objectSensor.h

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/*******************************************************************************
** Copyright (c) 2005 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/simComponent.h"
#include "vrfobjcore/managedObjectList.h"
#include "vrfmodel/vrfmodelDefines.h"
#include "vrfutil/rwObjectTypeList.h"
#include "vrfExtObjects/sensorFieldOfViewEnums.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 DtStringInputPort;
class DtBooleanInputPort;
class DtIntegerInputPort;

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

   DtObjectSensor(const DtObjectSensor & 
      orig);

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

public:

   enum ContinueDetectingResult
   {
      DetectionLost = 0,
      DetectionContinued = 1,
      DetectionMissed = 2,
   };

   using DtSimComponent::tick;

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

   virtual ~DtObjectSensor();

   virtual bool init();

   virtual bool postAddComponentsInit();

   virtual void preFirstTickInit();

   virtual const char* type() const;

   virtual void tick();

   virtual bool tickWhileDestroyed() const;

   virtual int sensorType() const;

   virtual void enable();
   virtual void disable();
   virtual void setIsEnabled(bool yesNo);

   virtual void setTypesToDetectForTask(const DtRwObjectTypeList& objectTypes);

   virtual void clearTypesToDetectForTask();

   virtual const DtRwObjectTypeList& typesToDetectForTask() const;

   static bool setTypesToDetectAttribute(void* ctrlr, DtReaderWriter* val);
   virtual bool setTypesToDetectAttribute(DtReaderWriter* val);

   static bool clearTypesToDetect(void* ctrlr, DtReaderWriter* val);
   virtual bool clearTypesToDetect(DtReaderWriter* val);

   virtual void setSensorEnabled(bool enabled);

   virtual bool sensorEnabled() 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 initSensorRangeRing();

   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 DtVector bodySensorPosition() const;

   virtual DtTaitBryan localSensorOrientation() const;

   virtual DtTaitBryan bodySensorOrientation() const;

   virtual DtUUID targetObject() const;

   virtual DtVector targetLocation() const;

   virtual DtSensorTrackingMode trackingMode() const;

   virtual bool processObjects();

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

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

   virtual bool objectWithinSensorGeometry(const 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(const DtVrfObject*) const;

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

   virtual DtTaitBryan worldOrientationOfObject(const DtVrfObject* object) const;

   virtual bool canDetectForceOfObject(const DtVrfObject*);

   static void setSensorEnabledRequestCallback(DtSimMessage *msg, void * usrData);

   virtual void processSetSensorEnabledRequestMessage(DtSimMessage *msg);

protected:


   DtSensorContactListOutputPort * myDetectedObjectListPort;

   DtObjectTypesListMultiInputPort* myObjectsToDetectInputPort;

   

   DtInputPortGroup* mySensorOffsetInputPortGroup;

   DtOrientationInputPort* myOrientationInputPort;

   DtVectorInputPort* myPositionInputPort;

   DtStringInputPort* myTargetObjectInputPort;

   DtVectorInputPort* myTargetLocationInputPort;

   DtIntegerInputPort* myTrackingModeInputPort;

   DtBooleanInputPort* myTargetAcquiredInputPort;


   DtManagedObjectListConstPtr myDetectableObjectList;
   const DtObjectSensorDescriptor* myObjectSensorDescriptor;

   DtObjectSensorPSR* myProcessState;

   DtObjectSensorMonitor* myMonitor;
   DtSpatialFilterEvaluator* mySensorGeometryEvaluator;

   DtForceType myForceType;

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

   bool myPrep_invokeNewContactCallbacks;
};