DtDeadReckonUpdater.h

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/****************************************************************************** 
** Copyright (c) 2019MAK Technologies, Inc. 
** All rights reserved. 
******************************************************************************/
 
 
#pragma once

#include <vrvCore/DtDe.h>
#include <vrvCore/DtSceneObjectUpdater.h>
#include <matrix/vlVector.h>
#include <string>


class DtTaitBryan;

namespace makVrv 
{ 
   class DtMotionModel;
//   class DtDeSharedState;

   class DT_DLL_VRVCORE DtDeadReckonUpdater : public DtSceneObjectUpdater
   { 
   public:

      DtDeadReckonUpdater( DtDe& de, DtUniqueID id );

      virtual ~DtDeadReckonUpdater();
      
      virtual void update( DtTime tNow );

      virtual void setSceneObject( DtSceneObject* sceneObject);

      virtual void setVelocity(const DtVector32& velocity);
      virtual void setVelocity(const DtVector32& velocity, double time);

      virtual void setBodyVelocity(const DtVector32& velocity);
      virtual void setBodyVelocity(const DtVector32& velocity, double time);

      virtual void setAcceleration(const DtVector32& acceleration);
      virtual void setAcceleration(const DtVector32& acceleration, double time);

      virtual void setAngularVelocity(const DtVector32& angularVelocity);
      virtual void setAngularVelocity(const DtVector32& angularVelocity, double time);

      virtual void setInputPosition( const DtVector& position );
      virtual void setInputPosition( const DtVector& position, double time);


      virtual void setInputOrientation(const DtTaitBryan& ori );
      virtual void setInputOrientation(const DtTaitBryan& ori, double time );

      virtual void setDeadReckoningSettings(bool deadReckonPosition, 
         bool deadReckonVelocity, bool deadReckonOrientation);

      virtual void setSmoothingEnabled(bool enabled);

      virtual void setSmoothingPeriod(float period);

      virtual void resetSmoother();

      virtual void updateSpacial(DtTime tNow);
     
      void setMotionModel(const std::string& modelName);      

      DtMotionModel* motionModel() const;

      virtual void setUseAbsoluteTimeStamping(bool);
      bool useAbsoluteTimeStamping() const;

      virtual void setFrozen( bool frozen );
      virtual bool isFrozen() const;

      virtual const DtVector& approxLocation(DtTime curTime) const;

      virtual const DtVector32& approxVelocity(DtTime curTime) const;

      virtual const DtVector32& approxUnsmoothedVelocity(DtTime curTime) const;

      virtual const DtTaitBryan& approxEuler(DtTime curTime) const;

      virtual const DtVector32& acceleration(DtTime curTime) const;

      virtual const DtVector32& rotationalVelocity(DtTime curTime) const;

   protected:
      
      DtMotionModel* myMotionModel;
      std::string myMotionModelType;
      unsigned int myDeadReckoningSetting;

      float mySmoothingPeriod;
      bool mySmoothingEnabled;

      bool myUseAbsoluteTimeStamping;

      DtVector32 myLastVelocity;
      DtVector32 myLastBodyVelocity;
      DtVector32 myLastAcceleration;
      DtVector32 myLastAngularVelocity;
      DtVector myLastPosition;
      DtTaitBryan myLastOrientation;
      bool myUsesBodyVelocity;
      bool myNeedsBodyVelocityUpdate;
      boost::signalslib::connection myModelAddedConnection;
      boost::signalslib::connection myModelRemovedConnection;
   };
}