DtEntityWheelManager.h

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


#pragma once
#include <vrvCore/DtDe.h>
#include <vrvCore/DtUniqueID.h>

#include <vrvOsg/vrvOsg.h>
#include <vrvOsg/DtArticulatedModelParser.h>

#include <vrvUtil/DtVirtualBaseClass.h>

#include <vlutil/vlTime.h>
#include <matrix/vlVector.h>

#include <osg/ComputeBoundsVisitor>

namespace makVrv 
{
    class DtDeadReckonUpdater;
    class DtSceneObject;
    class DtEntityWheelUpdater;

   struct WheelInfo
   {
       enum WheelSide { WHEEL_UNKNOWN, WHEEL_LEFT, WHEEL_RIGHT };

       WheelInfo()
           : steerable(false)
           , partNum(0)
           , wheelSet(0)
           , wheelSide(WHEEL_UNKNOWN)
           , wheelRadius(0.0)
           , angVel(0.0)
       {};

       bool steerable;
       int partNum;
       int wheelSet;
       WheelSide wheelSide;
       double wheelRadius;
       double angVel;
   };

   struct EntityWheelData
   {
       EntityWheelData()
           : sceneId(0)
           , lastUpdateTime(0)
       {

       };

       // Also retrieve the scene object instead of storing
       DtUniqueID sceneId;
       // For using the scene object position
       DtTime lastUpdateTime;
       DtVector lastPos;
       std::vector<WheelInfo> wheels;
   };

   class DT_DLL_VRVOSG DtEntityWheelManager : public DtVirtualBaseClass
   {
   public:

      DtEntityWheelManager(DtDe& de);

      static DtEntityWheelManager& instance(DtDe& de);

      static void registerInstance(DtDe& de, DtEntityWheelManager *manager);

      static const std::string& theClassName();

      virtual ~DtEntityWheelManager();

      virtual void addModel(DtOsgArticulatedModel& model, bool isInstanced, 
          DtUniqueID uniqueId, DtUniqueID elementId);

      virtual void removeModel(DtOsgArticulatedModel& model);

      virtual int numModels() const;

      virtual int wheelSetNum(const int sisoValue) const;

      virtual WheelInfo::WheelSide wheelSide(const int sisoValue) const;

      virtual bool hasWheels(DtOsgArticulatedModel& model);

      virtual std::vector<int> listWheelParts(DtOsgArticulatedModel& model);

      virtual std::string toString(const int sisoValue) const;

      virtual bool isWheel(const int sisoValue) const;

      virtual double computeRadius(const int sisoValue, const DtArticulatedModelParser::PartMap& partIdToNode);

      virtual double defaultWheelRadius();

      virtual void setDefaultWheelRadius(double wheelRadius);

   private:

       DtEntityWheelManager();
       
       DtEntityWheelManager(const DtEntityWheelManager& orig);

       DtEntityWheelManager& operator=(const DtEntityWheelManager);

   protected:

      DtDe& myDe;
      double myDefaultWheelRadius;
      std::set<int> myWheelPartIds;
      osg::ComputeBoundsVisitor myComputerBoundsVisitor;
      DtEntityWheelUpdater* myWheelUpdater;
      std::map<DtOsgArticulatedModel*, EntityWheelData> myEntityToWheelDataMap;
   };

}