DtDiGuyMotionModel.h

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/****************************************************************************
 * Copyright (c) 2020 VT MAK
 * All rights reserved.
 ****************************************************************************/


#pragma once

#include <vrvDiGuy/vrvDiGuy.h>
#include <vrvCore/DtMotionModel.h>
#include <vlpi/exponentialSmoother.h>
#include <diguyMotionDirection.h>
#include <diguyMotionPosture.h>
#include <matrix/vlVector.h>
#include <map>

class DtTaitBryan;
class diguyCharacterGuide;

namespace makVrv
{

   class DtDe;
   class DtModel;
   class DtDiGuyCharacterModel;

   class DT_DLL_VRVDIGUY DtDiGuyMotionModel : public DtVRLDeadReckonerMotionModel<DtExponentialSmoother>
   {
   public:

      DtDiGuyMotionModel( DtDe& igs, DtSceneObject* owner );

      DtDiGuyMotionModel( const DtDiGuyMotionModel& orig, double time );

      virtual ~DtDiGuyMotionModel();

      virtual DtMotionModel* clone( double simTime );

      virtual bool motionModelHandlesUpdate() const;

      virtual void updateMotion( double simulationTime );
      virtual void updateCharacterMotion( DtDiGuyCharacterModel* characterModel,
         double simulationTime, bool needsTopoUpdate );

      virtual const char* getActionFromDescription( DtDiGuyCharacterModel* characterModel,
         diguyMotionDirection direction, diguyMotionPosture posture, double actualSpeed );

      virtual void modelAdded( DtModel* );

      virtual void modelRemoved( DtModel* );

      virtual void setAll( const DtVector& loc, const DtVector32& vel, const DtTaitBryan& ori,
         const DtVector32& acc, const DtVector32& rotVel, DtTime curTime );

      virtual void setLocation( const DtVector& loc, DtTime t );
      virtual void setOrientation( const DtTaitBryan& ori, DtTime curTime );
      virtual void setVelocity( const DtVector32& vel, DtTime curTime );
      virtual void setRotationalVelocity( const DtVector32& vel, DtTime curTime );

   protected:

      //Calculate the direction Forward/Back/Left/Right
      int calculateDirectionFBLR(const DtTaitBryan& ori, const DtVector32& vel);

      //Calculate the direction Forward/Back
      int calculateDirectionFB(const DtTaitBryan& ori, const DtVector32& vel);

      void addCharacter( DtDiGuyCharacterModel* character );

   protected:

      struct CharacterUpdateInfoStruct
      {
         CharacterUpdateInfoStruct()
            : myLastDirection( DIGUY_MOTION_DIRECTION_NONE )
            , myLastPosture( DIGUY_MOTION_POSTURE_UPRIGHT )
            , myLastWeaponDeployed( false )
            , myLastAction( NULL )
            , myLastActionTime( 0.0 )
            , myLastSpeed( 0.0 )
         {
         }

         int myLastDirection;
         int myLastPosture;
         bool myLastWeaponDeployed;
         const char* myLastAction;
         double myLastActionTime;
         double myLastSpeed;
      };

   protected:

      DtDe& myDe;

      DtSceneObject* mySceneObject;

      typedef std::map<DtDiGuyCharacterModel*,CharacterUpdateInfoStruct*> CharacterInfoMap;
      CharacterInfoMap myCharacters;

      // State update tracking variables.
      // Used for all characters in the motion model.
      DtVector myApproxLocation;
      DtTaitBryan myApproxOrientation;
      DtVector myLastTopoUpdateLocation;
      DtVector myAcceleration;
      bool myIsGeocentric;
      bool myNeedsInit;

      // These are the last known values to have come across the network.
      // Used when running with smoothing disabled.
      DtVector myLastFirmLocation;
      DtTaitBryan myLastFirmOrientation;
      DtVector32 myLastFirmVelocity;
      DtVector32 myLastFirmRotationalVelocity;
      DtTime myLastFirmRotationalVelocityTime;

   };


   class DT_DLL_VRVDIGUY DtDiGuyMotionModelCreator : public DtMotionModelCreator
   {
   public:

      virtual ~DtDiGuyMotionModelCreator();

      virtual DtMotionModel* create(DtSceneObject* owner, DtDe& de);

   };

}