humanFollowController.h

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/*******************************************************************************
** Copyright (c) 2003 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vrfobjcore/singleTaskControllerComponent.h>
#include "vrfmodel/vrfmodelDefines.h"
#include <vlpi/trigonometricSmoother.h>

class DtHumanStateRepository;
class DtHumanFollowPSR;
class DtInputPortGroup;
class DtCollisionInputPort;
class DtHumanMovementControlOutputPortGroup;
class DtVectorOutputPort;
class DtBooleanOutputPort;
class DtActiveBotNavInterface;
class DtHumanFollowControllerDescriptor;
class DtObjectIdOutputPort;

class DT_DLL_vrfmodel DtHumanFollowController : public DtSingleTaskControllerComponent
{

public:

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

   virtual ~DtHumanFollowController();

   virtual const char* type() const;

   virtual bool init();

   virtual bool createPSR();

   virtual void tick();

   static void followEntityCallback(DtSimMessage* msg, void* usrData);

   virtual void processFollowEntityTask(DtSimMessage* msg);

   virtual const DtUUID& entityToFollow();
   virtual void setEntityToFollow(const DtUUID& entity);

   virtual const DtVector& offsetVector() const;
   virtual void setOffsetVector(const DtVector& offsets);

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

   virtual void registerTaskMsgCallbacks();

   virtual bool setupDestination();

   virtual bool passedDestination();

   virtual double findDesiredSpeed();

   virtual double findDesiredHeading();

   virtual void stop();

   virtual void clearTask();

protected: 

   DtHumanFollowController(const DtHumanFollowController & 
      orig);

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

   virtual void setSmoother(const DtVector& location);

   virtual DtVector smoothedLocation();

   virtual DtVector constrainedStation(DtVrfObjectStateRepository* leaderState, const DtVector& position);

   virtual bool nearDestination();

   virtual double distanceToDestination() const;

   virtual DtVector localDestination() const;

   virtual bool getDestination(DtVector & destination) const;


   virtual bool atDestination();

   virtual void doMoving();

   virtual bool destinationIsInsideObstruction(
      const DtVector& localDestination) const;

   virtual bool createPortGroups();

   virtual bool createPorts();

   virtual void moveToDestination();

   virtual void computeTopoVectors();

   virtual bool usingNavBot();

   virtual void moveUsingNavData();

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

   virtual bool needToUpdateNavInterfaceDestination(const DtVector& newLocalDestination);

   virtual DtVector predictedDestination();

   virtual void updateTaskVisualizations();

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

protected:

   const DtVrfObject* myEntityToFollow;

   DtHumanStateRepository* myHumanStateRepository;

   DtHumanFollowPSR* myProcessState;


   DtCollisionInputPort*   myCollisionAvoidancePort;

   DtInputPortGroup*       myCollisionAvoidancePortGroup;

   DtHumanMovementControlOutputPortGroup* myHumanMovementControlOutputPortGroup;

   DtVectorOutputPort* myDestinationOutputPort;

   DtBooleanOutputPort* myIsMovingPort;

   DtBooleanOutputPort* myUseCollisionAvoidancePort;


   DtVector          myLocalDestination;
   
   DtVector          myWorldDestination;

   DtVector          myLocalDestinationMove;
   DtVector          myTopoDestinationMoveUnit2D; 

   DtVector          myTopoDestinationToEntity2D;

   DtVector mySmoothedStationLocation;

   DtVector myStationLocationWithRayToCenterline;

   DtVector myStationLocation;

   DtVector myLookAheadStationLocation;

   bool              myNearDestination;
   bool              myPassedDestination;
   bool              myAtDestination;
   double            myDistanceSquared;
   bool              myDestinationIsInsideObstruction;
   double            myCurrentSpeed;

   double myAtDistanceSquared;

   double myNearDistanceSquared;

   double myFarCatchUpFactor;

   bool              myIgnoreNavData;

   DtVector myTransitionPoint;
   
   DtActiveBotNavInterface* myNavInterface;
   DtVector myNavInterfaceCurrentDestination;
   double myNavInterfaceDestinationSetTime;

   DtHumanFollowControllerDescriptor* myComponentDescriptor;

   DtTrigonometricSmoother* myLeaderSmoother;
   bool myWarnedOnceDestroyed;

   DtObjectIdOutputPort* myFollowTargetOutputPort;

   bool myCanMoveDirect;
};