humanCoverPointController.h

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



#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfobjcore/singleTaskControllerComponent.h"
#include <vrfNavigation/navArea.h>

class DtHumanCoverPointControllerDescriptor;
class DtActiveBotNavInterface;
class DtScriptedTaskTask;
class DtHumanMovementControlOutputPortGroup;
class DtBooleanOutputPort;
class DtHumanStateRepository;
class DtHumanCoverPointPSR;
class DtCollisionInputPort;
class DtVectorOutputPort;

class DT_DLL_vrfmodel DtHumanCoverPointController : public DtSingleTaskControllerComponent
{
private:
   DtHumanCoverPointController();
   DtHumanCoverPointController(const DtHumanCoverPointController& orig);
   DtHumanCoverPointController& operator=(const DtHumanCoverPointController& orig);

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

   virtual ~DtHumanCoverPointController();

   virtual bool init();

   virtual const char* type() const;

   virtual void tick();

   static void coverPointCallback(DtSimMessage * msg, void * usr);

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

protected:
   virtual bool usingNavBot() const;

   virtual void processCoverPointTask(DtSimMessage * msg);

   virtual void registerTaskMsgCallbacks();

   static void navAreaChangedCallback(void* usr);
   virtual void processNavAreaChanged();

   virtual DtVector findCoverFromPoint(DtScriptedTaskTask*);

   virtual void clearTask();

   virtual bool findCoverPoint(DtVector&);

   static DtOnGraphVertexVisitedResult coverPointCheckCallback(const DtVector& localCheck, void* usr);
   virtual DtOnGraphVertexVisitedResult processCoverPoint(const DtVector& localCheck);

   static void coverPointCostPointModificationCallback(const DtVector& localCheck, float* costmod, void* usr);
   virtual void processCoverPointCostPointModification(const DtVector& localCheck, float* costmod);

   static void objectAboutToBeRemoved(const DtVrfObject* msg, void * usr);
   virtual void processObjectAboutToBeRemoved(const DtVrfObject* msg);

   virtual void offsetForEntity(DtVector& localPosition) const;

   virtual void useNavBotData();

   virtual bool createPortGroups();
   virtual bool createPorts();
   virtual void stop(bool success);
   virtual void moveToDestination();

   virtual void processCoverPointTask(DtScriptedTaskTask*);

   virtual void showCoverPoint();

   virtual void preFirstTickInit();
   virtual bool createPSR();

   virtual bool destinationIsInsideObstruction(const DtVector& localDestination);

   virtual void setupPathFollowing();

   virtual DtVector targetPoint(const DtVector& from, double heading, double distance) const;

   virtual bool hasLosTo(const DtVector& origin, double headingOffOfOrigin, double offsetFromOrigin,
      double headingToTargetPoint, double distanceToTargetPoint);

   virtual bool entityInDestination(const DtVector& dest);

   static void navigationInterfaceChanged(const DtVrfObject*, void* usr);
   virtual void processNavigationInterfaceChanged(const DtVrfObject*);

protected:
   DtHumanCoverPointControllerDescriptor* myHumanCoverPointControllerDescriptor;
   DtActiveBotNavInterface* myNavInterface;
   bool myIgnoreNavData;
   std::vector<DtUUID> myFindCoverFrom;
   const DtHumanStateRepository* myHumanSR;
   DtNavAreaQuery::Ptr myCoverPointQuery;

   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;

   DtBooleanOutputPort* myIsMovingPort;

   DtHumanCoverPointPSR* myProcessState;

   bool myResetRouteWhenCan;
   bool mySetupFromTaskWhenCan;
   int myOnPass;
   double myPostSpacing;
   double mySearchRadius;
   DtVector mySearchStartPoint;
   DtVector myFindCoverFromPoint;
   bool myCalculatingCoverPoint;
   boost::unordered_set<std::string> myCheckedPoints;

   int myCoverPointEvalCounter;
};