true if this variable has a child p in it's chain. More...

virtual bool	hasVariableReference () const
	Returns true if this item or any item in the registry (recursive) is a variable reference. More...

virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
	Checks to see if this RW object is a variable reference that can be bound using the provided bindings. More...

virtual void	recordUpdateTime () const
	Can be implemented in subclasses to stamp the time when updated. More...

virtual bool	wasUpdatedSince (DtTime t) const
	Can be implemented in subclasses to return true if an update occurred after the specified time. More...

virtual bool	changedSinceLastChecked ()
	Returns true if this objects value has changed since the last time this function was called. More...

virtual bool	peekChangedSinceLastChecked () const
	Returns the value that changedSinceLastChecked would return but does not reset the internal flag. More...

virtual void	setValueSpecified (bool specified, bool recurse=false)
	The specified flags are used for optional values. More...

virtual bool	valueSpecified () const

virtual bool	isVariableReference () const
	Specifies whether or not this reader writer is really a variable that is specified elsewhere. More...

virtual void	setIsVariableReference (bool value)

virtual void	clearAllVariableReferenceFlags ()
	Clears out all variable reference flags from all readerwriter items in registry recursively. More...

virtual DtSymbolString	variableName () const
	The variable name, if this object is a variable reference. More...

virtual void	setVariableName (const DtSymbolString variableName)

virtual const DtReaderWriter *	defaultRWValue () const
	The default value to use if the reader/writer object is a variable and that variable is not specified. More...

virtual DtReaderWriter *	defaultRWValue ()

virtual void	setDefaultRWValue (DtReaderWriter *)
	Previous default value, if exists, will be removed and replaced with a clone of the supplied variable. More...

virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
	Give the stream, if the stream contains a default value then set it here. More...

const DtReaderWriterRegistry &	registry () const
	Collection of child DtReaderWriter nodes owned by this object. More...

DtReaderWriterRegistry &	registry ()

virtual DtPropertyInterface *	property ()

virtual const DtPropertyInterface *	property () const

virtual DtString	toXml () const

virtual DtRwVariableBindings *	generateVariableBindings () const
	Iterates over the registry (recursively) and returns a variable bindings object that contains all the variables that are contained in this read/writer class. More...

virtual bool	toXml (const DtFilename &) const
	Writes contents of xml result to the given filename. More...

virtual bool	fromXml (const DtString &)
	Restores object from given xml string. Returns true if valid. More...

virtual bool	fromXmlFile (const DtFilename &)
	Restores object from given xml file. More...

virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const

virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
	Override to add attributes of actual data. More...

virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
	Called when the item is a variable reference. More...

virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())

virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
	Gets data from the environment value. More...

virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
	Called when the xml reader tries to parse an unknown reader/writer item. Default is a no-op. More...

virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)
	Called when the item is a variable reference. More...

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

Static Public Member Functions inherited from DtSimComponent
static DtSimComponent *	MarkThreadSafe (DtSimComponent *)
	Marks an instance of a component as being thread safe. More...

static DtSimComponentFactory *	factory ()
	A DtSimComponentFactory is allocated by the DtSimCreator, and this pointer is set. More...

static void	setFactory (DtSimComponentFactory *factory)

static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtVrfObject owner, DtSimManager simManager, DtComponentSystem parentSystem, DtComponentDescriptor desc=0, DtReaderWriterRegistry *parentRegistry=0)
	Creates a DtSimComponent using the factory, then initializes it via the MTL stream. More...

static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
	Adds a DtSimComponent creation function to the DtSimComponentFactory, using the given type as the key. More...

Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)

static const DtVariableBindingsList &	nullVariableReference ()

static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)

static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)

static void	setPutIndent (bool)

static bool	putIndent ()

static const char *	theXmlType ()
	The type that is used when archiving to an XML stream. More...

static const DtFilename &	appPath ()
	Gets the current working directory. More...

static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
	Sets the function to create the DtReaderWriterFactory. More...

static void	createReaderWriterFactory ()

static void	cleanupFactory ()

static DtReaderWriterFactory *	factory ()

static void	setOutputStream (DtOutputStream *stream)

static DtOutputStream &	outputStream ()

static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
	Given a filename, returns a newly created reader/writer object from the object found within. More...

static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
	Given a xml string, returns a newly created reader/writer object from the object found within. More...

static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
	Given a xml environment, returns a newly created reader/writer object from the object found within. More...

static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)
	Gets the named attribute from a DtEnvValueSP. More...

Protected Member Functions
virtual double	calculateMaxSpeed () const

virtual double	maxSpeedFromFacingError (const double desiredHeading, const double currentHeading) const
	Compute maximum speed based on difference of facing from desired facing. More...

virtual double	maxSpeedSoilFactor () const

virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyVelocity, double newHeading, double dt=-1)

virtual void	calculateOrientationAndPosition (const DtVector &newLocalProjectedLocation, double newHeading, double newFacingOrientation, DtDcm &newLocalOrientation, DtDcm &newLocalDirectionOfMovement, DtVector &newLocalPosition)
	Given the new location as projected along the current velocity vector, its movement heading, and its facing, find the terrain under the new location and compute the final entity state. More...

virtual void	identifySupportSurfaceAndAltitude (const DtVector &testPosition, const double altOfTestPosition, const DtVector &stepUpVector, const double bodyHeight, DtSurface &interactionSurface, double &adjustedAltitude)
	In calculating the new altitude for an entity when it moves, the entity position is first projected along its velocity vector for the last tick (calculateProjectedLocation), and then the terrain at that location is found (in calculateOrientationAndPosition). More...

virtual double	stepUpFractionLimit () const
	The limit on how far an entity can step up in one tick. More...

virtual double	underWaterFraction () const
	The fraction of a human that is below water when it is floating in water. More...

virtual double	dropSpeed () const
	The speed at which an entity will drop if it encounters a sudden drop in elevation. More...

virtual void	updateRepository (const DtVector &position, const DtVector &velocity, const DtVector &acceleration, const DtTaitBryan &localOrientation, const DtVector &rotationalVelocity, double newHeading)

virtual void	computeAndSetPosture ()
	The main method for everything to do with posture in this actuator. More...

virtual DtLifeformState	computeDynamicPosture (DtLifeformStaticPosture staticPosture)
	Determines the correct dynamic posture for the entity based on the desired static posture passed in, and the current state of the entity. More...

virtual DtLifeformStaticPosture	restrictPostureForTerrain (DtLifeformStaticPosture desiredPosture)

virtual bool	checkForTerrainCollisions () const

virtual bool	checkForEntityCollisions () const

virtual bool	checkBlockedByTerrain (const DtVector &oldLocalPosition, DtVector &newLocalProjectedLocation, double heightFraction=-1.0)
	Checks for terrain polygons between specified old and new positions. More...

virtual bool	checkBlockedByEntities (const DtVector &oldLocalPosition, DtVector &newLocalProjectedLocation)

virtual DtChord	movementChord (const DtVector &oldLocalPosition, const DtVector &newLocalProjectedLocation, DtVector &intersectionVec, DtVector &bvCenterStartFromOldPos)
	Calculates a movement vector based on the two input positions, and using the BV of the entity. More...

virtual DtChord	movementChordAtHeight (const DtVector &oldLocalPosition, const DtVector &newLocalProjectedLocation, double heightFraction, DtVector &intersectionVec, DtVector &offsetFromOldPosition)
	Similar to movementChord, but rather than using the bounding volume center to define the height of the chord, uses a specified fraction of the entity height. More...

virtual double	maxUprightTerrainPitch () const

virtual double	maxWalkingSpeed () const

virtual void	initializeStaticToDynamicPostureMap ()
	Initializes contents of myStaticToDynamicPostureMap, used. More...

virtual bool	computeEntityDirOfMovement (double &heading) const

virtual double	calculateTerrainPitch (const DtVector &localPosition, double heading, const DtAttachedTerrain &terrain) const

virtual bool	createPorts ()
	Overridden to create the movement control input ports. More...

virtual bool	createPortGroups ()
	Overridden to create the movement control input port group. More...

virtual bool	getSurfacesBelow (const DtVector &testPosition, double underWaterLimit, const DtAttachedTerrain *terrain, DtVrfChordIntersectRecordList &intList, bool &dataAvailable)
	Find surfaces below the test point, from top to bottom. More...

virtual bool	closestSurfaceAbove (const DtVector &testPosition, const DtAttachedTerrain *terrain, double &altitude, DtSurface &surface)
	Find the closest surface above the test point. More...

virtual bool	isWater (const DtSurface &surface)
	Determine whether the surface should be interpreted as water. More...

virtual void	processSetHeading (DtSimMessage *msg)

virtual void	processGroundClampFidelity (DtSimMessage *msg)

virtual bool	checkAndDisembarkIfEmbarked (const DtVector &localPosition)
	Check terrain hit, and, if entity is embarked, and there is no terrain hit on parent, disembark. Will only check if embarked. More...

virtual bool	checkIfMoveOntoEmbarked (const DtVector &localPosition)
	Check to see if there are any entities at the location given that can be moved onto for embarkation. More...

virtual bool	initializeAglPort ()

virtual void	setTerrainUpdateFlagsBasedonDataAvailable (bool dataAvailable)

void	processTerrainChangeNotification (const DtExtent &spatExtent)
	Checks to see if entity is within the spatial extents of the terrain change notification and if so sets the terrain change flag so that the correct position and orientation will be set during the tick() method. More...


virtual double	altitudeForNoTerrainBelow (double projectedPointAlt, DtVector projectedPoint, double surfacePointAlt) const
	This function handles the case when there is no terrain under the test point; however, there is a ground surface above the entity somewhere. More...

virtual double	altitudeForDropToSurface (double projectedPointAlt, DtVector projectedPoint, double surfacePointAlt) const
	This function handles the case where there is a drop from the projected position to the ground surface below of more than some fraction of the body height. More...

virtual double	altitudeForNearbySurface (double projectedPointAlt, DtVector projectedPoint, double surfacePointAlt) const
	This function handles the case where a surface is found near the projected position. More...

virtual double	altitudeForNoSurface (double projectedPointAlt, DtVector projectedPoint) const
	This function is for the case where no surfaces were found at all in the terrain lookup. More...


virtual void	calculateOrientationAndPositionCrawling (const DtVector &newLocalProjectedLocation, double newHeading, double newFacingOrientation, DtDcm &newLocalOrientation, DtDcm &newLocalDirectionOfMovement, DtVector &newLocalPosition)
	The following functions are no longer used in this actuator (4.3) More...

virtual void	groundClamp (double heading, const DtVector &location, DtAttachedTerrain &terrainDatabase, DtVector &newNormal)

virtual void	calculateDirectionOfLinearMotion (const DtDcm &newLocalOrientation, double desiredDirectionOfMovement, const DtVector &newLocalPosition, DtDcm &newLocalDirectionOfLinearMotion)

virtual bool	closestIntersectionWithBias (const DtVector &localPosition, DtVrfChordIntersectionRecord &record, DtIntersectionRecord::DtIntersectionType irtFlag, double bias, const DtAttachedTerrain *terrain)

Protected Member Functions inherited from DtActuatorComponent
	DtActuatorComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)

virtual void	setRadio (DtSimRadio *radio)

	DtActuatorComponent ()
	Default constructor; should not be called. More...

Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
	Compute current time and myDT. More...

bool	testInvariant () const

DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
	Creates a PSR for this component and registers it with the PSR manager. More...

virtual void	updateTaskVisualizations ()
	Called to update task visualizations after every tick. More...

virtual void	destroyTaskVisualizations ()
	Destroys all task visualizations for this component. More...

virtual void	destroyTaskVisualization (const DtString &name)
	Destroys an existing task visualization. More...

virtual DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
	Finds an existing or creates a new point task visualization with the given name. More...

virtual DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
	Finds an existing or creates a new line task visualization with the given name. More...

virtual DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
	Finds an existing or creates a new area task visualization with the given name. More...

virtual DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
	Finds an existing or creates a new text task visualization with the given name. More...

double	calculateNextTaskVisTickTime () const
	Determines the next time the task visualizations should be ticked. More...

Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)
	Copies values from the specified DtReaderWriter. More...

Static Protected Member Functions
static void	setHeadingCallback (DtSimMessage msg, void usr)

static void	setGroundClampFidelityCallback (DtSimMessage msg, void usr)

static void	terainChangeNotification (const DtExtent &spatExtent, void *usr)
	Callback for terrain change notifications. More...

Protected Attributes
DtHumanMovementActuatorPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component. More...

double	myMutablePitch
	This value is the pitch of the terrain under the entity. More...

bool	myMutablePitchValid

DtVector	myLastParentPosition

DtStaticToDynamicPostureMap	myStaticToDynamicPostureMap

const DtHumanMovementActuatorDescriptor *	myHumanMovementActuatorDescriptor

bool	myPreviouslyEmbarked

bool	myWasOnGround
	These states are used for controlling debug print statements. More...

DtUpdateRepositoryOutputPortGroup *	myUpdateRepositoryOutputPortGroup
	Port group used to set what values should be set into the VRF state repository. More...

double	myDesiredFacingDirection

bool	myUseDesiredFacingDirectionValue

DtUUID	myWasJustEmbarkedOn

bool	myAglPortInitialized

DtVector	myCachedPosition

DtVector	myPreviousDestination

bool	myPostureChanging

double	myPostureSpeed

bool	myTerrainUpdateTriggeredFlag
	A flag that is set if the terrain has been altered. More...

bool	myDataUnavailableOnTerrainUpdate
	A flag to indicate that data was not available when querying terrain during a terrain update so that it will continue to try to adjust for the terrain update when the data is available. More...

Ports and Port Groups
DtAnalogInputPort *	myMovementDirectionInputPort
	Input Port Name: desired-movement-direction Input Port Description: Desired movement direction of the entity in radians. More...

DtAnalogInputPort *	myFacingDirectionInputPort
	Input Port Name: desired-facing-direction Input Port Description: Desired facing direction of the entity in radians. More...

DtAnalogInputPort *	mySpeedInputPort
	Input Port Name: desired-speed Input Port Description: Desired speed of the entity in m/s. More...

DtInputPortGroup *	myMovementControlInputPortGroup
	Input Port Group Name: movement-control Input Port Group Description: Collection of inputs specifying the desired movement of the entity. More...

DtIntegerInputPort *	myDesiredStaticPostureInputPort
	Input Port Name: desired-static-posture Input Port Description: The desired posture of the entity. More...

DtVectorInputPort *	myDestinationInputPort
	Input Port Name: destination Input Port Description: Specifies the current destination of the entity in geocentric coordinates. More...

DtBooleanInputPort *	myPostureChangingPort
	Input Port Name: posture-changing Input Port Description: Will be used to halt movement if set, so posture transition can complete before movement continues. More...

DtIntegerInputPort *	myOverrideGroundClampFidelityPort
	Input Port Name: override-ground-clamp-fidelity Input Port Description: Indicates whether or not the ground clamp fidelity should be overridden while performing the current task. More...

DtAnalogOutputPort *	myAltitudeAglOutputPort
	Output Port Name: altitude-agl Output Port Description: Altitude above ground level. More...


DtVrfMovingObjectStateRepository *	myMovingObjectStateRepository
	Convenience pointers to our state repository. More...

DtHumanStateRepository *	myHumanStateRepository

Protected Attributes inherited from DtActuatorComponent
DtSimRadio *	myRadio
	Actuators can send messages. More...

Protected Attributes inherited from DtSimComponent
DtVrfObject *	myEntity

DtVrfObjectStateRepository *	myLocalStateRepository

DtSimManager *	mySimManager

DtComponentSystem *	mySystem
	Pointer to the DtComponentSystem that this component belongs. More...

DtListItem *	myListItem

DtInputPortMap	myInputPortList

DtOutputPortMap	myOutputPortList

DtInputPortGroupMap	myInputPortGroupList

DtOutputPortGroupMap	myOutputPortGroupList

int	myPriority

double	myMinTickPeriod

double	myMinTickPeriodVariance

double	myNextTickTime

double	myLastTickSimTime

double	myDT

bool	myIsEnabled
	Indicates whether this component should be enabled for ticking or not. More...

bool	myFirstTick
	Initialized to true in the constructor, set to false by the first call to postTick. More...

bool	myIsThreadSafe
	Whether this component can be use the DtCriticalSection versions of the tick functions and be ticked in parallel with other components Defaults to false. More...

const DtComponentDescriptor *	myComponentDescriptor

std::list < DtVrfProcessStateRepository * >	myComponentPsrs
	List of PSRs made using createComponentPsr() that will be deleted by this component when it is destroyed. More...

bool	myTickEveryFrame
	Flag indicating that tickPeriod is set to 0, and the component will tick every frame. More...

DtTaskVisualizationMap	myTaskVisualizations
	The visualization objects to be drawn for this component. More...

double	myNextTaskVisTickTime
	The next tick time for updating the task visualizations. More...

DtSymbolString	myFullComponentName

Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName

DtReaderWriterRegistry	myRegistry

DtReaderWriterRegistry *	myParentRegistry

bool	myValueSpecified

bool	myReadOnlyFlag

bool	myIsVariableReference

DtSymbolString	myVariableName

bool	myVariableIsBound

DtReaderWriter *	myDefaultValue

aliasContainer	myAliases
	Container for the aliases which represent alternative names for the object. More...

bool	myInvalid
	Set to true if there is a problem reading this item. More...

bool	myChangedFlag
	Set to true when value changes Set to false when value checked with changedSinceLastChecked. More...

Private Member Functions
DtHumanMovementActuator &	operator= (const DtHumanMovementActuator &orig)
	Not implemented. More...

	DtHumanMovementActuator (const DtHumanMovementActuator &orig)
	Not implemented. More...

Additional Inherited Members
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap

typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap

typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap

typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap

Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory

Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue

static DtGetSelfCallbackInfo	thePostGetSelfCallback

static DtPutSelfCallbackInfo	thePrePutSelfCallback

static const DtVariableBindingsList	theEmptyVariableBindingsList

static bool	theCreatorFcnSet

static DtReaderWriterFactory *	theFactory

static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn

static bool	thePutIndent

static DtOutputStream *	theOutputStream

Detailed Description

DtHumanMovementActuator is a simple movement actuator for lifeforms.

Developer Description: It moves in the requested speed (clamped by the max speed of the entity) and direction. The entity will speed up, slow down, and turn instantly when the requested values change.

Uses Descriptor Type: DtHumanMovementActuatorDescriptor

Member Typedef Documentation

typedef std::map<DtLifeformStaticPosture, DtLifeformState> DtHumanMovementActuator::DtStaticToDynamicPostureMap

Constructor & Destructor Documentation

DtHumanMovementActuator::DtHumanMovementActuator ( const DtHumanMovementActuator & orig )

private

Not implemented.

DtHumanMovementActuator::DtHumanMovementActuator	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

virtual DtHumanMovementActuator::~DtHumanMovementActuator ( )

virtual

destructor

Member Function Documentation

DtHumanMovementActuator& DtHumanMovementActuator::operator= ( const DtHumanMovementActuator & orig )

private

Not implemented.

virtual bool DtHumanMovementActuator::init ( )

virtual

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual const char* DtHumanMovementActuator::type ( ) const

virtual

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns: DtHumanMovementActuatorType

Implements DtSimComponent.

virtual bool DtHumanMovementActuator::createPSR ( )

virtual

Creates the PSR to be used by this actuator.

virtual void DtHumanMovementActuator::preFirstTickInit ( )

virtual

This function can be overridden to initialize a component before it is ticked for the first time.

The implementation for this function is empty. It is called by timedTick if myFirstTick is true.

Reimplemented from DtSimComponent.

virtual void DtHumanMovementActuator::tick ( )

virtual

This gives the thread of control to the component.

The component is ticked once each simulation from by the component list it's on. This base class tick has no functionality.

Reimplemented from DtSimComponent.

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

static

Parameters

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

Returns: New instance of this class.

virtual double DtHumanMovementActuator::calculateMaxSpeed ( ) const

protectedvirtual

Returns: The current max speed based on pitch, soil type, and capabilities of the entity.

virtual double DtHumanMovementActuator::maxSpeedFromFacingError	(	const double	desiredHeading,
		const double	currentHeading
	)		const

protectedvirtual

Compute maximum speed based on difference of facing from desired facing.

Max allowed speed is reduced to 0.1mps as the heading error increases from 0 to pi/2+.

virtual double DtHumanMovementActuator::maxSpeedSoilFactor ( ) const

protectedvirtual

virtual DtVector DtHumanMovementActuator::calculateProjectedLocation	(	const DtVector &	oldLocalPosition,
		const DtVector &	newBodyVelocity,
		double	newHeading,
		double	dt = `-1`
	)

protectedvirtual

virtual void DtHumanMovementActuator::calculateOrientationAndPosition	(	const DtVector &	newLocalProjectedLocation,
		double	newHeading,
		double	newFacingOrientation,
		DtDcm &	newLocalOrientation,
		DtDcm &	newLocalDirectionOfMovement,
		DtVector &	newLocalPosition
	)

protectedvirtual

Given the new location as projected along the current velocity vector, its movement heading, and its facing, find the terrain under the new location and compute the final entity state.

This function calls identifySupportSurfaceAndAltitude to get the surface under the new location. If there is a drop in altitude more than vertical-crack-tolerance (from the descriptor), the terrain is re-checked at a position horizontal-crack-tolerance farther along the direction of motion, and the same distance perpendicular to the direction of motion, to see if the result is higher. If it is, the higher altitude is used.

Parameters

newLocalProjectedLocation	The tentative new position as projected from the current velocity.
newHeading	The current heading angle of movement.
newFacingOrientation	The current heading angle of facing. This can be different from the newHeading if the entity isn't moving in the direction it is facing.
newLocalOrientation	(Output) The new direction of facing, including a pitch to match the terrain pitch if the entity is prone or crawling.
newLocalDirectionOfMovement	(Output) The new direction of movement, including the pitch of the terrain.
newLocalPosition	(Output) The new position on the terrain.

virtual void DtHumanMovementActuator::identifySupportSurfaceAndAltitude	(	const DtVector &	testPosition,
		const double	altOfTestPosition,
		const DtVector &	stepUpVector,
		const double	bodyHeight,
		DtSurface &	interactionSurface,
		double &	adjustedAltitude
	)

protectedvirtual

In calculating the new altitude for an entity when it moves, the entity position is first projected along its velocity vector for the last tick (calculateProjectedLocation), and then the terrain at that location is found (in calculateOrientationAndPosition).

That function uses identifySupportSurfaceAndAltitude to check the terrain under a position stepUpFractionLimit * body height above the projected location.

Normally the terrain lookup finds a ground surface and the entity is placed there. However, there may be no terrain under the entity, or the terrain may be more than a step-up down, it may be more than a step-up up, or there may be no terrain at all. The functions altitudeForNoTerrainBelow, altitudeForDropToSurface, altitudeForNearbySurface, and altitudeForNoSurface handle those situations and determine what altitude the entity should be placed at.

Parameters

testPosition	Computed new position given v and a.
altOfTestPosition	The altitude of the testPosition.
stepUpVector	A vector in local coordinates that points up and whose length is equal to the distance that the entity can instantly move up in one tick–i.e., the height of a step that it can climb. The step up height is given by the body height times the step-up-fraction-limit in the descriptor.
bodyHeight	The body height, from the bounding volume size.
interactionSurface	An output parameter that contains the surface the entity is standing on, if it is standing on something. Note that the entity may be falling or floating.
adjustedAltitude	An output parameter that contains the altitude of the entity.

virtual double DtHumanMovementActuator::stepUpFractionLimit ( ) const

protectedvirtual

The limit on how far an entity can step up in one tick.

Expressed as a fraction of the body height. Default value is 0.4.

virtual double DtHumanMovementActuator::underWaterFraction ( ) const

protectedvirtual

The fraction of a human that is below water when it is floating in water.

Default is 0.88.

virtual double DtHumanMovementActuator::dropSpeed ( ) const

protectedvirtual

The speed at which an entity will drop if it encounters a sudden drop in elevation.

In m/s. If there is a hole in the terrain database, this limit might prevent the entity from dropping through to the next level in one tick.

virtual double DtHumanMovementActuator::altitudeForNoTerrainBelow	(	double	projectedPointAlt,
		DtVector	projectedPoint,
		double	surfacePointAlt
	)		const

protectedvirtual

This function handles the case when there is no terrain under the test point; however, there is a ground surface above the entity somewhere.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns: Altitude The adjusted altitude of the entity. The default behavior is to keep the same altitude as the projected point. In other words, the entity won't jump up to the surface above. An alternative would be to make the entity rise slowly to the surface.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns: Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForDropToSurface	(	double	projectedPointAlt,
		DtVector	projectedPoint,
		double	surfacePointAlt
	)		const

protectedvirtual

This function handles the case where there is a drop from the projected position to the ground surface below of more than some fraction of the body height.

The default is to output the surface altitude. This causes the entity to jump immediately down if it moves off the edge of a step or rooftop. However, this function can be overridden to make the entity accelerate down with gravity; or, to stay at the same altitude.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns: Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForNearbySurface	(	double	projectedPointAlt,
		DtVector	projectedPoint,
		double	surfacePointAlt
	)		const

protectedvirtual

This function handles the case where a surface is found near the projected position.

The default behavior is to set the output altitude to the surface altitude.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (may be above the projected point).

Returns: Altitude The adjusted altitude of the entity.

virtual double DtHumanMovementActuator::altitudeForNoSurface	(	double	projectedPointAlt,
		DtVector	projectedPoint
	)		const

protectedvirtual

This function is for the case where no surfaces were found at all in the terrain lookup.

The default behavior is to output the projected point altitude so the entity does not move up or down. Alternatively, the altitude could be clamped to 0.

Parameters

projectedPointAlt	The altitude of the point projected from the velocity.
projectedPoint	The projected point (local coordinates). Useful for debugging.
surfacePointAlt	The altitude of the surface found in a terrain lookup at the test position (above the projected point, in this case).

Returns: Altitude The adjusted altitude of the entity.

virtual void DtHumanMovementActuator::updateRepository	(	const DtVector &	position,
		const DtVector &	velocity,
		const DtVector &	acceleration,
		const DtTaitBryan &	localOrientation,
		const DtVector &	rotationalVelocity,
		double	newHeading
	)

protectedvirtual

virtual void DtHumanMovementActuator::computeAndSetPosture ( )

protectedvirtual

The main method for everything to do with posture in this actuator.

This determines the correct posture based on the input port and speed of the entity, and then sets this posture to the state repository.

virtual DtLifeformState DtHumanMovementActuator::computeDynamicPosture ( DtLifeformStaticPosture staticPosture )

protectedvirtual

Determines the correct dynamic posture for the entity based on the desired static posture passed in, and the current state of the entity.

virtual DtLifeformStaticPosture DtHumanMovementActuator::restrictPostureForTerrain ( DtLifeformStaticPosture desiredPosture )

protectedvirtual

Returns: The static posture closest to the desired posture that is allowed on the current terrain. For example, standing upright on a steep hill is not allowed, so the return would be prone.

virtual bool DtHumanMovementActuator::checkForTerrainCollisions ( ) const

protectedvirtual

Returns: Boolean signifying whether or not the terrain should be checked for collisions with the entity's bounding volume while it moves. If this returns true, the entity will not move through the terrain. If this is false, it may move through terrain polygons, such as building walls when moving to a new location.

Note: it currently just returns the value of the user specified parameter in the automotivePSR.

virtual bool DtHumanMovementActuator::checkForEntityCollisions ( ) const

protectedvirtual

Returns: True if the entity should current check for (and stop) when colliding with another entity.

virtual bool DtHumanMovementActuator::checkBlockedByTerrain	(	const DtVector &	oldLocalPosition,
		DtVector &	newLocalProjectedLocation,
		double	heightFraction = `-1.0`
	)

protectedvirtual

Checks for terrain polygons between specified old and new positions.

By default, the check will be done for the bounding volume center of the entity. To perform the check at another height, specify the fraction of the entity's height which should be used using the heightFraction parameter.

Returns: True if there are any blocking polygons, and in that case also sets newLocalProjectedLocation to the position just before the polygons are hit.

virtual bool DtHumanMovementActuator::checkBlockedByEntities	(	const DtVector &	oldLocalPosition,
		DtVector &	newLocalProjectedLocation
	)

protectedvirtual

virtual DtChord DtHumanMovementActuator::movementChord	(	const DtVector &	oldLocalPosition,
		const DtVector &	newLocalProjectedLocation,
		DtVector &	intersectionVec,
		DtVector &	bvCenterStartFromOldPos
	)

protectedvirtual

Calculates a movement vector based on the two input positions, and using the BV of the entity.

(the vector is not directly between the positions, but rather offset to the front face of the BV) Also returns a vector in local coords between the positions, and a vector between the oldLocalPosition and the start of the movement chord.

virtual DtChord DtHumanMovementActuator::movementChordAtHeight	(	const DtVector &	oldLocalPosition,
		const DtVector &	newLocalProjectedLocation,
		double	heightFraction,
		DtVector &	intersectionVec,
		DtVector &	offsetFromOldPosition
	)

protectedvirtual

Similar to movementChord, but rather than using the bounding volume center to define the height of the chord, uses a specified fraction of the entity height.

virtual double DtHumanMovementActuator::maxUprightTerrainPitch ( ) const

protectedvirtual

Returns: Maximum terrain pitch at which entity can maintain a static upright posture (i.e. standing posture). Actuator will switch to a prone posture when terrain pitch exceeds this value. Units in radians. Returns value from myHumanMovementActuatorDescriptor if it exists, otherwise, returns 0.5236 (30 degrees) by default.

virtual double DtHumanMovementActuator::maxWalkingSpeed ( ) const

protectedvirtual

Returns: Maximum speed at which entity will walk. Actuator will switch from a walking posture to a running posture when current speed exceeds this value. Returns value from myHumanmovementActuatorDescriptor if it exists, otherwise returns 2.0 by default. Units in meters/second.

virtual void DtHumanMovementActuator::initializeStaticToDynamicPostureMap ( )

protectedvirtual

Initializes contents of myStaticToDynamicPostureMap, used.

virtual bool DtHumanMovementActuator::computeEntityDirOfMovement ( double & heading ) const

protectedvirtual

Returns

virtual double DtHumanMovementActuator::calculateTerrainPitch	(	const DtVector &	localPosition,
		double	heading,
		const DtAttachedTerrain &	terrain
	)		const

protectedvirtual

Returns: The pitch of the terrain at the specified position in the specified direction.

virtual bool DtHumanMovementActuator::createPorts ( )

protectedvirtual

Overridden to create the movement control input ports.

Reimplemented from DtSimComponent.

virtual bool DtHumanMovementActuator::createPortGroups ( )

protectedvirtual

Overridden to create the movement control input port group.

Reimplemented from DtSimComponent.

virtual bool DtHumanMovementActuator::getSurfacesBelow	(	const DtVector &	testPosition,
		double	underWaterLimit,
		const DtAttachedTerrain *	terrain,
		DtVrfChordIntersectRecordList &	intList,
		bool &	dataAvailable
	)

protectedvirtual

Find surfaces below the test point, from top to bottom.

The actuator needs to find either a ground surface below, or a water surface and the ground under that, or else a water surface and a check that the water is deep enough that the entity would float on the water anyway. This function tries to be efficient by looking for surfaces only a short distance (10m) below the test position before it looks down to -inf; if it finds one of the above conditions are true in the abbreviated look, then it returns immediately. Thus it may not find ALL the surfaces below.
Returns true if a surface was found; false otherwise. Data available is set false if a terrain interface call reports data not available; true otherwise.

virtual bool DtHumanMovementActuator::closestSurfaceAbove	(	const DtVector &	testPosition,
		const DtAttachedTerrain *	terrain,
		double &	altitude,
		DtSurface &	surface
	)

protectedvirtual

Find the closest surface above the test point.

Returns true if a surface was found; false otherwise. If found, returns the altitude of the surface and the surface (type).

virtual bool DtHumanMovementActuator::isWater ( const DtSurface & surface )

protectedvirtual

Determine whether the surface should be interpreted as water.

For human ground entities, treat as water only if it does not have an Undefined soil type, and if the water-surface medium bit is set.

static void DtHumanMovementActuator::setHeadingCallback	(	DtSimMessage *	msg,
		void *	usr
	)

staticprotected

virtual void DtHumanMovementActuator::processSetHeading ( DtSimMessage * msg )

protectedvirtual

static void DtHumanMovementActuator::setGroundClampFidelityCallback	(	DtSimMessage *	msg,
		void *	usr
	)

staticprotected

virtual void DtHumanMovementActuator::processGroundClampFidelity ( DtSimMessage * msg )

protectedvirtual

virtual bool DtHumanMovementActuator::checkAndDisembarkIfEmbarked ( const DtVector & localPosition )

protectedvirtual

Check terrain hit, and, if entity is embarked, and there is no terrain hit on parent, disembark. Will only check if embarked.

virtual bool DtHumanMovementActuator::checkIfMoveOntoEmbarked ( const DtVector & localPosition )

protectedvirtual

Check to see if there are any entities at the location given that can be moved onto for embarkation.

If ther are then check to see if they are intersected. Return true if is

virtual bool DtHumanMovementActuator::initializeAglPort ( )

protectedvirtual

virtual void DtHumanMovementActuator::setTerrainUpdateFlagsBasedonDataAvailable ( bool dataAvailable )

protectedvirtual

virtual void DtHumanMovementActuator::calculateOrientationAndPositionCrawling	(	const DtVector &	newLocalProjectedLocation,
		double	newHeading,
		double	newFacingOrientation,
		DtDcm &	newLocalOrientation,
		DtDcm &	newLocalDirectionOfMovement,
		DtVector &	newLocalPosition
	)

protectedvirtual

The following functions are no longer used in this actuator (4.3)

virtual void DtHumanMovementActuator::groundClamp	(	double	heading,
		const DtVector &	location,
		DtAttachedTerrain &	terrainDatabase,
		DtVector &	newNormal
	)

protectedvirtual

virtual void DtHumanMovementActuator::calculateDirectionOfLinearMotion	(	const DtDcm &	newLocalOrientation,
		double	desiredDirectionOfMovement,
		const DtVector &	newLocalPosition,
		DtDcm &	newLocalDirectionOfLinearMotion
	)

protectedvirtual

virtual bool DtHumanMovementActuator::closestIntersectionWithBias	(	const DtVector &	localPosition,
		DtVrfChordIntersectionRecord &	record,
		DtIntersectionRecord::DtIntersectionType	irtFlag,
		double	bias,
		const DtAttachedTerrain *	terrain
	)

protectedvirtual

static void DtHumanMovementActuator::terainChangeNotification	(	const DtExtent &	spatExtent,
		void *	usr
	)

staticprotected

Callback for terrain change notifications.

Parameters

spatExtent	the spatial extents in local coordinates for change
usr	this

void DtHumanMovementActuator::processTerrainChangeNotification ( const DtExtent & spatExtent )

protected

Checks to see if entity is within the spatial extents of the terrain change notification and if so sets the terrain change flag so that the correct position and orientation will be set during the tick() method.

Parameters

spatExtent the spatial extents in local coordinates for change

Member Data Documentation

DtAnalogInputPort* DtHumanMovementActuator::myMovementDirectionInputPort

protected

Input Port Name: desired-movement-direction
Input Port Description: Desired movement direction of the entity in radians.

Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control

DtAnalogInputPort* DtHumanMovementActuator::myFacingDirectionInputPort

protected

Input Port Name: desired-facing-direction
Input Port Description: Desired facing direction of the entity in radians.

NOTE: This input port is currently ignored. It is here for future expansion. The entity currently always faces in its movement direction. Input Port Range: 0 - 2*pi
Input Port Default Value: N/A
Input Group Parent: movement-control

DtAnalogInputPort* DtHumanMovementActuator::mySpeedInputPort

protected

Input Port Name: desired-speed
Input Port Description: Desired speed of the entity in m/s.

Input Port Range: 0 and up. Input Port Default Value: N/A
Input Group Parent: movement-control

DtInputPortGroup* DtHumanMovementActuator::myMovementControlInputPortGroup

protected

Input Port Group Name: movement-control
Input Port Group Description: Collection of inputs specifying the desired movement of the entity.

DtIntegerInputPort* DtHumanMovementActuator::myDesiredStaticPostureInputPort

protected

Input Port Name: desired-static-posture
Input Port Description: The desired posture of the entity.

This is a static (non-moving) posture, and will be mapped to an appropriate moving posture based on the actual speed of the entity.
Input Port Range: See DtLifeformStaticPosture. Input Port Default Value: DtStaticPostureUpright

DtVectorInputPort* DtHumanMovementActuator::myDestinationInputPort

protected

Input Port Name: destination
Input Port Description: Specifies the current destination of the entity in geocentric coordinates.

If not specified, destination will be ignored by the actuator.
Input Port Range:
Input Port Default Value:

DtBooleanInputPort* DtHumanMovementActuator::myPostureChangingPort

protected

Input Port Name: posture-changing
Input Port Description: Will be used to halt movement if set, so posture transition can complete before movement continues.

Input Port Range:
Input Port Default Value:

DtIntegerInputPort* DtHumanMovementActuator::myOverrideGroundClampFidelityPort

protected

Input Port Name: override-ground-clamp-fidelity
Input Port Description: Indicates whether or not the ground clamp fidelity should be overridden while performing the current task.

Input Port Range: 1 (high), 2 (low)
Input Group Parent:

DtAnalogOutputPort* DtHumanMovementActuator::myAltitudeAglOutputPort

protected

Output Port Name: altitude-agl
Output Port Description: Altitude above ground level.

Output Port Range: 0 and up.
Output Port Default Value: 0

DtVrfMovingObjectStateRepository* DtHumanMovementActuator::myMovingObjectStateRepository

protected

Convenience pointers to our state repository.

DtHumanStateRepository* DtHumanMovementActuator::myHumanStateRepository

protected

DtHumanMovementActuatorPSR* DtHumanMovementActuator::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component.

double DtHumanMovementActuator::myMutablePitch

mutableprotected

This value is the pitch of the terrain under the entity.

Since it is expensive to calculate, but needed at a number of places each tick, it is stored here when calculated, and then user other times.

bool DtHumanMovementActuator::myMutablePitchValid

mutableprotected

DtVector DtHumanMovementActuator::myLastParentPosition

protected

DtStaticToDynamicPostureMap DtHumanMovementActuator::myStaticToDynamicPostureMap

protected

const DtHumanMovementActuatorDescriptor* DtHumanMovementActuator::myHumanMovementActuatorDescriptor

protected

bool DtHumanMovementActuator::myPreviouslyEmbarked

protected

bool DtHumanMovementActuator::myWasOnGround

protected

These states are used for controlling debug print statements.

DtUpdateRepositoryOutputPortGroup* DtHumanMovementActuator::myUpdateRepositoryOutputPortGroup

protected

Port group used to set what values should be set into the VRF state repository.

All values are in local coordinates

double DtHumanMovementActuator::myDesiredFacingDirection

protected

bool DtHumanMovementActuator::myUseDesiredFacingDirectionValue

protected

DtUUID DtHumanMovementActuator::myWasJustEmbarkedOn

protected

bool DtHumanMovementActuator::myAglPortInitialized

protected

DtVector DtHumanMovementActuator::myCachedPosition

protected

DtVector DtHumanMovementActuator::myPreviousDestination

protected

bool DtHumanMovementActuator::myPostureChanging

protected

double DtHumanMovementActuator::myPostureSpeed

protected

bool DtHumanMovementActuator::myTerrainUpdateTriggeredFlag

protected

A flag that is set if the terrain has been altered.

bool DtHumanMovementActuator::myDataUnavailableOnTerrainUpdate

protected

A flag to indicate that data was not available when querying terrain during a terrain update so that it will continue to try to adjust for the terrain update when the data is available.

The documentation for this class was generated from the following file:

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf4-10-branch/include/vrfmodel/humanMovementActuator.h

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