groundCollisionAvoidanceController.h

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/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/groundAutoControllerComponent.h"
#include "vrfobjcore/vrfObjectIterator.h"
#include <vl/hostStructs.h>
#include "vrfobjcore/automotivePSR.h"
#include "vrfobjcore/vrfObjectReference.h"

class DtString;
class DtSimManager;
class Dt3dBoundingVolume;
class DtGroundFollowEntityController;
class DtVrfObjectStateRepository;
class DtInputControlPortGroup;
class DtCollisionInputPort;
class DtCollision;
class DtStringInputPort;
class DtActiveBotNavInterface;

#include "vrfmodel/vrfmodelDefines.h"
class DT_DLL_vrfmodel DtGroundCollisionAvoidanceController : public 
   DtGroundAutoControllerComponent
{

public:

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

   virtual ~DtGroundCollisionAvoidanceController();

   virtual bool init();

   virtual void tick();

   virtual double distanceSquaredToDestination(DtVector offsetVector);

   virtual void avoidCollision(const DtCollision& potentialCollision);

   virtual const char* type() const;

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

protected:
   DtGroundCollisionAvoidanceController();

   DtGroundCollisionAvoidanceController(const 
      DtGroundCollisionAvoidanceController & orig);

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

   virtual void clearCollisionStateData();

   virtual void clearingCollision();

   bool isAppreciablyMoving(DtVector velocity, double velocityTolerance) const;

   bool setDefaultPortValuesForAvoidance(DtAutoTransmissionGear currentGear);

   bool determineObstructionMovementDirection(DtDcm obstructionLocalOrientationMatrix,
                                           const DtVector& obstructionVelocity,
                                           int& obstructionDirectionSign) const;
   
   bool followingObstruction(const DtUUID& entity) const;

   void avoidMovingObstruction(const DtCollision& potentialCollision);

   void avoidNonMovingObstruction(const DtCollision& potentialCollision);

   void startClearingCollision(double clearingDistance);

   bool calculateCollisionBV();

   bool createPortGroups();
   bool createPorts();

protected:

   double                  myClearingDistance;

   bool                    myAvoidingCollision;
   Dt3dBoundingVolume*       myCollisionBV;

   bool                    myHavePortGroup;

   DtRwUUID  myFollowEntityName;

   DtActiveBotNavInterface* myNavInterface;


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtStringInputPort*   myFollowEntityInputPort;

   DtBooleanOutputPort* myCollisionPort;

};