humanCollisionAvoidanceController.h

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/*******************************************************************************
** Copyright (c) 1999 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfobjcore/singleTaskControllerComponent.h"
#include "vrfobjcore/vrfObjectIterator.h"
#include <vl/hostStructs.h>
#include "vrfobjcore/humanCollisionAvoidancePSR.h"
#include "vrfmodel/vrfmodelDefines.h"

class DtString;
class DtSimManager;
class Dt3dBoundingVolume;
class DtVrfObjectStateRepository;
class DtInputControlPortGroup;
class DtCollisionInputPort;
class DtCollision;
class DtHumanMovementControlOutputPortGroup;
class DtHumanStateRepository;
class DtHumanCollisionAvoidancePSR;
class DtVectorInputPort;
class DtBooleanOutputPort;
class DtBooleanInputPort;
class DtActiveBotNavInterface;

class  DT_DLL_vrfmodel DtHumanCollisionAvoidanceController : public 
   DtSingleTaskControllerComponent
{

public:

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

   virtual ~DtHumanCollisionAvoidanceController();

   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:
   DtHumanCollisionAvoidanceController();

   DtHumanCollisionAvoidanceController(const 
      DtHumanCollisionAvoidanceController & orig);

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

   virtual bool shouldRun();

   virtual void clearCollisionStateData();

   virtual void clearingCollision();

   virtual bool isInsideObstruction(const DtCollision* potentialCollision, double& clearingDistance);


   virtual void registerTaskMsgCallbacks();

   static void taskCompleteReportCallback(DtSimMessage * msg, void * usr);
   virtual void processTaskComplete(DtSimMessage * msg);

   bool isAppreciablyMoving(DtVector velocity, double velocityTolerance) const;

   bool setDefaultPortValuesForAvoidance();

   bool determineObstructionMovementDirection(DtDcm obstructionLocalOrientationMatrix,
                                           const DtVector& obstructionVelocity,
                                           int& obstructionDirectionSign) const;
   
   void avoidMovingObstruction(const DtCollision& potentialCollision);

   void avoidNonMovingObstruction(const DtCollision& potentialCollision);

   virtual void calculateAvoidanceByVertices(const DtVector & vertex1,const DtVector & vertex2,double entityBoundingVolumeRadius,
      DtVector & localVectorToDestination,DtVector & localVectorToObstruciton);

   virtual void calculateAvoidanceUsingBoundingVolume(const DtCollision& potentialCollision,
      double entityBoundingVolumeRadius,DtVector & localVectorToDestination,
      DtVector & localVectorToObstruciton);

   void startClearingCollision(double clearingDistance);

   bool calculateMyEntityCollisionBV();

   bool createPortGroups();
   bool createPorts();

   virtual bool createPSR();

   virtual void computeClearingHeading(const DtVector& localVertex1, 
      const DtVector& localVertex2, const DtVector & localObstaclePos,
      double& clearingHeading) const;

   virtual void getObstructionFootprint(const DtCollision& collision, 
      DtLocalVertexList& localObstructionFootprint) const;

protected:

   double                  myClearingDistance;

   bool                    myAvoidingCollision;
   Dt3dBoundingVolume*       myCollisionBV;

   bool                    myHavePortGroup;

   DtHumanStateRepository* myLifeformState;

   DtHumanCollisionAvoidancePSR* myProcessState;


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtVectorInputPort* myDestinationInputPort;

   DtBooleanInputPort* myUseCollisionAvoidanceInputPort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtBooleanOutputPort* myCollisionPort;

   DtBooleanOutputPort* myIsMovingPort;

   double   myTimeToCollide;

   double   myLateralClearance;

   double   myStoppingDistanceFactor;

   DtVector myNonMvObstructionLocation;

};